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UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337)
* also includes minor changes to make it easy to keep in sync with px4_fmu-v4
This commit is contained in:
Hyon Lim
@@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
# "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
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(drivers_board
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can.c
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init.c
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led.c
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spi.c
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timer_config.c
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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)
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@@ -0,0 +1,389 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* UVify Core internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
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#define GPIO_LED_RED GPIO_LED1
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#define GPIO_LED_GREEN GPIO_LED2
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#define GPIO_LED_BLUE GPIO_LED3
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_OVERLOAD_LED LED_RED
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#define BOARD_ARMED_LED LED_BLUE
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#define BOARD_ARMED_STATE_LED LED_GREEN
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/**
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* The MPU9250 is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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/**
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* The ICM20608G is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
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/**
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* Reserved. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
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/* Define the Data Ready interrupts On SPI 1. */
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#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
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#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
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/* Define the Chip Selects for SPI2. */
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#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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/* Define the Chip Selects for SPI4. */
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#ifdef CONFIG_STM32_SPI4
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# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
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# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
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#endif /* CONFIG_STM32_SPI4 */
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/**
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs.
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* SPI 1 bus off. */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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/* SPI 1 CS's off. */
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#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
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#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
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#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
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/* SPI 1 DRDY's off. */
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#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
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#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
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#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
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/* SPI 4 bus off. */
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#ifdef CONFIG_STM32_SPI4
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# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
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# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
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# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
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#endif /* CONFIG_STM32_SPI4 */
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/**
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* N.B we do not have control over the SPI 2 buss powered devices
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* so the the ms5611 is not resetable.
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*
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*/
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPI_BUS_RAMTRON 2
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#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
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#ifdef CONFIG_STM32_SPI4
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# define PX4_SPI_BUS_EXTERNAL 4
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/* The mask passes to init the SPI bus pins
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* N.B This works ONLY with buss numbers that are powers of 2
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* Adding SPI3 would break this!
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*/
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# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
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#endif /* CONFIG_STM32_SPI4 */
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#define SPI_BUS_INIT_MASK (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS)
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/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
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#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
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#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
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#define PX4_SPIDEV_ICM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
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#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
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#define PX4_SPIDEV_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 8)
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#define PX4_SPIDEV_BMA PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 9)
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#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 10)
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
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#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
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#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
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/**
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* Onboard MS5611 and FRAM are both on bus SPI2.
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* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
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* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
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*/
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)
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#ifdef CONFIG_STM32_SPI4
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# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL, 1)
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#endif /* CONFIG_STM32_SPI4 */
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/* I2C busses. */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/**
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* Devices on the external bus.
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_BMP280 0x76
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/**
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* ADC channels:
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver.
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*/
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#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
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/* ADC defines to be used in sensors.cpp to read from a particular channel. */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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#define ADC_BATTERY_CURRENT_CHANNEL 3
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#define ADC_5V_RAIL_SENSE 4
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#define ADC_RC_RSSI_CHANNEL 11
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/* Define Battery 1 Voltage Divider and A per V. */
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#define BOARD_BATTERY1_V_DIV (10.14f)
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#define BOARD_BATTERY1_A_PER_V (18.18f)
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/**
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* User GPIOs:
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* GPIO0-5 are the PWM servo outputs.
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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/* Power supply control and monitoring GPIOs. */
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#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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/* Tone alarm output. */
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#define TONE_ALARM_TIMER 2 /* timer 2 */
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#define TONE_ALARM_CHANNEL 1 /* channel 1 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
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/**
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* PWM:
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*
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* Six PWM outputs are configured.
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*
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* Pins:
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*
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* CH1 : PE14 : TIM1_CH4
|
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* CH2 : PE13 : TIM1_CH3
|
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* CH3 : PE11 : TIM1_CH2
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* CH4 : PE9 : TIM1_CH1
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* CH5 : PD13 : TIM4_CH2
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* CH6 : PD14 : TIM4_CH3
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*/
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/**
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* N.B. the added pull down, on the timer being disabled the PD
|
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* will keep the channel low
|
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*/
|
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#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
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||||
#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN14)
|
||||
#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
|
||||
|
||||
#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
|
||||
#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
|
||||
#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
|
||||
#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
|
||||
#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
|
||||
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 6
|
||||
|
||||
/**
|
||||
* USB OTG FS:
|
||||
* PA9 OTG_FS_VBUS VBUS sensing.
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 3 /* use timer 3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
|
||||
|
||||
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL 2
|
||||
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
|
||||
|
||||
#define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||||
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
|
||||
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
|
||||
|
||||
/* For,this signal is active high. */
|
||||
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
|
||||
|
||||
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* GPIOs */
|
||||
#define GPIO_PE2 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
|
||||
#define GPIO_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_PE5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
|
||||
#define GPIO_PE6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
|
||||
|
||||
/* Heater pins (reserved) */
|
||||
#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
|
||||
#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
|
||||
|
||||
/* Power switch controls */
|
||||
|
||||
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
|
||||
|
||||
/**
|
||||
* UVify Core has separate RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PB0 T3C3
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
|
||||
* Inversion is possible via the 74LVC2G86 controlled by the FMU
|
||||
* The FMU can drive GPIO PPM_IN as an output
|
||||
*/
|
||||
|
||||
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||||
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
|
||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||||
|
||||
/**
|
||||
* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
|
||||
#define BOARD_ADC_USB_VALID (px4_arch_gpioread(GPIO_VDD_USB_VALID))
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs. */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(int mask);
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,130 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 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
|
||||
@@ -0,0 +1,403 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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 init.c
|
||||
*
|
||||
* UVify Core 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 <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 <nuttx/mm/gran.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 <px4_init.h>
|
||||
#include <drivers/boards/common/board_dma_alloc.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* 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
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
// Set the peripheral rails off.
|
||||
stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
|
||||
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
|
||||
|
||||
bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
|
||||
// Keep Spektum on to discharge rail.
|
||||
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
|
||||
|
||||
// Wait for the peripheral rail to reach GND.
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
// Re-enable power.
|
||||
// Switch the peripheral rail back on.
|
||||
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
|
||||
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
// 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.
|
||||
*/
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(400);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
// Reset all PWM to Low outputs.
|
||||
board_on_reset(-1);
|
||||
|
||||
// Configure LEDs.
|
||||
board_autoled_initialize();
|
||||
|
||||
|
||||
// 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_IN11); /* RSSI analog in */
|
||||
|
||||
// Configure CAN interface
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
|
||||
// Configure power supply control/sense pins.
|
||||
stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
stm32_configgpio(GPIO_VDD_USB_VALID);
|
||||
|
||||
/**
|
||||
* Start with Sensor voltage off We will enable it
|
||||
* in board_app_initialize.
|
||||
*/
|
||||
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
stm32_configgpio(GPIO_SBUS_INV);
|
||||
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
stm32_configgpio(GPIO_PB4);
|
||||
stm32_configgpio(GPIO_PE2);
|
||||
|
||||
// Safety - led on in led driver.
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
stm32_configgpio(GPIO_PPM_IN);
|
||||
|
||||
int spi_init_mask = SPI_BUS_INIT_MASK;
|
||||
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
|
||||
/* We have SPI4 is GPIO_PB4 pin 3 Low */
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
spi_init_mask |= SPI_BUS_INIT_MASK_EXT;
|
||||
|
||||
} else {
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
stm32_configgpio(GPIO_PE5);
|
||||
stm32_configgpio(GPIO_PE6);
|
||||
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
// Configure SPI all interfaces GPIO.
|
||||
stm32_spiinitialize(spi_init_mask);
|
||||
|
||||
// Configure heater GPIO.
|
||||
stm32_configgpio(GPIO_HEATER_INPUT);
|
||||
stm32_configgpio(GPIO_HEATER_OUTPUT);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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 sdio_dev_s *sdio;
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
static struct spi_dev_s *spi4;
|
||||
#endif
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
// Configure the DMA allocator.
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
// Set up the serial DMA polling.
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/**
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
// Initial LED state.
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_GREEN);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
// Power up the sensors.
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
// Power down the heater.
|
||||
stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);
|
||||
|
||||
// Configure SPI-based devices.
|
||||
spi1 = stm32_spibus_initialize(1);
|
||||
|
||||
if (!spi1) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
|
||||
led_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// Get the SPI port for the FRAM.
|
||||
spi2 = stm32_spibus_initialize(2);
|
||||
|
||||
if (!spi2) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
|
||||
led_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/**
|
||||
* Default SPI2 to 12MHz and de-assert the known chip selects.
|
||||
* MS5611 has max SPI clock speed of 20MHz.
|
||||
*/
|
||||
|
||||
// XXX start with 10.4 MHz and go up to 20 once validated.
|
||||
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
|
||||
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
syslog(LOG_INFO, "[boot] GPIO_PB4 - Low Initialize SPI port 4 \n");
|
||||
|
||||
// Configure SPI-based devices.
|
||||
spi4 = stm32_spibus_initialize(4);
|
||||
|
||||
if (!spi4) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
|
||||
|
||||
} else {
|
||||
// Default SPI4 to 20 MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* defined(CONFIG_STM32_SPI4) */
|
||||
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
// First, get an instance of the SDIO interface.
|
||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdio) {
|
||||
led_on(LED_RED);
|
||||
syslog(LOG_ERR, "[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) {
|
||||
led_on(LED_RED);
|
||||
syslog(LOG_ERR, "[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;
|
||||
}
|
||||
@@ -0,0 +1,106 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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 led.c
|
||||
*
|
||||
* UVify Core 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
|
||||
|
||||
|
||||
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_LED_BLUE, // Indexed by LED_BLUE
|
||||
GPIO_LED_RED, // Indexed by LED_RED, LED_AMBER
|
||||
GPIO_LED_SAFETY, // Indexed by LED_SAFETY
|
||||
GPIO_LED_GREEN, // Indexed by LED_GREEN
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 spi.c
|
||||
*
|
||||
* UVify Core 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"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus)
|
||||
{
|
||||
bool rv = true;
|
||||
|
||||
switch (type) {
|
||||
case BOARD_SPI_BUS:
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
rv = bus != PX4_SPI_BUS_EXTERNAL || (stm32_gpioread(GPIO_PB4) == 0);
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
break;
|
||||
|
||||
case BOARD_I2C_BUS:
|
||||
break;
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize(int mask)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
|
||||
if (mask & PX4_SPI_BUS_SENSORS) {
|
||||
stm32_configgpio(GPIO_SPI1_CS_PORTC_PIN2);
|
||||
stm32_configgpio(GPIO_SPI1_CS_PORTC_PIN15);
|
||||
stm32_configgpio(GPIO_SPI1_CS_PORTE_PIN15);
|
||||
|
||||
stm32_configgpio(GPIO_DRDY_PORTD_PIN15);
|
||||
stm32_configgpio(GPIO_DRDY_PORTC_PIN14);
|
||||
stm32_configgpio(GPIO_DRDY_PORTE_PIN12);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
|
||||
if (mask & (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_BARO)) {
|
||||
stm32_configgpio(GPIO_SPI2_CS_MS5611);
|
||||
stm32_configgpio(GPIO_SPI2_CS_FRAM);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
|
||||
if (mask & PX4_SPI_BUS_EXTERNAL) {
|
||||
stm32_configgpio(GPIO_SPI4_CS_1); //add cs
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
}
|
||||
|
||||
__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 */
|
||||
|
||||
switch (devid) {
|
||||
|
||||
/* Shared PC2 CS devices */
|
||||
|
||||
case PX4_SPIDEV_BMI:
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
|
||||
break;
|
||||
|
||||
/* Shared PC15 CS devices */
|
||||
|
||||
case PX4_SPIDEV_ICM:
|
||||
case PX4_SPIDEV_ICM_20602:
|
||||
case PX4_SPIDEV_ICM_20608:
|
||||
case PX4_SPIDEV_BMI055_ACC:
|
||||
case PX4_SPIDEV_MPU2:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
|
||||
break;
|
||||
|
||||
/* Shared PE15 CS devices */
|
||||
|
||||
case PX4_SPIDEV_HMC:
|
||||
case PX4_SPIDEV_LIS:
|
||||
case PX4_SPIDEV_BMI055_GYR:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
case SPIDEV_FLASH(0):
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_MS5611, 1);
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_FRAM, !selected);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_FRAM, 1);
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_MS5611, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__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)
|
||||
{
|
||||
if (devid == PX4_SPIDEV_EXTERNAL && stm32_gpioread(GPIO_PB4) == 0) {
|
||||
stm32_gpiowrite(GPIO_SPI4_CS_1, !selected); // add cs
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
/* disable SPI bus 1 DRDY */
|
||||
|
||||
stm32_configgpio(GPIO_DRDY_OFF_PORTD_PIN15);
|
||||
stm32_configgpio(GPIO_DRDY_OFF_PORTC_PIN14);
|
||||
stm32_configgpio(GPIO_DRDY_OFF_PORTE_PIN12);
|
||||
|
||||
stm32_gpiowrite(GPIO_DRDY_OFF_PORTD_PIN15, 0);
|
||||
stm32_gpiowrite(GPIO_DRDY_OFF_PORTC_PIN14, 0);
|
||||
stm32_gpiowrite(GPIO_DRDY_OFF_PORTE_PIN12, 0);
|
||||
|
||||
/* disable SPI bus 1 CS */
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTC_PIN2);
|
||||
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTC_PIN15);
|
||||
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTE_PIN15);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTC_PIN2, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTC_PIN15, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTE_PIN15, 0);
|
||||
|
||||
/* disable SPI bus 1*/
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
|
||||
/* disable SPI bus 4*/
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
stm32_configgpio(GPIO_SPI4_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI4_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/* N.B we do not have control over the SPI 2 buss powered devices
|
||||
* so the the ms5611 is not resetable.
|
||||
*/
|
||||
|
||||
/* set the sensor rail off (default) */
|
||||
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
/* set the periph rail off (default) for SPI4 */
|
||||
stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
/* switch the periph rail back on */
|
||||
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/* 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);
|
||||
|
||||
stm32_spiinitialize(PX4_SPI_BUS_SENSORS);
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
|
||||
if (stm32_gpioread(GPIO_PB4) == 0) {
|
||||
stm32_spiinitialize(PX4_SPI_BUS_EXTERNAL);
|
||||
stm32_configgpio(GPIO_SPI4_SCK);
|
||||
stm32_configgpio(GPIO_SPI4_MISO);
|
||||
stm32_configgpio(GPIO_SPI4_MOSI);
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
}
|
||||
@@ -0,0 +1,126 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 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
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 usb.c
|
||||
*
|
||||
* UVify Core 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);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user