mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
deprecate px4 esc-v1 and drivers/uavcanesc
This commit is contained in:
Daniel Agar
parent
5200cae3a3
commit
0420a4386d
@ -43,12 +43,6 @@ pipeline {
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archive: true
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]
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def nuttx_builds_other = [
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target: ["px4_esc-v1_default"],
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image: docker_images.nuttx,
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archive: false
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]
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def snapdragon_builds = [
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target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
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image: docker_images.snapdragon,
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@ -56,7 +50,7 @@ pipeline {
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]
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def docker_builds = [
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armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, snapdragon_builds
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armhf_builds, base_builds, nuttx_builds_archive, snapdragon_builds
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]
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for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
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1
Makefile
1
Makefile
@ -263,7 +263,6 @@ misc_qgc_extra_firmware: \
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# Other NuttX firmware
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alt_firmware: \
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check_px4_cannode-v1_default \
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check_px4_esc-v1_default \
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sizes
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# builds with RTPS
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@ -1,60 +0,0 @@
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add_definitions(
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-DFLASH_BASED_PARAMS
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-DPARAM_NO_ORB
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-DPARAM_NO_AUTOSAVE
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-DPARAMETER_BUFFER_SIZE=1024
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)
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# UAVCAN boot loadable Module ID
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set(uavcanblid_sw_version_major 0)
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set(uavcanblid_sw_version_minor 1)
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add_definitions(
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-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
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-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
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)
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# Bring in common uavcan hardware identity definitions
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include(px4_git)
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px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
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include(configs/uavcan_board_ident/px4esc-v1)
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add_definitions(
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-DHW_UAVCAN_NAME=${uavcanblid_name}
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-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
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-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
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)
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include(px4_make_uavcan_bootloader)
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px4_make_uavcan_bootloadable(
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BOARD px4_esc-v1
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BIN ${PX4_BINARY_DIR}/px4_esc-v1.bin
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HWNAME ${uavcanblid_name}
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HW_MAJOR ${uavcanblid_hw_version_major}
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HW_MINOR ${uavcanblid_hw_version_minor}
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SW_MAJOR ${uavcanblid_sw_version_major}
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SW_MINOR ${uavcanblid_sw_version_minor}
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)
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL esc-v1
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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DRIVERS
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bootloaders
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uavcanesc
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MODULES
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SYSTEMCMDS
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config
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reboot
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param
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top
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ver
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work_queue
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)
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@ -1,13 +0,0 @@
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{
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"board_id": 25,
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"magic": "ESCv1",
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"description": "Firmware for the PX4ESCV1 board",
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"image": "",
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"build_time": 0,
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"summary": "PX4ESCv1",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 475136,
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"git_identity": "",
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"board_revision": 0
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}
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@ -1,22 +0,0 @@
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#
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# For a description of the syntax of this configuration file,
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# see misc/tools/kconfig-language.txt.
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#
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if CONFIG_ARCH_BOARD_PX4_ESC_V1
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config BOARD_HAS_PROBES
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bool "Board provides GPIO or other Hardware for signaling to timing analyze."
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default y
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---help---
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This board provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals from selected drivers.
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config BOARD_USE_PROBES
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bool "Enable the use provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals from selected drivers"
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default n
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depends on BOARD_HAS_PROBES
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---help---
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Select to use GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals from selected drivers.
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endif
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@ -1,2 +0,0 @@
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This directory contains header files unique to the
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PX4 Esc V1.6 board using STM32F446RET6
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@ -1,358 +0,0 @@
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/************************************************************************************
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* nuttx-configs/px4esc-v1/include/board.h
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* David Sidrane <david_s5@nscdg.com>
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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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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#ifndef __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
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#define __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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#include "stm32_rcc.h"
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#include "stm32_sdio.h"
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#include "stm32.h"
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* The PX4ESC uses a 8MHz crystal connected to the HSE.
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*
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* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
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* System Clock source : PLL (HSE)
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* SYSCLK(Hz) : 180000000 Determined by PLL configuration
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* HCLK(Hz) : 180000000 (STM32_RCC_CFGR_HPRE)
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* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
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* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
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* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
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* HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
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* PLLM : 4 (STM32_PLLCFG_PLLM)
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* PLLN : 180 (STM32_PLLCFG_PLLN)
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* PLLP : 2 (STM32_PLLCFG_PLLP)
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* PLLQ : 2 (STM32_PLLCFG_PPQ)
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* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
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* Flash Latency(WS) : 5
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* Prefetch Buffer : OFF
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* Instruction cache : ON
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* Data cache : ON
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* Require 48MHz for USB OTG FS, : Use PLLSA1M
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*/
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//TODO(Need to define and add the PLLSAIM );
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/* HSI - 16 MHz RC factory-trimmed
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* LSI - 32 KHz RC
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* HSE - On-board crystal frequency is 24MHz
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* LSE - not installed
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*/
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#define STM32_BOARD_XTAL 8000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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/* Main PLL Configuration.
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*
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* PLL source is HSE
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* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
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* = (8,000,000 / 4) * 180
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* = 360,000,000
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* SYSCLK = PLL_VCO / PLLP
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* = 360,000,000/ 2 = 180,000,000
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* USB OTG FS will use PLLSA1M
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*
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*/
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//
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(4)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(180)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
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#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
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/* Configure factors for PLLSAI clock */
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#define STM32_RCC_PLLSAICFGR_PLLSAIM RCC_PLLSAICFGR_PLLSAIM(4)
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#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(96)
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#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(4)
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#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(2)
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/* Configure Dedicated Clock Configuration Register */
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#define STM32_RCC_DCKCFGR_PLLI2SDIVQ RCC_DCKCFGR_PLLI2SDIVQ(1)
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#define STM32_RCC_DCKCFGR_PLLSAIDIVQ RCC_DCKCFGR_PLLSAIDIVQ(1)
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#define STM32_RCC_DCKCFGR_SAI1SRC RCC_DCKCFGR_SAI1SRC_PLLSAI
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#define STM32_RCC_DCKCFGR_SAI2SRC RCC_DCKCFGR_SAI2SRC_PLLSAI
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#define STM32_RCC_DCKCFGR_TIMPRE 0
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#define STM32_RCC_DCKCFGR_I2S1SRC RCC_DCKCFGR_SAI1SRC_PLL
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#define STM32_RCC_DCKCFGR_I2S2SRC RCC_DCKCFGR_SAI2SRC_PLL
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/* Configure factors for PLLI2S clock */
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#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
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/* Configure Dedicated Clock Configuration Register 2 */
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#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
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#define STM32_RCC_DCKCFGR2_CECSEL RCC_DCKCFGR2_CECSEL_HSI
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#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLLSAI
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#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
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#define STM32_RCC_DCKCFGR2_SPDIFRXSEL RCC_DCKCFGR2_SPDIFRXSEL_PLL
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#define STM32_SYSCLK_FREQUENCY 180000000ul
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/* AHB clock (HCLK) is SYSCLK (180MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB1 clock (PCLK1) is HCLK/4 (45MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
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/* Timers driven from APB1 will be twice PCLK1 */
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
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/* APB2 clock (PCLK2) is HCLK/2 (90MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
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/* Timers driven from APB2 will be twice PCLK2 */
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#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
|
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
|
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
|
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
|
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
|
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
|
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
|
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
|
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
|
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|
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/* Leds *************************************************************************/
|
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|
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/* LED index values for use with board_setled() */
|
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|
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#define BOARD_LED1 0
|
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#define BOARD_LED_RED BOARD_LED1
|
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#define BOARD_LED2 1
|
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#define BOARD_LED_GREEN BOARD_LED2
|
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#define BOARD_LED3 2
|
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#define BOARD_LED_BLUE BOARD_LED3
|
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#define BOARD_NLEDS 3
|
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|
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/* LED bits for use with board_setleds() */
|
||||
|
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#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
|
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#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
|
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#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
|
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|
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/* TODO:define these
|
||||
* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
|
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*
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||||
* defined. In that case, the usage by the board port is as follows:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ------------------------ -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
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#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
|
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#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
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#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
|
||||
#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/*
|
||||
* Thus if the blue is statically on, NuttX has successfully booted and is,
|
||||
* apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UARTs */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_4
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_1
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to the onboard transceiver.
|
||||
* CAN2 is routed to the onboard transceiver.
|
||||
*/
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_2
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_2
|
||||
|
||||
/* TIMERS */
|
||||
|
||||
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
|
||||
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 GPIO_TEST1
|
||||
# define PROBE_2 GPIO_TEST2
|
||||
# define PROBE_3 GPIO_TEST3
|
||||
# define PROBE_3 GPIO_TEST4
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
void stm32_led_initialize(void);
|
||||
void stm32_setled(int led, bool ledon);
|
||||
void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_NSH_LIBRARY)
|
||||
int app_archinitialize(void);
|
||||
#else
|
||||
#define app_archinitialize() (-ENOSYS)
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H */
|
||||
@ -1,160 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CMP is not set
|
||||
# CONFIG_NSH_DISABLE_DD is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HEXDUMP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LOSETUP is not set
|
||||
# CONFIG_NSH_DISABLE_MKFIFO is not set
|
||||
# CONFIG_NSH_DISABLE_MKRD is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PUT is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_UNAME is not set
|
||||
# CONFIG_NSH_DISABLE_XD is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F446R=y
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CUSTOM_LEDS=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=5483
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_BUILTIN_PROXY_STACKSIZE=4096
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x60c7
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 ESC v1.6"
|
||||
CONFIG_CDCACM_RXBUFSIZE=256
|
||||
CONFIG_CDCACM_TXBUFSIZE=256
|
||||
CONFIG_CDCACM_VENDORID=0x1d50
|
||||
CONFIG_CDCACM_VENDORSTR="Zubax"
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MAX_TASKS=16
|
||||
CONFIG_MAX_WDOGPARMS=2
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_NAME_MAX=93
|
||||
CONFIG_NFILE_DESCRIPTORS=20
|
||||
CONFIG_NFILE_STREAMS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=12
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
|
||||
CONFIG_PREALLOC_MQ_MSGS=4
|
||||
CONFIG_PREALLOC_TIMERS=20
|
||||
CONFIG_PREALLOC_WDOGS=20
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=4096
|
||||
CONFIG_PTHREAD_STACK_MIN=4096
|
||||
CONFIG_RAM_SIZE=131072
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=192
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=4096
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=4096
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
CONFIG_STM32_FORCEPOWER=y
|
||||
CONFIG_STM32_I2SPLL=y
|
||||
CONFIG_STM32_JTAG_NOJNTRST_ENABLE=y
|
||||
CONFIG_STM32_OTGFS=y
|
||||
CONFIG_STM32_PWR=y
|
||||
CONFIG_STM32_RTC=y
|
||||
CONFIG_STM32_RTC_HSECLOCK=y
|
||||
CONFIG_STM32_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32_SAIPLL=y
|
||||
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_TIM1=y
|
||||
CONFIG_STM32_TIM3=y
|
||||
CONFIG_STM32_USART3=y
|
||||
CONFIG_SYMTAB_ORDEREDBYNAME=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=4096
|
||||
CONFIG_TIME_EXTENDED=y
|
||||
CONFIG_USART3_RXBUFSIZE=32
|
||||
CONFIG_USART3_RXDMA=y
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
CONFIG_USART3_TXBUFSIZE=32
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
@ -1,155 +0,0 @@
|
||||
/****************************************************************************
|
||||
* nuttx-configs/px4esc-v1/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F446RE has 512KiB of FLASH beginning at address 0x0800:0000 and
|
||||
* 112KiB of SRAM beginning at address 0x2000:0000. With an addtional 16 KiB
|
||||
* located at 0x2001:c000.
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point
|
||||
* in the 0x0800:0000 address range.
|
||||
* The bootloader only uses the first 16KiB of flash.
|
||||
* Paramater storage will use the next 2 16KiB Sectors.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x0800C000, LENGTH = 464K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
|
||||
sram1 (rwx) : ORIGIN = 0x2001C000, LENGTH = 16K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(8);
|
||||
/*
|
||||
* This section positions the app_descriptor_t used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc
|
||||
*/
|
||||
KEEP(*(.app_descriptor))
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
/* The STM32F446RE has 112KiB of SRAM beginning at the following address */
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@ -1,44 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_library(drivers_board
|
||||
init.c
|
||||
led.c
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
drivers__led # drv_led_start
|
||||
px4_layer
|
||||
)
|
||||
@ -1,350 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 board_config.h
|
||||
*
|
||||
* PX4ESCv1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
#if STM32_NSPI < 1
|
||||
# undef CONFIG_STM32_SPI1
|
||||
# undef CONFIG_STM32_SPI2
|
||||
#elif STM32_NSPI < 2
|
||||
# undef CONFIG_STM32_SPI2
|
||||
#endif
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 17 RC_PWM
|
||||
* PA[04] PA4/SPI1_NSS 20 OC_ADJ
|
||||
* PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1 21 EN_GATE
|
||||
* PA[06] PA6/TIM1_BKIN/TIM3_CH1/TIM8_BKIN/SPI1_MISO 22 DC_CAL
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_RC_PWM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTA | GPIO_PIN3)
|
||||
#define GPIO_OC_ADJ (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_EN_GATE (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_DC_CAL (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN6 | GPIO_OUTPUT_CLEAR)
|
||||
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PB[02] PB2/TIM2_CH4/SPI3_MOSI 28 GAIN
|
||||
* PB[03] PB3/TIM2_CH2/I2C2_SDA/SPI1_SCK 55 TEST2
|
||||
* PB[04] PB4/TIM3_CH1/I2C3_SDA/SPI1_MISO/SPI3_MISO 56 TEST3
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_GAIN (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_TEST2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN3 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_TEST3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
|
||||
|
||||
/* CAN ************************************************************************ *
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ------------------------
|
||||
*
|
||||
* PB[05] PB5/TIM3_CH2/SPI1_MOSI/CAN2_RX 57 CAN2_RX
|
||||
* PB[06] PB6/TIM4_CH1/USART1_TX/CAN2_TX 58 CAN2_TX
|
||||
* PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
|
||||
* PB[08] PB8/TIM4_CH3/I2C1_SCL/CAN1_RX 61 CAN1_RX
|
||||
* PB[09] PB9/TIM4_CH4/I2C1_SDA/CAN1_TX 62 CAN1_TX
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTB | GPIO_PIN7)
|
||||
|
||||
/* UART3 ************************************************************************ *
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ------------------------
|
||||
*
|
||||
* PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 29 DBG_TX
|
||||
* PC[05] PC5/USART3_RX/SPDIFRX_IN3/FMC_SDCKE0 25 DBG_RX
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/* Analog ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PC[00] PC0/ADC123_IN10 8 TEMP_SENS
|
||||
* PC[01] PC1/ADC123_IN11/SPI3_MOSI/SPI2_MOSI 9 VBAT_SENS
|
||||
* PC[02] PC2/ADC123_IN12/SPI2_MISO, 10 CURR_SENS2
|
||||
* PC[03] PC3/ADC123_IN13/SPI2_MOSI 11 CURR_SENS1
|
||||
*
|
||||
*/
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PC[06] TIM3_CH1/TIM8_CH1/USART6_TX 37 RPM
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_RPM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN6)
|
||||
|
||||
/* LEDs ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PC[07] PC7/TIM3_CH2/TIM8_CH2 38 LED_RED
|
||||
* PC[08] PC8/TIM3_CH3/TIM8_CH3 39 LED_GREEN
|
||||
* PC[09] PC9/TIM3_CH4/TIM8_CH4 40 LED_BLUE
|
||||
*/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN7 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_LED_RED GPIO_LED1
|
||||
|
||||
#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN8 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_LED_GREEN GPIO_LED2
|
||||
|
||||
#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_CLEAR)
|
||||
#define GPIO_LED_BLUE GPIO_LED3
|
||||
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/ 51 HWID0
|
||||
* PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX 52 HWID1
|
||||
* PC[12] PC12/I2C2_SDA/SPI3_MOSI/USART3_CK/UART5_TX 53 TEST4
|
||||
* PC[13] PC13/TAMP_1/WKUP1 2 PWRGD
|
||||
* PC[14] PC14/OSC32_IN 3 OCTW
|
||||
* PC[15] PC15/OSC32_OUT 4 FAULT
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_HWID0 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN10)
|
||||
#define GPIO_HWID1 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN11)
|
||||
#define GPIO_TEST4 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_CLEAR)
|
||||
|
||||
#define GPIO_PWRGD (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
|
||||
#define GPIO_OCTW (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN14)
|
||||
#define GPIO_FAULT (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15)
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PD[02] PD2/TIM3_ETR/UART5_RX/SDIO_CMD 54 TEST1
|
||||
*/
|
||||
#define GPIO_TEST1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||
defined(CONFIG_STM32_SPI3)
|
||||
void weak_function board_spiinitialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_usbinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usb_set_pwr_callback()
|
||||
*
|
||||
* Description:
|
||||
* Called to setup set a call back for USB power state changes.
|
||||
*
|
||||
* Inputs:
|
||||
* pwr_changed_handler: An interrupt handler that will be called on VBUS power
|
||||
* state changes.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_led_initialize
|
||||
*
|
||||
* Description:
|
||||
* This functions is called very early in initialization to perform board-
|
||||
* specific initialization of LED-related resources. This includes such
|
||||
* things as, for example, configure GPIO pins to drive the LEDs and also
|
||||
* putting the LEDs in their correct initial state.
|
||||
*
|
||||
* NOTE: In most architectures, LED initialization() is called from
|
||||
* board-specific initialization and should, therefore, have the name
|
||||
* <arch>_led_intialize(). But there are a few architectures where the
|
||||
* LED initialization function is still called from common chip
|
||||
* architecture logic. This interface is not, however, a common board
|
||||
* interface in any event and the name board_autoled_initialization is
|
||||
* deprecated.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
void board_autoled_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_can_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the CAN functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
|
||||
int board_can_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_button_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the Buttons functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_ARCH_BUTTONS)
|
||||
void board_button_initialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbmsc_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/usbmc or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
|
||||
int usbmsc_archinitialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: composite_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/composite or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
|
||||
extern int composite_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@ -1,187 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4flow_init.c
|
||||
*
|
||||
* PX4ESC-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_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.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 <px4_platform_common/init.h>
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
#endif
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/* todo: This is constant but not proper */
|
||||
__BEGIN_DECLS
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||
defined(CONFIG_STM32_SPI3)
|
||||
board_spiinitialize();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void board_initialize(void)
|
||||
{
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
int result = OK;
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* 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(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t sector_map[] = {
|
||||
{1, 16 * 1024, 0x08004000},
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
static uint8_t param_buffer[PARAMETER_BUFFER_SIZE];
|
||||
|
||||
parameter_flashfs_init(sector_map, param_buffer, sizeof(param_buffer));
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
@ -1,192 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4esc_led.c
|
||||
*
|
||||
* PX4ESC LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <systemlib/px4_macros.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_RED, // Indexed by BOARD_LED_RED
|
||||
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < arraySize(g_ledmap); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_initialize(void)
|
||||
{
|
||||
led_init();
|
||||
}
|
||||
|
||||
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));
|
||||
}
|
||||
|
||||
static bool g_initialized;
|
||||
|
||||
// Nuttx Usages
|
||||
|
||||
__EXPORT
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_STACKCREATED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
g_initialized = true;
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
break;
|
||||
|
||||
case LED_IDLE : /* IDLE */
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
|
||||
case LED_STACKCREATED:
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
break;
|
||||
|
||||
case LED_IDLE: /* IDLE */
|
||||
phy_set_led(BOARD_LED_GREEN, g_initialized);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -1,107 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4esc_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/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
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
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);
|
||||
}
|
||||
1
src/drivers/uavcanesc/.gitignore
vendored
1
src/drivers/uavcanesc/.gitignore
vendored
@ -1 +0,0 @@
|
||||
./dsdlc_generated/
|
||||
@ -1,98 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
|
||||
set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
|
||||
|
||||
px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
|
||||
|
||||
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
|
||||
set(UAVCAN_PLATFORM generic CACHE STRING "uavcan platform")
|
||||
|
||||
string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
|
||||
add_definitions(
|
||||
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
|
||||
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
|
||||
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
|
||||
-DUAVCAN_NO_ASSERTIONS
|
||||
-DUAVCAN_PLATFORM=generic
|
||||
-DUAVCAN_STM32_${OS_UPPER}=1
|
||||
-DUAVCAN_STM32_NUM_IFACES=1
|
||||
-DUAVCAN_STM32_TIMER_NUMBER=2
|
||||
-DUAVCAN_USE_CPP03=ON
|
||||
-DUAVCAN_USE_EXTERNAL_SNPRINT
|
||||
)
|
||||
|
||||
add_compile_options(-Wno-cast-align) # TODO: fix and enable
|
||||
add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan)
|
||||
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/stm32/driver uavcanesc_uavcan_drivers)
|
||||
target_include_directories(uavcan_stm32_driver PUBLIC
|
||||
${LIBUAVCAN_DIR}/libuavcan/include
|
||||
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
|
||||
)
|
||||
add_dependencies(uavcan prebuild_targets)
|
||||
|
||||
include_directories(${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_DRIVERS}/stm32/driver/include)
|
||||
|
||||
include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc
|
||||
MAIN uavcanesc
|
||||
STACK_MAIN 4096
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
uavcanesc_main.cpp
|
||||
indication_controller.cpp
|
||||
led.cpp
|
||||
DEPENDS
|
||||
drivers_bootloaders
|
||||
git_uavcan
|
||||
version
|
||||
cdev
|
||||
|
||||
uavcan_stm32_driver
|
||||
|
||||
# within libuavcan
|
||||
libuavcan_dsdlc
|
||||
uavcan
|
||||
)
|
||||
|
||||
add_subdirectory(commands)
|
||||
add_subdirectory(nshterm)
|
||||
@ -1,38 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(cfg)
|
||||
add_subdirectory(dc)
|
||||
add_subdirectory(rpm)
|
||||
add_subdirectory(selftest)
|
||||
add_subdirectory(stat)
|
||||
@ -1,47 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__commands__cfg
|
||||
MAIN cfg
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_cfg.cpp
|
||||
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
#
|
||||
@ -1,58 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_cfg.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tcfg {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int cfg_main(int argc, char *argv[]);
|
||||
int cfg_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
@ -1,47 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__commands__dc
|
||||
MAIN dc
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_dc.cpp
|
||||
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
#
|
||||
@ -1,58 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_dc.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tdc {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int dc_main(int argc, char *argv[]);
|
||||
int dc_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
@ -1,47 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__commands__rpm
|
||||
MAIN rpm
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_rpm.cpp
|
||||
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
#
|
||||
@ -1,58 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_rpm.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\trpm {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int rpm_main(int argc, char *argv[]);
|
||||
int rpm_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
@ -1,47 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__commands__selftest
|
||||
MAIN selftest
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_selftest.cpp
|
||||
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
#
|
||||
@ -1,58 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_selftest.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tselftest {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int selftest_main(int argc, char *argv[]);
|
||||
int selftest_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
@ -1,46 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__commands__stat
|
||||
MAIN stat
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_stat.cpp
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
#
|
||||
@ -1,58 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_stat.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tstat {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int stat_main(int argc, char *argv[]);
|
||||
int stat_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
@ -1,85 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "indication_controller.hpp"
|
||||
#include <uavcan/equipment/indication/LightsCommand.hpp>
|
||||
#include "led.hpp"
|
||||
|
||||
namespace
|
||||
{
|
||||
unsigned self_light_index = 0;
|
||||
|
||||
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
|
||||
{
|
||||
uavcan::uint32_t red = 0;
|
||||
uavcan::uint32_t green = 0;
|
||||
uavcan::uint32_t blue = 0;
|
||||
|
||||
for (auto &cmd : msg.commands) {
|
||||
if (cmd.light_id == self_light_index) {
|
||||
using uavcan::equipment::indication::RGB565;
|
||||
|
||||
red = uavcan::uint32_t(float(cmd.color.red) *
|
||||
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
|
||||
|
||||
green = uavcan::uint32_t(float(cmd.color.green) *
|
||||
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
|
||||
|
||||
blue = uavcan::uint32_t(float(cmd.color.blue) *
|
||||
(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
|
||||
|
||||
red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
|
||||
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
|
||||
blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int init_indication_controller(uavcan::INode &node)
|
||||
{
|
||||
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
|
||||
|
||||
self_light_index = 0;
|
||||
|
||||
int res = 0;
|
||||
|
||||
res = sub_light.start(cb_light_command);
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -1,40 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
|
||||
|
||||
int init_indication_controller(uavcan::INode &node);
|
||||
@ -1,75 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "hardware/stm32_tim.h"
|
||||
|
||||
|
||||
#include "led.hpp"
|
||||
|
||||
void rgb_led(int r, int g, int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = 72000000;
|
||||
long prescale = 2048;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
|
||||
static struct stm32_tim_dev_s *tim = 0;
|
||||
|
||||
if (tim == 0) {
|
||||
tim = stm32_tim_init(3);
|
||||
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
|
||||
STM32_TIM_SETCLOCK(tim, p1s - 8);
|
||||
STM32_TIM_SETPERIOD(tim, p1s);
|
||||
STM32_TIM_SETCOMPARE(tim, 1, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, 0);
|
||||
STM32_TIM_SETCHANNEL(tim, 1, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 2, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 3, mode);
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
STM32_TIM_SETPERIOD(tim, p);
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
|
||||
}
|
||||
@ -1,37 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g, int b, int freqs);
|
||||
__END_DECLS
|
||||
@ -1,44 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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 modules__uavcanesc__nshterm
|
||||
MAIN nshterm
|
||||
STACK_MAIN 1500
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
SRCS
|
||||
nshterm.c
|
||||
PRIORITY "SCHED_PRIORITY_DEFAULT-30"
|
||||
DEPENDS
|
||||
)
|
||||
@ -1,128 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Andrew Tridgell
|
||||
*
|
||||
* 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 nshterm.c
|
||||
* start a nsh terminal on a given port. This can be useful for error
|
||||
* handling in startup scripts to start a nsh shell on /dev/ttyACM0
|
||||
* for diagnostics
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <termios.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <stdarg.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
#include <nshlib/nshlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
__EXPORT int nshterm_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
nshterm_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
printf("Usage: nshterm <device>\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
unsigned retries = 0;
|
||||
int fd = -1;
|
||||
|
||||
/* back off 800 ms to avoid running into the USB setup timing */
|
||||
while (hrt_absolute_time() < 800U * 1000U) {
|
||||
usleep(50000);
|
||||
}
|
||||
|
||||
/* try to bring up the console - stop doing so if the system gets armed */
|
||||
while (true) {
|
||||
|
||||
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
|
||||
/* which may not be ready immediately. */
|
||||
fd = open(argv[1], O_RDWR);
|
||||
|
||||
if (fd != -1) {
|
||||
break;
|
||||
}
|
||||
|
||||
usleep(100000);
|
||||
retries++;
|
||||
}
|
||||
|
||||
if (fd == -1) {
|
||||
perror(argv[1]);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/* set up the serial port with output processing */
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
int termios_state;
|
||||
|
||||
/* Back up the original uart configuration to restore it after exit */
|
||||
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
|
||||
warnx("ERR get config %s: %d\n", argv[1], termios_state);
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Set ONLCR flag (which appends a CR for every LF) */
|
||||
uart_config.c_oflag |= (ONLCR | OPOST);
|
||||
|
||||
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
|
||||
warnx("ERR set config %s\n", argv[1]);
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* setup standard file descriptors */
|
||||
close(0);
|
||||
close(1);
|
||||
close(2);
|
||||
dup2(fd, 0);
|
||||
dup2(fd, 1);
|
||||
dup2(fd, 2);
|
||||
|
||||
nsh_consolemain(0, NULL);
|
||||
|
||||
close(fd);
|
||||
|
||||
return OK;
|
||||
}
|
||||
@ -1,45 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @author David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#if defined(UAVCAN_KINETIS_NUTTX)
|
||||
# include <uavcan_kinetis/uavcan_kinetis.hpp>
|
||||
#elif defined(UAVCAN_STM32_NUTTX)
|
||||
# include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#else
|
||||
# error "Unsupported driver"
|
||||
#endif
|
||||
@ -1,512 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <parameters/param.h>
|
||||
#include <lib/mixer/MixerGroup.hpp>
|
||||
#include <version/version.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <arch/chip/chip.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "uavcanesc_main.hpp"
|
||||
#include "led.hpp"
|
||||
#include "indication_controller.hpp"
|
||||
|
||||
#include "boot_app_shared.h"
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/**
|
||||
*
|
||||
* Implements basic functionality of UAVCAN esc.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This is the AppImageDescriptor used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc of this application
|
||||
*/
|
||||
|
||||
boot_app_shared_section app_descriptor_t AppDescriptor = {
|
||||
.signature = {APP_DESCRIPTOR_SIGNATURE},
|
||||
.image_crc = 0,
|
||||
.image_size = 0,
|
||||
.vcs_commit = 0,
|
||||
.major_version = APP_VERSION_MAJOR,
|
||||
.minor_version = APP_VERSION_MINOR,
|
||||
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
|
||||
};
|
||||
|
||||
/*
|
||||
* UavcanNode
|
||||
*/
|
||||
UavcanEsc *UavcanEsc::_instance;
|
||||
|
||||
UavcanEsc::UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
|
||||
CDev(UAVCAN_DEVICE_PATH),
|
||||
active_bitrate(0),
|
||||
_node(can_driver, system_clock),
|
||||
_node_mutex(),
|
||||
_fw_update_listner(_node),
|
||||
_reset_timer(_node)
|
||||
{
|
||||
const int res = pthread_mutex_init(&_node_mutex, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
std::abort();
|
||||
}
|
||||
|
||||
px4_sem_init(&_sem, 0, 0);
|
||||
/* semaphore use case is a signal */
|
||||
px4_sem_setprotocol(&_sem, SEM_PRIO_NONE);
|
||||
|
||||
}
|
||||
|
||||
UavcanEsc::~UavcanEsc()
|
||||
{
|
||||
if (_task != -1) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit = true;
|
||||
|
||||
unsigned i = 10;
|
||||
|
||||
do {
|
||||
/* wait 5ms - it should wake every 10ms or so worst-case */
|
||||
::usleep(5000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (--i == 0) {
|
||||
task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
_instance = nullptr;
|
||||
px4_sem_destroy(&_sem);
|
||||
}
|
||||
|
||||
int UavcanEsc::start(uavcan::NodeID node_id, uint32_t bitrate)
|
||||
{
|
||||
|
||||
|
||||
if (_instance != nullptr) {
|
||||
PX4_WARN("Already started");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* CAN driver init
|
||||
*/
|
||||
static CanInitHelper can;
|
||||
static bool can_initialized = false;
|
||||
|
||||
if (!can_initialized) {
|
||||
const int can_init_res = can.init(bitrate);
|
||||
|
||||
if (can_init_res < 0) {
|
||||
PX4_WARN("CAN driver init failed %i", can_init_res);
|
||||
return can_init_res;
|
||||
}
|
||||
|
||||
can_initialized = true;
|
||||
}
|
||||
|
||||
/*
|
||||
* Node init
|
||||
*/
|
||||
_instance = new UavcanEsc(can.driver, uavcan_stm32::SystemClock::instance());
|
||||
|
||||
if (_instance == nullptr) {
|
||||
PX4_WARN("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
const int node_init_res = _instance->init(node_id, can.driver.updateEvent());
|
||||
|
||||
if (node_init_res < 0) {
|
||||
delete _instance;
|
||||
_instance = nullptr;
|
||||
PX4_WARN("Node init failed %i", node_init_res);
|
||||
return node_init_res;
|
||||
}
|
||||
|
||||
|
||||
/* Keep the bit rate for reboots on BenginFirmware updates */
|
||||
|
||||
_instance->active_bitrate = bitrate;
|
||||
|
||||
/*
|
||||
* Start the task. Normally it should never exit.
|
||||
*/
|
||||
static auto run_trampoline = [](int, char *[]) {return UavcanEsc::_instance->run();};
|
||||
_instance->_task = px4_task_spawn_cmd("uavcanesc", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
|
||||
static_cast<main_t>(run_trampoline), nullptr);
|
||||
|
||||
if (_instance->_task < 0) {
|
||||
PX4_WARN("start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void UavcanEsc::fill_node_info()
|
||||
{
|
||||
/* software version */
|
||||
uavcan::protocol::SoftwareVersion swver;
|
||||
|
||||
// Extracting the first 8 hex digits of the git hash and converting them to int
|
||||
char fw_git_short[9] = {};
|
||||
std::memmove(fw_git_short, px4_firmware_version_string(), 8);
|
||||
char *end = nullptr;
|
||||
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
|
||||
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
|
||||
swver.major = AppDescriptor.major_version;
|
||||
swver.minor = AppDescriptor.minor_version;
|
||||
swver.image_crc = AppDescriptor.image_crc;
|
||||
|
||||
PX4_WARN("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
|
||||
|
||||
_node.setSoftwareVersion(swver);
|
||||
|
||||
/* hardware version */
|
||||
uavcan::protocol::HardwareVersion hwver;
|
||||
|
||||
hwver.major = HW_VERSION_MAJOR;
|
||||
hwver.minor = HW_VERSION_MINOR;
|
||||
|
||||
mfguid_t mfgid = {};
|
||||
board_get_mfguid(mfgid);
|
||||
uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
|
||||
|
||||
_node.setHardwareVersion(hwver);
|
||||
}
|
||||
|
||||
static void cb_reboot(const uavcan::TimerEvent &)
|
||||
{
|
||||
px4_systemreset(false);
|
||||
|
||||
}
|
||||
|
||||
void UavcanEsc::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request>
|
||||
&req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp)
|
||||
{
|
||||
static bool inprogress = false;
|
||||
|
||||
rsp.error = rsp.ERROR_UNKNOWN;
|
||||
|
||||
if (req.image_file_remote_path.path.size()) {
|
||||
rsp.error = rsp.ERROR_IN_PROGRESS;
|
||||
|
||||
if (!inprogress) {
|
||||
inprogress = true;
|
||||
bootloader_app_shared_t shared;
|
||||
shared.bus_speed = active_bitrate;
|
||||
shared.node_id = _node.getNodeID().get();
|
||||
bootloader_app_shared_write(&shared, App);
|
||||
rgb_led(255, 128, 0, 5);
|
||||
_reset_timer.setCallback(cb_reboot);
|
||||
_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
|
||||
rsp.error = rsp.ERROR_OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int UavcanEsc::init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events)
|
||||
{
|
||||
int ret = -1;
|
||||
|
||||
// Do regular cdev init
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
_node.setName(HW_UAVCAN_NAME);
|
||||
|
||||
_node.setNodeID(node_id);
|
||||
|
||||
fill_node_info();
|
||||
|
||||
const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
|
||||
&UavcanEsc::cb_beginfirmware_update));
|
||||
|
||||
if (srv_start_res < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
bus_events.registerSignalCallback(UavcanEsc::busevent_signal_trampoline);
|
||||
|
||||
return _node.start();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Restart handler
|
||||
*/
|
||||
class RestartRequestHandler: public uavcan::IRestartRequestHandler
|
||||
{
|
||||
bool handleRestartRequest(uavcan::NodeID request_source) override
|
||||
{
|
||||
::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
|
||||
::usleep(20 * 1000 * 1000);
|
||||
px4_systemreset(false);
|
||||
return true; // Will never be executed BTW
|
||||
}
|
||||
} restart_request_handler;
|
||||
|
||||
void UavcanEsc::node_spin_once()
|
||||
{
|
||||
const int spin_res = _node.spin(uavcan::MonotonicTime());
|
||||
|
||||
if (spin_res < 0) {
|
||||
PX4_WARN("node spin error %i", spin_res);
|
||||
}
|
||||
}
|
||||
|
||||
static void signal_callback(void *arg)
|
||||
{
|
||||
/* Note: we are in IRQ context here */
|
||||
px4_sem_t *sem = (px4_sem_t *)arg;
|
||||
int semaphore_value;
|
||||
|
||||
if (px4_sem_getvalue(sem, &semaphore_value) == 0 && semaphore_value > 1) {
|
||||
return;
|
||||
}
|
||||
|
||||
px4_sem_post(sem);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
UavcanEsc::busevent_signal_trampoline()
|
||||
{
|
||||
if (_instance) {
|
||||
signal_callback(&_instance->_sem);
|
||||
}
|
||||
}
|
||||
|
||||
int UavcanEsc::run()
|
||||
{
|
||||
|
||||
get_node().setRestartRequestHandler(&restart_request_handler);
|
||||
|
||||
while (init_indication_controller(get_node()) < 0) {
|
||||
::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
|
||||
::sleep(1);
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
_node.setModeOperational();
|
||||
|
||||
hrt_call timer_call{};
|
||||
hrt_call_every(&timer_call, 50_ms, 50_ms, signal_callback, &_sem);
|
||||
|
||||
while (!_task_should_exit) {
|
||||
// Mutex is unlocked while the thread is blocked on IO multiplexing
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
while (px4_sem_wait(&_sem) != 0);
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
node_spin_once(); // Non-blocking
|
||||
|
||||
// Do Something
|
||||
|
||||
}
|
||||
|
||||
hrt_cancel(&timer_call);
|
||||
teardown();
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
UavcanEsc::teardown()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int
|
||||
UavcanEsc::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
if (ret == -ENOTTY) {
|
||||
ret = CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
UavcanEsc::print_info()
|
||||
{
|
||||
if (!_instance) {
|
||||
PX4_WARN("not running, start first");
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
/*
|
||||
* App entry point
|
||||
*/
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tuavcanesc {start|status|stop}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
|
||||
|
||||
int uavcannode_start(int argc, char *argv[])
|
||||
{
|
||||
// CAN bitrate
|
||||
int32_t bitrate = 0;
|
||||
// Node ID
|
||||
int32_t node_id = 0;
|
||||
|
||||
// Did the bootloader auto baud and get a node ID Allocated
|
||||
|
||||
bootloader_app_shared_t shared;
|
||||
int valid = bootloader_app_shared_read(&shared, BootLoader);
|
||||
|
||||
if (valid == 0) {
|
||||
|
||||
bitrate = shared.bus_speed;
|
||||
node_id = shared.node_id;
|
||||
|
||||
// Invalidate to prevent deja vu
|
||||
|
||||
bootloader_app_shared_invalidate();
|
||||
|
||||
} else {
|
||||
|
||||
// Node ID
|
||||
(void)param_get(param_find("ESC_NODE_ID"), &node_id);
|
||||
(void)param_get(param_find("ESC_BITRATE"), &bitrate);
|
||||
}
|
||||
|
||||
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
|
||||
PX4_WARN("Invalid Node ID %i", node_id);
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
// Start
|
||||
PX4_WARN("Node ID %u, bitrate %u", node_id, bitrate);
|
||||
int rv = UavcanEsc::start(node_id, bitrate);
|
||||
::sleep(1);
|
||||
return rv;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcanesc_main(int argc, char *argv[]);
|
||||
int uavcanesc_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "start")) {
|
||||
|
||||
if (UavcanEsc::instance()) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
return uavcannode_start(argc, argv);
|
||||
}
|
||||
|
||||
/* commands below require the app to be started */
|
||||
UavcanEsc *const inst = UavcanEsc::instance();
|
||||
|
||||
if (!inst) {
|
||||
PX4_ERR("application not running");
|
||||
::exit(1);
|
||||
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
|
||||
inst->print_info();
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "stop")) {
|
||||
delete inst;
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@ -1,147 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#include <drivers/device/device.h>
|
||||
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
|
||||
#include <uavcan/node/timer.hpp>
|
||||
/**
|
||||
*
|
||||
* Defines functionality of UAVCAN ESC node.
|
||||
*/
|
||||
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
|
||||
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
|
||||
|
||||
// we add 1 to allow for busevent
|
||||
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
|
||||
|
||||
/**
|
||||
* A UAVCAN node.
|
||||
*/
|
||||
class UavcanEsc : public cdev::CDev
|
||||
{
|
||||
/*
|
||||
* This memory is reserved for uavcan to use as over flow for message
|
||||
* Coming from multiple sources that my not be considered at development
|
||||
* time.
|
||||
*
|
||||
* The call to getNumFreeBlocks will tell how many blocks there are
|
||||
* free -and multiply it times getBlockSize to get the number of bytes
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned MemPoolSize = 2048;
|
||||
|
||||
/*
|
||||
* This memory is reserved for uavcan to use for queuing CAN frames.
|
||||
* At 1Mbit there is approximately one CAN frame every 200 uS.
|
||||
* The number of buffers sets how long you can go without calling
|
||||
* node_spin_xxxx. Since our task is the only one running and the
|
||||
* driver will light the fd when there is a CAN frame we can nun with
|
||||
* a minimum number of buffers to conserver memory. Each buffer is
|
||||
* 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required
|
||||
* poll rate of ~1 mS
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned RxQueueLenPerIface = 5;
|
||||
|
||||
/*
|
||||
* This memory is uses for the tasks stack size
|
||||
*/
|
||||
|
||||
static constexpr unsigned StackSize = 4096;
|
||||
|
||||
public:
|
||||
typedef uavcan::Node<MemPoolSize> Node;
|
||||
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
|
||||
typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
|
||||
|
||||
UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
|
||||
|
||||
virtual ~UavcanEsc();
|
||||
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
static int start(uavcan::NodeID node_id, uint32_t bitrate);
|
||||
|
||||
Node &get_node() { return _node; }
|
||||
|
||||
int teardown();
|
||||
|
||||
void print_info();
|
||||
|
||||
static UavcanEsc *instance() { return _instance; }
|
||||
|
||||
|
||||
/* The bit rate that can be passed back to the bootloader */
|
||||
|
||||
int32_t active_bitrate;
|
||||
|
||||
|
||||
private:
|
||||
void fill_node_info();
|
||||
int init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events);
|
||||
void node_spin_once();
|
||||
int run();
|
||||
static void busevent_signal_trampoline();
|
||||
|
||||
|
||||
px4_sem_t _sem; ///< semaphore for scheduling the task
|
||||
int _task = -1; ///< handle to the OS task
|
||||
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
|
||||
|
||||
static UavcanEsc *_instance; ///< singleton pointer
|
||||
Node _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanEsc *,
|
||||
void (UavcanEsc::*)(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &)>
|
||||
BeginFirmwareUpdateCallBack;
|
||||
|
||||
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
|
||||
void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp);
|
||||
|
||||
public:
|
||||
|
||||
/* A timer used to reboot after the response is sent */
|
||||
|
||||
uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
|
||||
|
||||
};
|
||||
@ -1,59 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
/**
|
||||
* UAVCAN Node ID.
|
||||
*
|
||||
* Read the specs at http://uavcan.org to learn more about Node ID.
|
||||
*
|
||||
* @min 1
|
||||
* @max 125
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(ESC_NODE_ID, 120);
|
||||
|
||||
/**
|
||||
* UAVCAN CAN bus bitrate.
|
||||
*
|
||||
* @min 20000
|
||||
* @max 1000000
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(ESC_BITRATE, 1000000);
|
||||
Loading…
x
Reference in New Issue
Block a user