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NuttX upgrade cmake wrapper (#7873)

Browse Source 
* NuttX cmake

* px4_macros:Pass the stringified predicate as second arg to static assert

   CC_ASSERT mapes to the c++ static_assert or provides the same
   funtionality for c via the other macros. The c++ static assert
   takes 2 argumants the prdicate and a message. This fixes the
   lacking second argument.

* Updated nuttx and apps submodule to upstream nuttx 7.21+==master

   This is the latest uptake of upstream nuttx and apps.

* ROMFS generate with xxd instead of objcopy

* delete nuttx-patches

* NuttX update submodules to latest px4_nuttx-master

* fix nuttx apps and board dependency

* docker_run update to latest container 2017-08-29

* cmake ROMFS portable sed usage

* NuttX update submodules to latest px4_nuttx-master
This commit is contained in:
Daniel Agar
2017-09-29 10:13:51 -04:00
parent 11e518f494
commit 01b3e6fd25
159 changed files with 3220 additions and 4256 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/CMakeLists.txt
+1 -2
View File
@@ -37,5 +37,4 @@ px4_add_module(
airspeed.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/batt_smbus/CMakeLists.txt
-1
View File
@@ -39,4 +39,3 @@ px4_add_module(
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/bmi160/bmi160.cpp
-4
View File
@@ -308,10 +308,6 @@ BMI160::accel_set_sample_rate(float frequency)
setbits |= BMI_ACCEL_RATE_25_16;
_accel_sample_rate = 25 / 16;
} else if (frequency <= 25 / 16) {
setbits |= BMI_ACCEL_RATE_25_16;
_accel_sample_rate = 25 / 16;
} else if (frequency <= 25 / 8) {
setbits |= BMI_ACCEL_RATE_25_8;
_accel_sample_rate = 25 / 8;
src/drivers/samv7/adc/module.mk → src/drivers/boards/CMakeLists.txt
+7 -10
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2015 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
@@ -31,14 +31,11 @@
#
############################################################################
#
# STM32 ADC driver
#
if (BOARD)
add_subdirectory(common)
add_subdirectory(${BOARD})
else()
message(FATAL_ERROR "BOARD not defined")
endif()
MODULE_COMMAND = adc
SRCS = adc.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/boards/aerocore/CMakeLists.txt
+1 -7
View File
@@ -32,17 +32,11 @@
############################################################################
px4_add_module(
MODULE drivers__boards__aerocore
COMPILE_FLAGS
SRCS
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
aerocore_init.c
aerocore_timer_config.c
aerocore_spi.c
aerocore_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/aerocore2/CMakeLists.txt
+1 -7
View File
@@ -32,12 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__aerocore2
COMPILE_FLAGS
SRCS
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
aerocore2_can.c
aerocore2_init.c
aerocore2_timer_config.c
@@ -46,5 +41,4 @@ px4_add_module(
aerocore2_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/aerofc-v1/CMakeLists.txt
+1 -6
View File
@@ -33,16 +33,11 @@
############################################################################
px4_add_module(
MODULE drivers__boards__aerofc-v1
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
aerofc_init.c
aerofc_spi.c
aerofc_led.c
aerofc_timer_config.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/aerofc-v1/aerofc_init.c
-7
View File
@@ -397,10 +397,3 @@ __EXPORT int board_app_initialize(uintptr_t arg)
return OK;
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
#if defined(CONFIG_BOARD_RESET_ON_CRASH)
board_reset(0);
#endif
}
src/drivers/boards/aerofc-v1/board_config.h
+2
View File
@@ -150,6 +150,8 @@
#define MEMORY_CONSTRAINED_SYSTEM
#define CRASHDUMP_RESET_ONLY
__BEGIN_DECLS
/****************************************************************************************************
src/drivers/boards/auav-x21/CMakeLists.txt
+1 -8
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__auav-x21
COMPILE_FLAGS
SRCS
../common/board_crashdump.c
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
auav_can.c
auav_init.c
auav_timer_config.c
@@ -47,5 +41,4 @@ px4_add_module(
auav_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/common/CMakeLists.txt
+52
View File
@@ -0,0 +1,52 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
if (${OS} MATCHES "nuttx")
if (NOT ${LABEL} STREQUAL "bootloader")
px4_add_library(boards_common
board_crashdump.c
board_dma_alloc.c
board_gpio_init.c
)
add_dependencies(boards_common nuttx_build)
endif()
if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
add_subdirectory(kinetis)
elseif (${CONFIG_ARCH_CHIP} MATCHES "samv7")
add_subdirectory(samv7)
elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
add_subdirectory(stm32)
endif()
endif()
src/drivers/boards/common/board_crashdump.c
+8
View File
@@ -1,3 +1,5 @@
#ifdef CONFIG_BOARD_CRASHDUMP
#include <px4_config.h>
#include <px4_tasks.h>
@@ -21,8 +23,10 @@ static uint32_t *__attribute__((noinline)) __sdata_addr(void)
return &_sdata;
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
#ifndef CRASHDUMP_RESET_ONLY
/* We need a chunk of ram to save the complete context in.
* Since we are going to reboot we will use &_sdata
* which is the lowest memory and the amount we will save
@@ -162,7 +166,11 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint
up_lowputc('!');
}
#endif /* CRASHDUMP_RESET_ONLY */
#if defined(CONFIG_BOARD_RESET_ON_CRASH)
board_reset(0);
#endif
}
#endif /* CONFIG_BOARD_CRASHDUMP */
src/drivers/boards/common/kinetis/CMakeLists.txt
+39
View File
@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
px4_add_library(board_kinetis
board_identity.c
board_mcu_version.c
board_reset.c
)
add_dependencies(board_kinetis nuttx_build)
src/drivers/boards/common/samv7/CMakeLists.txt
+39
View File
@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
px4_add_library(board_samv7
board_identity.c
board_mcu_version.c
board_reset.c
)
add_dependencies(board_samv7 nuttx_build)
src/drivers/boards/common/stm32/CMakeLists.txt
+46
View File
@@ -0,0 +1,46 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
set(SRCS
board_identity.c
)
if (NOT ${LABEL} STREQUAL "bootloader")
list(APPEND SRCS
board_mcu_version.c
board_reset.c
)
endif()
px4_add_library(board_stm32 ${SRCS})
add_dependencies(board_stm32 nuttx_build)
src/drivers/boards/crazyflie/CMakeLists.txt
+1 -7
View File
@@ -33,16 +33,10 @@
px4_add_module(
MODULE drivers__boards__crazyflie
SRCS
../common/board_crashdump.c
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
crazyflie_init.c
crazyflie_usb.c
crazyflie_led.c
crazyflie_timer_config.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/eagle/CMakeLists.txt
+41
View File
@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__boards__sitl
COMPILE_FLAGS
SRCS
sitl_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/boards/eagle/board_config.h
+6 -2
View File
@@ -34,17 +34,21 @@
/**
* @file board_config.h
*
* EAGLE internal definitions
* SITL internal definitions
*/
#pragma once
#define BOARD_OVERRIDE_UUID "EAGLEID " // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
#define BOARD_OVERRIDE_UUID "EAGLE" // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
#define BOARD_NAME "EAGLE"
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define CONFIG_ARCH_BOARD_SITL 1
/*
* I2C busses
src/drivers/boards/eagle/sitl_led.c
+81
View File
@@ -0,0 +1,81 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file sitl_led.c
*
* sitl LED backend.
*/
#include <px4_config.h>
#include <px4_log.h>
#include <stdbool.h>
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static bool _led_state[2] = { false, false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1 || led == 0) {
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
src/drivers/boards/esc35-v1/CMakeLists.txt
+5 -27
View File
@@ -42,35 +42,13 @@ message(WARNING-"Configuraton is incomplete")
message(WARNING-"Configuraton is incomplete")
message(WARNING-"Configuraton is incomplete")
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
esc35_init.c
esc35_led.c
esc35_usb.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__esc35-v1
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
esc35_init.c
esc35_led.c
esc35_usb.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/esc35-v1/bootloader/CMakeLists.txt
+2 -26
View File
@@ -31,36 +31,12 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__esc35-v1__bootloader
COMPILE_FLAGS
SRCS
boot.c
led.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__esc35-v1__bootloader drivers_bootloaders)
src/drivers/boards/mindpx-v2/CMakeLists.txt
+1 -8
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__mindpx-v2
COMPILE_FLAGS
SRCS
../common/board_crashdump.c
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
mindpx_can.c
mindpx2_init.c
mindpx_timer_config.c
@@ -47,5 +41,4 @@ px4_add_module(
mindpx2_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/nxphlite-v3/CMakeLists.txt
+1 -8
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__nxphlite-v3
COMPILE_FLAGS
SRCS
../common/kinetis/board_identity.c
../common/kinetis/board_mcu_version.c
../common/kinetis/board_reset.c
../common/board_crashdump.c
../common/board_dma_alloc.c
nxphlite_autoleds.c
nxphlite_automount.c
nxphlite_can.c
@@ -50,5 +44,4 @@ px4_add_module(
nxphlite_usb.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/px4-same70xplained-v1/CMakeLists.txt
-7
View File
@@ -32,14 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4-same70xplained-v1
COMPILE_FLAGS
-Os
SRCS
../common/samv7/board_reset.c
../common/samv7/board_identity.c
../common/samv7/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
px4same70xplained_can.c
px4same70xplained_init.c
px4same70xplained_timer_config.c
src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt
+1 -5
View File
@@ -33,13 +33,9 @@
px4_add_module(
MODULE drivers__boards__px4-stm32f4discovery
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
px4discovery_init.c
px4discovery_usb.c
px4discovery_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c
-4
View File
@@ -192,7 +192,3 @@ __EXPORT int board_app_initialize(uintptr_t arg)
return OK;
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
}
src/drivers/boards/px4cannode-v1/CMakeLists.txt
+7 -32
View File
@@ -31,40 +31,15 @@
#
############################################################################
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/stm32/board_reset.c
px4cannode_can.c
px4cannode_buttons.c
px4cannode_init.c
px4cannode_led.c
px4cannode_spi.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__px4cannode-v1
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
px4cannode_can.c
px4cannode_buttons.c
px4cannode_init.c
px4cannode_led.c
px4cannode_spi.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/px4cannode-v1/bootloader/CMakeLists.txt
+2 -25
View File
@@ -31,36 +31,13 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__px4cannode-v1__bootloader
COMPILE_FLAGS
SRCS
boot.c
led.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__px4cannode-v1__bootloader drivers_bootloaders)
src/drivers/boards/px4esc-v1/CMakeLists.txt
+5 -30
View File
@@ -31,38 +31,13 @@
#
############################################################################
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
px4esc_init.c
px4esc_led.c
px4esc_usb.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__px4esc-v1
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
px4esc_init.c
px4esc_led.c
px4esc_usb.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt
+2 -26
View File
@@ -31,36 +31,12 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__px4esc-v1__bootloader
COMPILE_FLAGS
SRCS
boot.c
led.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__px4esc-v1__bootloader drivers_bootloaders)
src/drivers/boards/px4esc-v1/px4esc_init.c
-5
View File
@@ -205,8 +205,3 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
return result;
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
}
src/drivers/boards/px4flow-v2/CMakeLists.txt
+5 -28
View File
@@ -33,36 +33,13 @@
message(FATAL_ERROR Configuraton is incomplete")
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/stm32/board_reset.c
px4flow_init.c
px4flow_led.c
px4flow_can.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__px4flow-v2
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
px4flow_init.c
px4flow_led.c
px4flow_can.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/px4flow-v2/bootloader/CMakeLists.txt
+2 -26
View File
@@ -31,36 +31,12 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__px4flow-v2__bootloader
COMPILE_FLAGS
SRCS
boot.c
led.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__px4flow-v2__bootloader drivers_bootloaders)
src/drivers/boards/px4fmu-v2/CMakeLists.txt
-7
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4fmu-v2
COMPILE_FLAGS
SRCS
../common/board_crashdump.c
../common/board_dma_alloc.c
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
px4fmu_can.c
px4fmu2_init.c
px4fmu_timer_config.c
@@ -48,4 +42,3 @@ px4_add_module(
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
-154
View File
@@ -116,20 +116,6 @@ extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Private Data
****************************************************************************/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int hw_version = -1;
static int hw_revision = -1;
static char hw_type[4] = HW_VER_TYPE_INIT;
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
@@ -194,123 +180,6 @@ __EXPORT void board_on_reset(int status)
}
}
/************************************************************************************
* Name: determin_hw_version
*
* Description:
*
* This function looks at HW deltas to determine what the
* build is running on using the following criteria:
*
* MSN PB12 FMUv2 Cube MINI
* CAN2_RX CONECTOR MX30521 NC
* PU.PD 1,0 1,1 1,0
*
* LSN PB4 FMUv2 Cube MINI
* ACCEL_DRDY LSM303D NC NC
* PU.PD 0,0 1,0 1,0
* PB12:PB4
* ud ud
* 10 00 - 0x8 FMUv2
* 11 10 - 0xE Cube AKA V2.0
* 10 10 - 0xA PixhawkMini
*
* This will return OK on success and -1 on not supported
*
* hw_type Initial state is {'V','2',0, 0}
* V 2 - FMUv2
* V 3 0 - FMUv3 2.0
* V 3 1 - FMUv3 2.1 - not differentiateable,
* V 2 M - FMUv2 Mini
*
************************************************************************************/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int determin_hw_version(int *version, int *revision)
{
*revision = -1; /* unknown */
int rv = 0;
int pos = 0;
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB4 & ~GPIO_PUPD_MASK));
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
stm32_configgpio(HW_VER_PB4);
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
int votes = 16;
int ones[2] = {0, 0};
int zeros[2] = {0, 0};
while (votes--) {
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB12 & ~GPIO_PUPD_MASK));
up_udelay(10);
stm32_gpioread(HW_VER_PB12) ? ones[0]++ : zeros[0]++;
stm32_configgpio(HW_VER_PB12);
up_udelay(10);
stm32_gpioread(HW_VER_PB12) ? ones[1]++ : zeros[1]++;
}
if (ones[0] > zeros[0]) {
rv |= 1 << pos;
}
pos++;
if (ones[1] > zeros[1]) {
rv |= 1 << pos;
}
stm32_configgpio(HW_VER_PB4_INIT);
stm32_configgpio(HW_VER_PB12_INIT);
*version = rv;
return OK;
}
/************************************************************************************
* Name: board_get_hw_type_name
*
* Description:
* Optional returns a string defining the HW type
*
*
************************************************************************************/
__EXPORT const char *board_get_hw_type_name()
{
return (const char *) hw_type;
}
/************************************************************************************
* Name: board_get_hw_version
*
* Description:
* Optional returns a integer HW version
*
*
************************************************************************************/
__EXPORT int board_get_hw_version()
{
return HW_VER_SIMPLE(hw_version);
}
/************************************************************************************
* Name: board_get_hw_revision
*
* Description:
* Optional returns a integer HW revision
*
*
************************************************************************************/
__EXPORT int board_get_hw_revision()
{
return hw_revision;
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
/************************************************************************************
* Name: stm32_boardinitialize
*
@@ -404,29 +273,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
default:
case 0x8:
break;
case 0xE:
hw_type[1]++;
hw_type[2] = '0';
break;
case 0xA:
hw_type[2] = 'M';
break;
}
PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
/* Bring up the Sensor power */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
src/drivers/boards/px4fmu-v2/px4fmu_spi.c
-275
View File
@@ -82,30 +82,11 @@ static void stm32_spi1_initialize(void)
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
# else
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV2MINI == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_CS_PC1);
}
# endif
}
#endif // CONFIG_STM32_SPI1
@@ -118,23 +99,7 @@ static void stm32_spi1_initialize(void)
static void stm32_spi4_initialize(void)
{
stm32_configgpio(GPIO_SPI4_NSS_PE4);
# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
# else
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI4_CS_PB1);
stm32_configgpio(GPIO_SPI4_CS_PC13);
stm32_configgpio(GPIO_SPI4_CS_PC15);
}
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
}
# endif
}
#endif //CONFIG_STM32_SPI4
@@ -158,7 +123,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
{
/* SPI select is active low, so write !selected to select the device */
# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
@@ -199,124 +163,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
default:
break;
}
# else // defined(BOARD_HAS_VERSIONING)
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - V3 a V2 - V2M a - -
*/
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
# if defined(PX4_SPIDEV_ICM_20608)
case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_HMC:
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
}
break;
default:
break;
}
# endif // defined(BOARD_HAS_VERSIONING)
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -344,8 +190,6 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
@@ -363,88 +207,6 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
break;
}
# else // defined(BOARD_HAS_VERSIONING)
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - - - V3 !V2M V3 - - a
*/
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
# if defined(PX4_SPIDEV_ICM_20608)
case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_EXT_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BMI:
case PX4_SPIDEV_EXT_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
}
break;
default:
break;
}
# endif // defined(BOARD_HAS_VERSIONING)
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
@@ -489,32 +251,6 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
#if defined(BOARD_HAS_VERSIONING)
if (HW_VER_FMUV2 != board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
}
#endif
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
@@ -536,16 +272,5 @@ __EXPORT void board_spi_reset(int ms)
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if defined(BOARD_HAS_VERSIONING)
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
stm32_spi4_initialize();
}
#endif
stm32_spi1_initialize();
}
src/drivers/boards/px4fmu-v3/CMakeLists.txt
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__boards__px4fmu-v3
SRCS
px4fmu3_led.c
px4fmu3_init.c
px4fmu_can.c
px4fmu_spi.c
px4fmu_timer_config.c
px4fmu_usb.c
DEPENDS
platforms__common
)
src/drivers/boards/px4fmu-v3/px4fmu3_init.c
+687
View File
@@ -0,0 +1,687 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu2_init.c
*
* PX4FMUv2-specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include "platform/cxxinitialize.h"
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/hardfault_log.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Private Data
****************************************************************************/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int hw_version = -1;
static int hw_revision = -1;
static char hw_type[4] = HW_VER_TYPE_INIT;
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
}
/************************************************************************************
* Name: board_on_reset
*
* Description:
* Optionally provided function called on entry to board_system_reset
* It should perform any house keeping prior to the rest.
*
* status - 1 if resetting to boot loader
* 0 if just resetting
*
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
UNUSED(status);
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.
*
* We also delay the onset of the that 3.1 Ms pulse as boot. This has
* triggered some ESC to spin. By adding this delay here the reset
* is pushed out > 400 ms. So the ESC PWM input can not mistake
* the 3.1 Ms pulse as a valid PWM command.
*
* fixme:Establish in upstream NuttX an CONFIG_IO_INIT_STATE to
* the initialize the IO lines in the clock config.
*
*/
if (status >= 0) {
up_mdelay(400);
}
}
/************************************************************************************
* Name: determin_hw_version
*
* Description:
*
* This function looks at HW deltas to determine what the
* build is running on using the following criteria:
*
* MSN PB12 FMUv2 Cube MINI
* CAN2_RX CONECTOR MX30521 NC
* PU.PD 1,0 1,1 1,0
*
* LSN PB4 FMUv2 Cube MINI
* ACCEL_DRDY LSM303D NC NC
* PU.PD 0,0 1,0 1,0
* PB12:PB4
* ud ud
* 10 00 - 0x8 FMUv2
* 11 10 - 0xE Cube AKA V2.0
* 10 10 - 0xA PixhawkMini
*
* This will return OK on success and -1 on not supported
*
* hw_type Initial state is {'V','2',0, 0}
* V 2 - FMUv2
* V 3 0 - FMUv3 2.0
* V 3 1 - FMUv3 2.1 - not differentiateable,
* V 2 M - FMUv2 Mini
*
************************************************************************************/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int determin_hw_version(int *version, int *revision)
{
*revision = -1; /* unknown */
int rv = 0;
int pos = 0;
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB4 & ~GPIO_PUPD_MASK));
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
stm32_configgpio(HW_VER_PB4);
up_udelay(10);
rv |= stm32_gpioread(HW_VER_PB4) << pos++;
int votes = 16;
int ones[2] = {0, 0};
int zeros[2] = {0, 0};
while (votes--) {
stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB12 & ~GPIO_PUPD_MASK));
up_udelay(10);
stm32_gpioread(HW_VER_PB12) ? ones[0]++ : zeros[0]++;
stm32_configgpio(HW_VER_PB12);
up_udelay(10);
stm32_gpioread(HW_VER_PB12) ? ones[1]++ : zeros[1]++;
}
if (ones[0] > zeros[0]) {
rv |= 1 << pos;
}
pos++;
if (ones[1] > zeros[1]) {
rv |= 1 << pos;
}
stm32_configgpio(HW_VER_PB4_INIT);
stm32_configgpio(HW_VER_PB12_INIT);
*version = rv;
return OK;
}
/************************************************************************************
* Name: board_get_hw_type_name
*
* Description:
* Optional returns a string defining the HW type
*
*
************************************************************************************/
__EXPORT const char *board_get_hw_type_name()
{
return (const char *) hw_type;
}
/************************************************************************************
* Name: board_get_hw_version
*
* Description:
* Optional returns a integer HW version
*
*
************************************************************************************/
__EXPORT int board_get_hw_version()
{
return HW_VER_SIMPLE(hw_version);
}
/************************************************************************************
* Name: board_get_hw_revision
*
* Description:
* Optional returns a integer HW revision
*
*
************************************************************************************/
__EXPORT int board_get_hw_revision()
{
return hw_revision;
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
/************************************************************************************
* 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.
*
************************************************************************************/
__EXPORT void
stm32_boardinitialize(void)
{
board_on_reset(-1);
/* configure LEDs */
board_autoled_initialize();
/* Start with the Sensor voltage off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_USB_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* configure SPI interfaces is deferred to board_app_initialize
* to delay the sensor power up with out adding a delay
*/
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi2;
static struct spi_dev_s *spi4;
static struct sdio_dev_s *sdio;
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
default:
case 0x8:
break;
case 0xE:
hw_type[1]++;
hw_type[2] = '0';
break;
case 0xA:
hw_type[2] = 'M';
break;
}
PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
/* Bring up the Sensor power */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);
/* Now it is ok to drive the pins high so configure SPI GPIO */
stm32_spiinitialize();
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
#if defined(CONFIG_STM32_BBSRAM)
if (hardfault_check_status) {
/* NB. the use of the console requires the hrt running
* to poll the DMA
*/
/* Using Battery Backed Up SRAM */
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
/* Panic Logging in Battery Backed Up Files */
/*
* In an ideal world, if a fault happens in flight the
* system save it to BBSRAM will then reboot. Upon
* rebooting, the system will log the fault to disk, recover
* the flight state and continue to fly. But if there is
* a fault on the bench or in the air that prohibit the recovery
* or committing the log to disk, the things are too broken to
* fly. So the question is:
*
* Did we have a hard fault and not make it far enough
* through the boot sequence to commit the fault data to
* the SD card?
*/
/* Do we have an uncommitted hard fault in BBSRAM?
* - this will be reset after a successful commit to SD
*/
int hadCrash = hardfault_check_status("boot");
if (hadCrash == OK) {
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
" while booting to halt the system!\n");
/* Yes. So add one to the boot count - this will be reset after a successful
* commit to SD
*/
int reboots = hardfault_increment_reboot("boot", false);
/* Also end the misery for a user that holds for a key down on the console */
int bytesWaiting;
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
if (reboots > 2 || bytesWaiting != 0) {
/* Since we can not commit the fault dump to disk. Display it
* to the console.
*/
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
reboots,
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
/* For those of you with a debugger set a break point on up_assert and
* then set dbgContinue = 1 and go.
*/
/* Clear any key press that got us here */
static volatile bool dbgContinue = false;
int c = '>';
while (!dbgContinue) {
switch (c) {
case EOF:
case '\n':
case '\r':
case ' ':
continue;
default:
putchar(c);
putchar('\n');
switch (c) {
case 'D':
case 'd':
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
break;
case 'C':
case 'c':
hardfault_rearm("boot");
hardfault_increment_reboot("boot", true);
break;
case 'B':
case 'b':
dbgContinue = true;
break;
default:
break;
} // Inner Switch
message("\nEnter B - Continue booting\n" \
"Enter C - Clear the fault log\n" \
"Enter D - Dump fault log\n\n?>");
fflush(stdout);
if (!dbgContinue) {
c = getchar();
}
break;
} // outer switch
} // for
} // inner if
} // outer if
} // hardfault_check_status
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
if (!spi4) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI4 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
src/drivers/boards/px4fmu-v3/px4fmu3_led.c
+96
View File
@@ -0,0 +1,96 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file px4fmu2_led.c
*
* PX4FMU LED backend.
*/
#include <px4_config.h>
#include <stdbool.h>
#include "stm32.h"
#include "board_config.h"
#include <arch/board/board.h>
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
__EXPORT void led_init()
{
/* Configure LED1 GPIO for output */
stm32_configgpio(GPIO_LED1);
}
__EXPORT void led_on(int led)
{
if (led == 1) {
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
}
__EXPORT void led_off(int led)
{
if (led == 1) {
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1) {
if (stm32_gpioread(GPIO_LED1)) {
stm32_gpiowrite(GPIO_LED1, false);
} else {
stm32_gpiowrite(GPIO_LED1, true);
}
}
}
src/drivers/boards/px4fmu-v3/px4fmu_can.c
+130
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@@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "board_config.h"
#ifdef CONFIG_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
int can_devinit(void);
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
canerr("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif
src/drivers/boards/px4fmu-v3/px4fmu_spi.c
+551
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@@ -0,0 +1,551 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
#include <systemlib/err.h>
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
#ifdef CONFIG_STM32_SPI1
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V2 v2 V2 V3 a V2 V2M V2x a a 4
*/
static void stm32_spi1_initialize(void)
{
stm32_configgpio(GPIO_SPI1_CS_PC2);
stm32_configgpio(GPIO_SPI1_CS_PD7);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
# else
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV2MINI == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_CS_PC1);
}
# endif
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI4
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V3 V3 - V3 a V3 V23 V3 - -
*/
static void stm32_spi4_initialize(void)
{
stm32_configgpio(GPIO_SPI4_NSS_PE4);
# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
# else
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI4_CS_PB1);
stm32_configgpio(GPIO_SPI4_CS_PC13);
stm32_configgpio(GPIO_SPI4_CS_PC15);
}
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
}
# endif
}
#endif //CONFIG_STM32_SPI4
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_spi1_initialize();
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI2_CS_PD10);
#endif
#ifdef CONFIG_STM32_SPI4
stm32_spi4_initialize();
#endif
}
#ifdef CONFIG_STM32_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;
# if defined(PX4_SPIDEV_ICM_20608)
case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
break;
default:
break;
}
# else // defined(BOARD_HAS_VERSIONING)
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - V3 a V2 - V2M a - -
*/
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
# if defined(PX4_SPIDEV_ICM_20608)
case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_HMC:
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
}
break;
default:
break;
}
# endif // defined(BOARD_HAS_VERSIONING)
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI2_CS_PD10, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
break;
case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
break;
default:
break;
}
# else // defined(BOARD_HAS_VERSIONING)
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - - - V3 !V2M V3 - - a
*/
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
# if defined(PX4_SPIDEV_ICM_20608)
case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_EXT_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BMI:
case PX4_SPIDEV_EXT_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
}
break;
default:
break;
}
# endif // defined(BOARD_HAS_VERSIONING)
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI4
/* V2, V2M SPI1 All signals SPI4, V3 ALL signals */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* local A A A A A A V3 A A !V2 A A A V3 V3 V3 V3
*/
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC2));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC13));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC15));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PD7));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC2), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC13), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC15), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PD7), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MOSI), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
#if defined(BOARD_HAS_VERSIONING)
if (HW_VER_FMUV2 != board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
}
#endif
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if defined(BOARD_HAS_VERSIONING)
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
stm32_spi4_initialize();
}
#endif
stm32_spi1_initialize();
}
src/drivers/boards/px4fmu-v3/px4fmu_timer_config.c
+126
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@@ -0,0 +1,126 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file px4fmu_timer_config.c
*
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 5,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM4_CH2OUT,
.gpio_in = GPIO_TIM4_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};
src/drivers/boards/px4fmu-v3/px4fmu_usb.c
+107
View File
@@ -0,0 +1,107 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <up_arch.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);
}
src/drivers/boards/px4fmu-v4/CMakeLists.txt
+1 -8
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4fmu-v4
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
px4fmu_can.c
px4fmu_init.c
px4fmu_timer_config.c
@@ -47,5 +41,4 @@ px4_add_module(
px4fmu_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/px4fmu-v4pro/CMakeLists.txt
+1 -8
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4fmu-v4pro
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
px4fmu_can.c
px4fmu_init.c
px4fmu_timer_config.c
@@ -47,5 +41,4 @@ px4_add_module(
px4fmu_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/px4fmu-v5/CMakeLists.txt
+1 -8
View File
@@ -32,14 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4fmu-v5
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
../common/board_gpio_init.c
# WIP px4fmu_can.c
px4fmu_init.c
px4fmu_sdio.c
@@ -49,4 +42,4 @@ px4_add_module(
px4fmu_led.c
DEPENDS
platforms__common
)
)
src/drivers/boards/px4io-v2/CMakeLists.txt
+3 -5
View File
@@ -32,11 +32,9 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4io-v2
COMPILE_FLAGS
SRCS
px4iov2_init.c
px4iov2_timer_config.c
px4io_init.c
px4io_timer_config.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/px4io-v2/board_config.h
+2
View File
@@ -47,6 +47,8 @@
#include <nuttx/compiler.h>
#include <stdint.h>
#include "../common/board_common.h"
/******************************************************************************
* Definitions
******************************************************************************/
src/drivers/boards/px4nucleoF767ZI-v1/CMakeLists.txt
+1 -7
View File
@@ -32,13 +32,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__px4nucleoF767ZI-v1
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
# WIP px4nucleo_can.c
px4nucleo_init.c
px4nucleo_sdio.c
@@ -48,4 +42,4 @@ px4_add_module(
px4nucleo_led.c
DEPENDS
platforms__common
)
)
src/drivers/boards/s2740vc-v1/CMakeLists.txt
+4 -27
View File
@@ -42,35 +42,12 @@ message(WARNING-"Configuraton is incomplete")
message(WARNING-"Configuraton is incomplete")
message(WARNING-"Configuraton is incomplete")
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/stm32/board_reset.c
s2740vc_init.c
s2740vc_can.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__s2740vc-v1
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
s2740vc_init.c
s2740vc_can.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/s2740vc-v1/bootloader/CMakeLists.txt
+2 -26
View File
@@ -31,35 +31,11 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__s2740vc-v1__bootloader
COMPILE_FLAGS
SRCS
boot.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__s2740vc-v1__bootloader drivers_bootloaders)
src/drivers/boards/tap-v1/CMakeLists.txt
+1 -8
View File
@@ -33,13 +33,7 @@
############################################################################
px4_add_module(
MODULE drivers__boards__tap-v1
COMPILE_FLAGS
SRCS
../common/stm32/board_reset.c
../common/stm32/board_identity.c
../common/stm32/board_mcu_version.c
../common/board_crashdump.c
../common/board_dma_alloc.c
tap_init.c
tap_pwr.c
tap_sdio.c
@@ -49,5 +43,4 @@ px4_add_module(
tap_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/boards/zubaxgnss-v1/CMakeLists.txt
+4 -27
View File
@@ -33,35 +33,12 @@
message(FATAL_ERROR Configuraton is incomplete")
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/stm32/board_reset.c
zubax_gnss_init.c
zubax_gnss_led.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__zubaxgnss-v1
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
zubax_gnss_init.c
zubax_gnss_led.c
DEPENDS
platforms__common
)
include_directories(bootloader)
src/drivers/boards/zubaxgnss-v1/bootloader/CMakeLists.txt
+2 -26
View File
@@ -31,36 +31,12 @@
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__zubaxgnss-v1__bootloader
COMPILE_FLAGS
SRCS
boot.c
led.c
../../common/stm32/board_identity.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/common/nuttx_stubs.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
nuttx_build
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
target_link_libraries(drivers__boards__zubaxgnss-v1__bootloader drivers_bootloaders)
src/drivers/bootloaders/CMakeLists.txt
+48
View File
@@ -0,0 +1,48 @@
############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
px4_add_library(drivers_bootloaders
src/arch/stm32/drivers/can/driver.c
src/common/boot_app_shared.c
src/common/nuttx_stubs.c
src/fs/flash.c
src/protocol/uavcan.c
src/sched/timer.c
src/uavcan/main.c
src/util/crc.c
src/util/random.c
)
add_dependencies(drivers_bootloaders nuttx_build)
include_directories(include)
target_include_directories(drivers_bootloaders INTERFACE include)
src/drivers/bootloaders/include/uavcan.h
+1 -1
View File
@@ -111,7 +111,7 @@
#include "bitminip.h"
#include "can.h"
#include "px4_macros.h"
#include "systemlib/px4_macros.h"
/****************************************************************************
* Pre-processor Definitions
src/drivers/bootloaders/src/arch/stm32/drivers/can/driver.c
+1 -1
View File
@@ -53,7 +53,7 @@
#include "nvic.h"
#include "board.h"
#include "px4_macros.h"
#include "systemlib/px4_macros.h"
#include "can.h"
#include "crc.h"
#include "timer.h"
src/drivers/bootloaders/src/sched/timer.c
+1 -1
View File
@@ -54,7 +54,7 @@
#include <arch/irq.h>
#include <arch/board/board.h>
#include "px4_macros.h"
#include "systemlib/px4_macros.h"
#include "timer.h"
#include "nvic.h"
src/drivers/device/CMakeLists.txt
+11 -9
View File
@@ -39,13 +39,15 @@ list(APPEND SRCS
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
device_nuttx.cpp
cdev.cpp
i2c_nuttx.cpp
spi.cpp
)
list(APPEND SRCS
device_nuttx.cpp
cdev.cpp
)
if ("${CONFIG_I2C}" STREQUAL "y")
list(APPEND SRCS i2c_nuttx.cpp)
endif()
if ("${CONFIG_SPI}" STREQUAL "y")
list(APPEND SRCS spi.cpp)
endif()
else()
list(APPEND SRCS
@@ -56,6 +58,7 @@ else()
i2c_posix.cpp
sim.cpp
)
endif()
px4_add_module(
@@ -63,5 +66,4 @@ px4_add_module(
SRCS ${SRCS}
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
)
src/drivers/px4io/CMakeLists.txt
+25 -1
View File
@@ -42,4 +42,28 @@ px4_add_module(
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
# include the px4io binary in ROMFS
message(STATUS "Building and including ${config_io_board}")
set(fw_io_exe "${PX4_SOURCE_DIR}/build/${config_io_board}_default/nuttx_${config_io_board}_default.elf")
set(fw_io_bin "${PX4_BINARY_DIR}/ROMFS/${config_romfs_root}/extras/${config_io_board}.bin")
file(GLOB_RECURSE px4io_driver_files ${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/*)
file(GLOB_RECURSE px4io_config_files ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/configs/${config_io_board}/*)
file(GLOB_RECURSE px4io_firmware_files ${PX4_SOURCE_DIR}/src/modules/px4iofirmware/*)
file(GLOB_RECURSE px4io_rc_files ${PX4_SOURCE_DIR}/src/lib/rc/*)
add_custom_command(OUTPUT ${fw_io_exe}
COMMAND make --no-print-directory ${config_io_board}_default
DEPENDS ${px4io_driver_files} ${px4io_config_files} ${px4io_firmware_files} ${px4io_rc_files}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Building ${config_io_board}"
USES_TERMINAL
)
add_custom_command(OUTPUT ${fw_io_bin}
COMMAND mkdir -p ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root}/extras/
COMMAND ${OBJCOPY} -O binary ${fw_io_exe} ${fw_io_bin}
DEPENDS ${fw_io_exe}
COMMENT "Copying ${config_io_board} to ROMFS extras"
)
add_custom_target(copy_px4io_bin DEPENDS ${fw_io_bin})
src/firmware/nuttx/CMakeLists.txt
+123 -157
View File
@@ -1,175 +1,141 @@
include(common/px4_upload)
px4_nuttx_generate_builtin_commands(
OUT builtin_commands.c
MODULE_LIST
${module_libraries}
${config_extra_builtin_cmds}
)
# add executable
add_executable(firmware_nuttx
builtin_commands.c)
set(fw_name ${CONFIG}.elf)
add_executable(${fw_name} ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/src/empty.c)
get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx/nuttx-export)
# build NuttX
add_subdirectory(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX ${PX4_BINARY_DIR}/NuttX)
set(link_libs
apps nuttx m gcc
# Bootloaders use a different ld file, a separate startup file
# and need to override the os version of sched_process_timer
if ("${nuttx_config_type}" STREQUAL "bootloader")
target_link_libraries(${fw_name}
-T${PX4_BINARY_DIR}/NuttX/nuttx/configs/${BOARD}/scripts/bootloaderld.script
-Wl,-Map=${PX4_BINARY_DIR}/${CONFIG}.map
-Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${module_libraries}
nuttx_arch
nuttx_board
nuttx_c
nuttx_sched
nuttx_startup
-Wl,--end-group
)
else()
target_link_libraries(${fw_name}
-T${PX4_BINARY_DIR}/NuttX/nuttx/configs/${BOARD}/scripts/ld.script
-Wl,-Map=${PX4_BINARY_DIR}/${CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${module_libraries}
nuttx_apps
nuttx_arch
nuttx_binfmt
nuttx_binfmt
nuttx_board
nuttx_c
nuttx_configs
nuttx_cxx
nuttx_drivers
nuttx_fs
nuttx_mm
nuttx_sched
-Wl,--end-group
m
gcc
)
endif()
if (config_romfs_root)
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
target_link_libraries(${fw_name} romfs)
if (config_io_board)
add_dependencies(romfs copy_px4io_bin)
endif()
endif()
# create px4 file (combined firmware and metadata)
#
# Bootloaders do not need .px4 or xml
if("${nuttx_config_type}" STREQUAL "nsh" AND NOT ${CONFIG} MATCHES "px4io")
set(fw_file ${PX4_BINARY_DIR}/${CONFIG}.px4)
add_custom_command(OUTPUT ${BOARD}.bin
COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR}/${fw_name} ${BOARD}.bin
DEPENDS ${fw_name}
)
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.px4
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
--image ${BOARD}.bin > ${fw_file}
DEPENDS ${BOARD}.bin parameters_xml airframes_xml
COMMENT "Creating ${CONFIG}.px4"
)
add_custom_target(px4 ALL DEPENDS ${PX4_BINARY_DIR}/${CONFIG}.px4)
# upload helper
if (${BOARD} STREQUAL "aerofc-v1")
px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE ${fw_file})
else()
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE ${fw_file})
endif()
endif()
# print size
add_custom_target(size
COMMAND size ${fw_name}
DEPENDS ${fw_name}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
if("${romfs_used}" STREQUAL "y")
list(APPEND link_libs romfs)
endif()
#
# Bootloaders use a different ld file, a seperate startup file
# and need to override the os version of sched_process_timer
#
set(startup_libs)
if("${config_nuttx_config}" STREQUAL "bootloader")
set(nuttx_ld_prefix "bootloader")
set(nuttx_bootloader_wrapers "-Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait")
endif()
if(NOT "${nuttx_startup_files}" STREQUAL "" )
set(nuttx_startup_files ${nuttx_export_dir}/startup/${nuttx_startup_files})
add_custom_command(OUTPUT
${nuttx_startup_files}
DEPENDS nuttx_export_${BOARD})
set_source_files_properties(
${nuttx_startup_files}
PROPERTIES
EXTERNAL_OBJECT true
GENERATED true)
add_library(startup
${nuttx_startup_files})
set_target_properties(startup
PROPERTIES
LINKER_LANGUAGE C)
list(APPEND startup_libs startup)
endif()
if(NOT ${BOARD} STREQUAL "sim")
set(main_link_flags
"-T${nuttx_export_dir}/build/${nuttx_ld_prefix}ld.script"
"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
endif()
target_link_libraries(firmware_nuttx
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${startup_libs}
${module_libraries}
${df_driver_libs}
${nuttx_bootloader_wrapers}
${link_libs}
-Wl,--end-group)
# print weak symbols
add_custom_target(check_weak
COMMAND ${NM} firmware_nuttx | ${GREP} " w " | cat
DEPENDS firmware_nuttx
COMMAND ${NM} ${fw_name} | ${GREP} " w " | cat
DEPENDS ${fw_name}
VERBATIM
)
if(NOT ${BOARD} STREQUAL "sim")
# debugger helpers
configure_file(gdbinit.in .gdbinit)
if ("${romfs_used}" STREQUAL "y")
add_custom_target(debug
COMMAND ${GDB} $<TARGET_FILE:${fw_name}>
DEPENDS ${fw_name} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
if (config_io_board)
set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
endif()
add_custom_target(debug_tui
COMMAND ${GDBTUI} $<TARGET_FILE:${fw_name}>
DEPENDS ${fw_name} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
message(STATUS "Adding ROMFS on ${BOARD}")
px4_nuttx_add_romfs(OUT romfs
ROOT ROMFS/${config_romfs_root}
EXTRAS ${extras}
)
if (config_io_board)
add_dependencies(romfs fw_io)
endif()
endif()
add_custom_target(debug_ddd
COMMAND ${DDD} --debugger ${GDB} $<TARGET_FILE:${fw_name}>
DEPENDS ${fw_name} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
set(fw_file
${CMAKE_CURRENT_BINARY_DIR}/${BOARD}_${LABEL}.px4)
add_custom_target(debug_io
COMMAND ${GDB} ${fw_io_path}
DEPENDS ${fw_name} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
#
# Bootloaders do not need .px4 or xml
#
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
)
endif()
add_custom_target(debug_io_tui
COMMAND ${GDBTUI} ${fw_io_path}
DEPENDS ${fw_name} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
configure_file(gdbinit.in .gdbinit)
add_custom_target(debug
COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_tui
COMMAND ${GDBTUI} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_ddd
COMMAND ${DDD} --debugger ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io
COMMAND ${GDB}
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_tui
COMMAND ${GDBTUI}
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_ddd
COMMAND ${DDD} --debugger ${GDB}
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
if ("${BOARD}" STREQUAL "aerofc-v1")
px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
else()
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
endif()
endif()
endif()
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
install(FILES ${fw_file} DESTINATION .)
endif()
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
add_custom_target(debug_io_ddd
COMMAND ${DDD} --debugger ${GDB} ${fw_io_path}}
DEPENDS ${fw_io} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
src/firmware/posix/CMakeLists.txt
+6 -8
View File
@@ -2,6 +2,8 @@ include (common/px4_upload)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
px4_posix_generate_builtin_commands(
OUT apps
MODULE_LIST ${module_libraries})
@@ -12,7 +14,6 @@ set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
set(UPLOAD_NAME upload)
if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
include(fastrpc)
include(linux_app)
@@ -140,12 +141,9 @@ install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
add_custom_target(strip
DEPENDS "${APP_NAME}.stripped"
)
add_custom_target(strip DEPENDS "${APP_NAME}.stripped")
add_custom_command(OUTPUT "${APP_NAME}.stripped"
add_custom_command(OUTPUT ${APP_NAME}.stripped
COMMAND ${STRIP_TOOL} -R .comment -R .gnu.version -o $<TARGET_FILE:px4>.stripped $<TARGET_FILE:px4>
DEPENDS px4)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
DEPENDS px4
)
src/firmware/posix/sitl_target.cmake
+4 -3
View File
@@ -1,7 +1,6 @@
function(px4_add_sitl_app)
px4_parse_function_args(
NAME px4_add_sitl_app
px4_parse_function_args(NAME px4_add_sitl_app
ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
REQUIRED APP_NAME MAIN_SRC
ARGN ${ARGN}
@@ -27,7 +26,6 @@ px4_parse_function_args(
pthread m
)
endif()
endfunction()
#=============================================================================
@@ -63,6 +61,9 @@ add_custom_target(run_config
DEPENDS px4 logs_symlink
)
# Add support for external project building
include(ExternalProject)
# project to build sitl_gazebo if necessary
ExternalProject_Add(sitl_gazebo
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
src/firmware/qurt/CMakeLists.txt
+3 -8
View File
@@ -9,6 +9,8 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
px4_qurt_generate_builtin_commands(
OUT ${PX4_BINARY_DIR}/apps
MODULE_LIST ${module_libraries})
@@ -29,15 +31,10 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
target_link_libraries(px4
-Wl,--start-group
${module_libraries}
${target_libraries}
${df_driver_libs}
${df_driver_libs}
-Wl,--end-group
)
else()
#message("module_libraries = ${module_libraries}")
#message("target_libraries = ${target_libraries}")
#message("df_driver_libs = ${df_driver_libs}")
#message("module_external_libraries = ${module_external_libraries}")
# Generate the DSP lib and stubs but not the apps side executable
# The Apps side executable is generated via the posix_eagle_xxxx target
QURT_LIB(LIB_NAME px4
@@ -46,10 +43,8 @@ else()
${PX4_BINARY_DIR}/apps.cpp
LINK_LIBS
${module_libraries}
${target_libraries}
${df_driver_libs}
m
${module_external_libraries}
)
px4_add_adb_push(OUT upload
src/lib/version/CMakeLists.txt
+32
View File
@@ -30,6 +30,38 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
# check if px4 source is a git repo
if (EXISTS ${PX4_SOURCE_DIR}/.git)
if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
# standard git repo
set(git_dir_path ${PX4_SOURCE_DIR}/.git)
else()
# git submodule
file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
string(STRIP ${git_dir_path} git_dir_path)
string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
endif()
else()
message(FATAL_ERROR "is not a git repository")
endif()
if(NOT IS_DIRECTORY "${git_dir_path}")
message(FATAL_ERROR "${git_dir_path} is not a directory")
endif()
set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
add_custom_command(OUTPUT ${px4_git_ver_header}
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
DEPENDS
${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
${git_dir_path}/HEAD
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating git hash header"
)
set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
px4_add_module(
MODULE lib__version
COMPILE_FLAGS
src/lib/version/px_update_git_header.py
Executable
+73
View File
@@ -0,0 +1,73 @@
#!/usr/bin/env python
from __future__ import print_function
import os
import sys
import subprocess
import re
filename = sys.argv[1]
try:
fp_header = open(filename, 'r')
old_header = fp_header.read()
except:
old_header = ''
git_tag = subprocess.check_output('git describe --always --tags --dirty'.split(),
stderr=subprocess.STDOUT).decode('utf-8').strip()
git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
stderr=subprocess.STDOUT).decode('utf-8').strip()
try:
git_branch_name = subprocess.check_output('git symbolic-ref -q --short HEAD'.split(),
stderr=subprocess.STDOUT).decode('utf-8').strip()
except:
git_branch_name = ''
git_version_short = git_version[0:16]
if (os.path.exists('platforms/nuttx/NuttX/nuttx')):
nuttx_git_tag = subprocess.check_output('git describe --always --tags --match nuttx-* --dirty'.split(),
cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip().replace("nuttx-","v")
nuttx_git_tag = re.sub('-.*','.0',nuttx_git_tag)
nuttx_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip()
nuttx_git_version_short = nuttx_git_version[0:16]
else:
nuttx_git_version = "0000000"
nuttx_git_version_short = "0000000"
nuttx_git_tag = "v0.0.0"
mavlink_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
cwd='mavlink/include/mavlink/v2.0', stderr=subprocess.STDOUT).decode('utf-8').strip()
mavlink_git_version_short = mavlink_git_version[0:16]
# Generate the header file content
header = """
/* Auto Magically Generated file */
/* Do not edit! */
#pragma once
#define PX4_GIT_VERSION_STR "{git_version}"
#define PX4_GIT_VERSION_BINARY 0x{git_version_short}
#define PX4_GIT_TAG_STR "{git_tag}"
#define PX4_GIT_BRANCH_NAME "{git_branch_name}"
#define NUTTX_GIT_VERSION_STR "{nuttx_git_version}"
#define NUTTX_GIT_VERSION_BINARY 0x{nuttx_git_version_short}
#define NUTTX_GIT_TAG_STR "{nuttx_git_tag}"
#define MAVLINK_LIB_GIT_VERSION_STR "{mavlink_git_version}"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x{mavlink_git_version_short}
""".format(git_tag=git_tag,
git_version=git_version,
git_version_short=git_version_short,
git_branch_name=git_branch_name,
nuttx_git_version=nuttx_git_version,
nuttx_git_version_short=nuttx_git_version_short,
nuttx_git_tag=nuttx_git_tag,
mavlink_git_version=mavlink_git_version,
mavlink_git_version_short=mavlink_git_version_short)
if old_header != header:
print('Updating header {}'.format(sys.argv[1]))
fp_header = open(filename, 'w')
fp_header.write(header)
src/lib/version/version.c
+1 -1
View File
@@ -33,7 +33,7 @@
#include "version.h"
#include "build_git_version.h" //generated from build_git_version.h.in
#include "build_git_version.h"
#include <string.h>
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+72 -73
View File
@@ -33,88 +33,87 @@
if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
find_program(FASTRTPSGEN fastrtpsgen
PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(WARNING "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
return()
endif()
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
return()
endif()
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)
# Do not delete everything in the current dir
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
# Do not delete everything in the current dir
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
${msg_out_path}/microRTPS_transport.cpp
${msg_out_path}/microRTPS_client.cpp
microRTPS_client_main.cpp
DEPENDS
platforms__common
topic_bridge_files
)
endif()
endif()
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
microRTPS_transport.cpp
microRTPS_client.cpp
microRTPS_client.h
microRTPS_client_main.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
endif()
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+2 -1
View File
@@ -35,15 +35,16 @@
#include <cinttypes>
#include <cstdio>
#include <cstdlib>
#include <ctime>
#include <termios.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <px4_module.h>
extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
src/modules/px4iofirmware/CMakeLists.txt
+14 -107
View File
@@ -31,112 +31,19 @@
#
############################################################################
# kill all flags above us, this is a different board (io)
set_directory_properties(PROPERTIES
INCLUDE_DIRECTORIES ""
LINK_DIRECTORIES ""
COMPILE_DEFINITIONS ""
)
set(c_flags)
set(exe_linker_flags)
set(cxx_flags)
set(optimization_flags)
set(include_dirs)
set(link_dirs)
set(definitions)
px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
px4_os_prebuild_targets(OUT io_prebuild_targets
BOARD ${config_io_board}
THREADS ${THREADS})
px4_os_add_flags(
BOARD ${config_io_board}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
OPTIMIZATION_FLAGS optimization_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
include_directories(
${include_dirs}
${PX4_BINARY_DIR}/src/modules/systemlib/mixer
)
link_directories(${link_dirs})
add_definitions(${definitions})
set(srcs
${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_init.c
${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_timer_config.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_hrt.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_io_timer.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_pwm_servo.c
${PX4_SOURCE_DIR}/src/lib/rc/dsm.cpp
${PX4_SOURCE_DIR}/src/lib/rc/sbus.cpp
${PX4_SOURCE_DIR}/src/lib/rc/st24.cpp
${PX4_SOURCE_DIR}/src/lib/rc/sumd.cpp
${PX4_SOURCE_DIR}/src/lib/rc/common_rc.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_group.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_helicopter.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_multirotor.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_simple.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/perf_counter.c
${PX4_SOURCE_DIR}/src/modules/systemlib/pwm_limit/pwm_limit.c
adc.c
controls.c
mixer.cpp
px4io.c
registers.c
safety.c
)
if(${config_io_board} STREQUAL "px4io-v2")
list(APPEND srcs
px4_add_module(
MODULE modules__px4iofirmware
SRCS
../systemlib/hx_stream.c
../systemlib/perf_counter.c
../systemlib/pwm_limit/pwm_limit.c
adc.c
controls.c
mixer.cpp
px4io.c
registers.c
safety.c
serial.c
${PX4_SOURCE_DIR}/src/modules/systemlib/hx_stream.c
)
endif()
set(fw_io_name ${config_io_board})
add_executable(${fw_io_name} ${srcs})
add_dependencies(${fw_io_name}
io_prebuild_targets
mixer_gen
msg_gen
nuttx_export_${config_io_board}
DEPENDS
platforms__common
)
set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
target_link_libraries(${fw_io_name}
-Wl,--start-group
apps nuttx nosys m gcc
${config_io_extra_libs}
-Wl,--end-group
)
px4_nuttx_create_bin(
OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
EXE ${fw_io_name}
)
add_custom_target(fw_io DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/systemlib/px4_macros.h
+1 -1
View File
@@ -96,7 +96,7 @@
#if !defined(CCASSERT)
#if defined(static_assert)
# define CCASSERT(predicate) static_assert(predicate)
# define CCASSERT(predicate) static_assert(predicate, STRINGIFY(predicate))
# else
# define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__)
# if !defined(_x_CCASSERT_LINE)
src/modules/uORB/CMakeLists.txt
+9 -18
View File
@@ -32,29 +32,20 @@
############################################################################
# this includes the generated topics directory
include_directories(
${CMAKE_CURRENT_BINARY_DIR}
)
link_libraries(msg_gen)
set(SRCS
uORBUtils.cpp
uORB.cpp
uORBMain.cpp
Publication.cpp
Subscription.cpp
uORBManager.cpp
uORBDevices.cpp
)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_add_module(
MODULE modules__uORB
MAIN uorb
STACK_MAIN 2100
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
Publication.cpp
Subscription.cpp
uORB.cpp
uORBDevices.cpp
uORBMain.cpp
uORBManager.cpp
uORBUtils.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcan/CMakeLists.txt
+4
View File
@@ -34,6 +34,10 @@
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
if(NOT config_uavcan_num_ifaces)
message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()
string(TOUPPER "${OS}" OS_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
src/modules/uavcanesc/CMakeLists.txt
+11 -15
View File
@@ -46,22 +46,19 @@ add_definitions(
-DUAVCAN_STM32_TIMER_NUMBER=2
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_subdirectory(../uavcan/libuavcan uavcanesc_libuavcan)
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan)
add_dependencies(uavcan platforms__nuttx)
include_directories(../../drivers/bootloaders/include)
include_directories(../uavcan/libuavcan/libuavcan/include)
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
include_directories(../systemlib/flashparams)
include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders/include)
include_directories(${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/stm32/driver/include)
px4_add_module(
MODULE modules__uavcanesc
@@ -76,9 +73,8 @@ px4_add_module(
indication_controller.cpp
led.cpp
uavcanesc_params.c
../systemlib/flashparams/flashparams.c
../systemlib/flashparams/flashfs.c
${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashparams.c
${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashfs.c
DEPENDS
platforms__common
uavcan
src/modules/uavcannode/CMakeLists.txt
+11 -12
View File
@@ -46,21 +46,18 @@ add_definitions(
-DUAVCAN_STM32_TIMER_NUMBER=2
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_subdirectory(../uavcan/libuavcan uavcannode_libuavcan)
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan)
add_dependencies(uavcan platforms__nuttx)
include_directories(../../drivers/bootloaders/include)
include_directories(../uavcan/libuavcan/libuavcan/include)
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/stm32/driver/include)
px4_add_module(
MODULE modules__uavcannode
@@ -83,4 +80,6 @@ px4_add_module(
uavcan
)
target_link_libraries(modules__uavcannode uavcan uavcan_stm32_driver)
target_link_libraries(modules__uavcannode PUBLIC uavcan uavcan_stm32_driver)
set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES uavcan_stm32_driver)
src/platforms/common/CMakeLists.txt
-3
View File
@@ -33,9 +33,6 @@
set(depends
msg_gen
prebuild_targets
git_mavlink
git_uavcan
git_matrix
)
px4_add_module(
src/platforms/posix/drivers/accelsim/CMakeLists.txt
-1
View File
@@ -41,6 +41,5 @@ px4_add_module(
accelsim.cpp
DEPENDS
platforms__common
git_jmavsim
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :