mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:58:53 +08:00
Tried to collect some changes that I needed to build for FMUv2 into a commit
This commit is contained in:
Julian Oes
@@ -10,7 +10,9 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
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#
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#
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# Board support modules
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# Board support modules
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#
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#
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MODULES += drivers/px4fmu
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MODULES += drivers/boards/px4fmu
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MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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#
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#
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# Transitional support - add commands from the NuttX export archive.
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# Transitional support - add commands from the NuttX export archive.
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@@ -44,7 +46,6 @@ BUILTIN_COMMANDS := \
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$(call _B, hmc5883, , 4096, hmc5883_main ) \
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$(call _B, hmc5883, , 4096, hmc5883_main ) \
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$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
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$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
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$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
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$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
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$(call _B, l3gd20, , 2048, l3gd20_main ) \
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$(call _B, math_demo, , 8192, math_demo_main ) \
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$(call _B, math_demo, , 8192, math_demo_main ) \
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$(call _B, mavlink, , 2048, mavlink_main ) \
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$(call _B, mavlink, , 2048, mavlink_main ) \
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$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
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$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
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@@ -308,6 +308,10 @@
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
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#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
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#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
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#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
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#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
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#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
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#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
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@@ -321,6 +325,8 @@
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#define PX4_SPIDEV_ACCEL 2
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#define PX4_SPIDEV_ACCEL 2
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#define PX4_SPIDEV_MPU 3
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#define PX4_SPIDEV_MPU 3
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#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
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/*
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/*
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* Tone alarm output
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* Tone alarm output
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*/
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*/
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@@ -110,16 +110,15 @@ endif
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CONFIGURED_APPS += systemcmds/i2c
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CONFIGURED_APPS += systemcmds/i2c
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# Communication and Drivers
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# Communication and Drivers
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CONFIGURED_APPS += drivers/boards/px4fmu
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#CONFIGURED_APPS += drivers/boards/px4fmu
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CONFIGURED_APPS += drivers/device
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CONFIGURED_APPS += drivers/device
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CONFIGURED_APPS += drivers/ms5611
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CONFIGURED_APPS += drivers/ms5611
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CONFIGURED_APPS += drivers/hmc5883
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CONFIGURED_APPS += drivers/hmc5883
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CONFIGURED_APPS += drivers/mpu6000
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CONFIGURED_APPS += drivers/mpu6000
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CONFIGURED_APPS += drivers/bma180
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CONFIGURED_APPS += drivers/bma180
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CONFIGURED_APPS += drivers/l3gd20
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CONFIGURED_APPS += drivers/px4io
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CONFIGURED_APPS += drivers/px4io
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CONFIGURED_APPS += drivers/stm32
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CONFIGURED_APPS += drivers/stm32
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CONFIGURED_APPS += drivers/led
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#CONFIGURED_APPS += drivers/led
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CONFIGURED_APPS += drivers/blinkm
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CONFIGURED_APPS += drivers/blinkm
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CONFIGURED_APPS += drivers/stm32/tone_alarm
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CONFIGURED_APPS += drivers/stm32/tone_alarm
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CONFIGURED_APPS += drivers/stm32/adc
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CONFIGURED_APPS += drivers/stm32/adc
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@@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
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CONFIG_ARCH_INTERRUPTSTACK=n
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CONFIG_ARCH_INTERRUPTSTACK=n
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARCH_BOOTLOADER=n
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CONFIG_ARCH_BOOTLOADER=n
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CONFIG_ARCH_LEDS=y
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CONFIG_ARCH_LEDS=n
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CONFIG_ARCH_BUTTONS=n
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CONFIG_ARCH_BUTTONS=n
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CONFIG_ARCH_CALIBRATION=n
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CONFIG_ARCH_CALIBRATION=n
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CONFIG_ARCH_DMA=y
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CONFIG_ARCH_DMA=y
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@@ -0,0 +1,9 @@
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#
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# Board-specific startup code for the PX4FMU
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#
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SRCS = px4fmu_can.c \
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px4fmu_init.c \
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px4fmu_pwm_servo.c \
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px4fmu_spi.c \
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px4fmu_usb.c
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@@ -0,0 +1,144 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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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 PX4 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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||||||
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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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/**
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* @file px4fmu_can.c
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*
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* Board-specific CAN functions.
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*/
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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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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "up_arch.h"
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#include "stm32.h"
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#include "stm32_can.h"
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#include "px4fmu_internal.h"
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#ifdef CONFIG_CAN
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
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# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
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# undef CONFIG_STM32_CAN2
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#endif
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#ifdef CONFIG_STM32_CAN1
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# define CAN_PORT 1
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#else
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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||||||
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* Name: can_devinit
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*
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* Description:
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* All STM32 architectures must provide the following interface to work with
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* examples/can.
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*
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************************************************************************************/
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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if (!initialized) {
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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/* Register the CAN driver at "/dev/can0" */
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|
ret = can_register("/dev/can0", can);
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|
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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#endif
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@@ -0,0 +1,266 @@
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|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file px4fmu_init.c
|
||||||
|
*
|
||||||
|
* PX4FMU-specific early startup code. This file implements the
|
||||||
|
* nsh_archinitialize() 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 initialisation.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <debug.h>
|
||||||
|
#include <errno.h>
|
||||||
|
|
||||||
|
#include <nuttx/arch.h>
|
||||||
|
#include <nuttx/spi.h>
|
||||||
|
#include <nuttx/i2c.h>
|
||||||
|
#include <nuttx/mmcsd.h>
|
||||||
|
#include <nuttx/analog/adc.h>
|
||||||
|
|
||||||
|
#include "stm32_internal.h"
|
||||||
|
#include "px4fmu_internal.h"
|
||||||
|
#include "stm32_uart.h"
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#include <drivers/drv_hrt.h>
|
||||||
|
#include <drivers/drv_led.h>
|
||||||
|
|
||||||
|
#include <systemlib/cpuload.h>
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-Processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* Configuration ************************************************************/
|
||||||
|
|
||||||
|
/* Debug ********************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||||
|
# ifdef CONFIG_DEBUG
|
||||||
|
# define message(...) lowsyslog(__VA_ARGS__)
|
||||||
|
# else
|
||||||
|
# define message(...) printf(__VA_ARGS__)
|
||||||
|
# endif
|
||||||
|
#else
|
||||||
|
# ifdef CONFIG_DEBUG
|
||||||
|
# define message lowsyslog
|
||||||
|
# else
|
||||||
|
# define message printf
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* 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 intitialization -- after all memory has been configured
|
||||||
|
* and mapped but before any devices have been initialized.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void stm32_boardinitialize(void)
|
||||||
|
{
|
||||||
|
/* configure SPI interfaces */
|
||||||
|
stm32_spiinitialize();
|
||||||
|
|
||||||
|
/* configure LEDs */
|
||||||
|
up_ledinit();
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: nsh_archinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Perform architecture specific initialization
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
static struct spi_dev_s *spi1;
|
||||||
|
static struct spi_dev_s *spi2;
|
||||||
|
static struct spi_dev_s *spi3;
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
__EXPORT int matherr(struct __exception *e)
|
||||||
|
{
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
__EXPORT int matherr(struct exception *e)
|
||||||
|
{
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
__EXPORT int nsh_archinitialize(void)
|
||||||
|
{
|
||||||
|
int result;
|
||||||
|
|
||||||
|
// /* configure ADC pins */
|
||||||
|
// stm32_configgpio(GPIO_ADC1_IN10);
|
||||||
|
// stm32_configgpio(GPIO_ADC1_IN11);
|
||||||
|
// stm32_configgpio(GPIO_ADC1_IN12);
|
||||||
|
|
||||||
|
// /* configure power supply control pins */
|
||||||
|
// stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
|
||||||
|
// stm32_configgpio(GPIO_VDD_2V8_SENSORS_EN);
|
||||||
|
// stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
|
||||||
|
// stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
|
||||||
|
|
||||||
|
/* configure the high-resolution time/callout interface */
|
||||||
|
hrt_init();
|
||||||
|
|
||||||
|
/* configure CPU load estimation */
|
||||||
|
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||||
|
cpuload_initialize_once();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* set up the serial DMA polling */
|
||||||
|
static struct hrt_call serial_dma_call;
|
||||||
|
struct timespec ts;
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Poll at 1ms intervals for received bytes that have not triggered
|
||||||
|
* a DMA event.
|
||||||
|
*/
|
||||||
|
ts.tv_sec = 0;
|
||||||
|
ts.tv_nsec = 1000000;
|
||||||
|
|
||||||
|
hrt_call_every(&serial_dma_call,
|
||||||
|
ts_to_abstime(&ts),
|
||||||
|
ts_to_abstime(&ts),
|
||||||
|
(hrt_callout)stm32_serial_dma_poll,
|
||||||
|
NULL);
|
||||||
|
|
||||||
|
// initial LED state
|
||||||
|
// drv_led_start();
|
||||||
|
up_ledoff(LED_BLUE);
|
||||||
|
up_ledoff(LED_AMBER);
|
||||||
|
up_ledon(LED_BLUE);
|
||||||
|
|
||||||
|
/* Configure SPI-based devices */
|
||||||
|
|
||||||
|
spi1 = up_spiinitialize(1);
|
||||||
|
|
||||||
|
if (!spi1) {
|
||||||
|
message("[boot] FAILED to initialize SPI port 1\r\n");
|
||||||
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||||
|
SPI_SETFREQUENCY(spi1, 10000000);
|
||||||
|
SPI_SETBITS(spi1, 8);
|
||||||
|
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||||
|
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
|
||||||
|
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
|
||||||
|
// SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
|
||||||
|
// SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||||
|
up_udelay(20);
|
||||||
|
|
||||||
|
message("[boot] Successfully initialized SPI port 1\r\n");
|
||||||
|
|
||||||
|
|
||||||
|
spi2 = up_spiinitialize(2);
|
||||||
|
|
||||||
|
if (!spi2) {
|
||||||
|
message("[boot] FAILED to initialize SPI port 2\r\n");
|
||||||
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||||
|
SPI_SETFREQUENCY(spi2, 10000000);
|
||||||
|
SPI_SETBITS(spi2, 8);
|
||||||
|
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||||
|
SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
|
||||||
|
SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
|
||||||
|
// SPI_SELECT(spi2, PX4_SPIDEV_ACCEL, false);
|
||||||
|
// SPI_SELECT(spi2, PX4_SPIDEV_MPU, false);
|
||||||
|
up_udelay(20);
|
||||||
|
|
||||||
|
message("[boot] Successfully initialized SPI port2\r\n");
|
||||||
|
|
||||||
|
/* Get the SPI port for the microSD slot */
|
||||||
|
|
||||||
|
message("[boot] Initializing SPI port 3\n");
|
||||||
|
spi3 = up_spiinitialize(3);
|
||||||
|
|
||||||
|
if (!spi3) {
|
||||||
|
message("[boot] FAILED to initialize SPI port 3\n");
|
||||||
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
|
message("[boot] Successfully initialized SPI port 3\n");
|
||||||
|
|
||||||
|
/* Now bind the SPI interface to the MMCSD driver */
|
||||||
|
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
|
||||||
|
|
||||||
|
if (result != OK) {
|
||||||
|
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
|
||||||
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
|
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_ADC1_IN10);
|
||||||
|
stm32_configgpio(GPIO_ADC1_IN11);
|
||||||
|
// stm32_configgpio(GPIO_ADC1_IN12);
|
||||||
|
// stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
@@ -0,0 +1,162 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file px4fmu_internal.h
|
||||||
|
*
|
||||||
|
* PX4FMU internal definitions
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <nuttx/compiler.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
__BEGIN_DECLS
|
||||||
|
|
||||||
|
/* these headers are not C++ safe */
|
||||||
|
#include <stm32_internal.h>
|
||||||
|
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Definitions
|
||||||
|
****************************************************************************************************/
|
||||||
|
/* Configuration ************************************************************************************/
|
||||||
|
|
||||||
|
//#ifdef CONFIG_STM32_SPI2
|
||||||
|
//# error "SPI2 is not supported on this board"
|
||||||
|
//#endif
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_CAN1)
|
||||||
|
# warning "CAN1 is not supported on this board"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* PX4FMU GPIOs ***********************************************************************************/
|
||||||
|
/* LEDs */
|
||||||
|
|
||||||
|
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||||
|
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||||
|
|
||||||
|
/* External interrupts */
|
||||||
|
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||||
|
// XXX MPU6000 DRDY?
|
||||||
|
|
||||||
|
/* SPI chip selects */
|
||||||
|
|
||||||
|
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||||
|
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||||
|
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||||
|
|
||||||
|
/* User GPIOs
|
||||||
|
*
|
||||||
|
* GPIO0-1 are the buffered high-power GPIOs.
|
||||||
|
* GPIO2-5 are the USART2 pins.
|
||||||
|
* GPIO6-7 are the CAN2 pins.
|
||||||
|
*/
|
||||||
|
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||||
|
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
|
||||||
|
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
|
||||||
|
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
|
||||||
|
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
|
||||||
|
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
|
||||||
|
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
|
||||||
|
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||||
|
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||||
|
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||||
|
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||||
|
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
||||||
|
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
||||||
|
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||||
|
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
|
||||||
|
/* USB OTG FS
|
||||||
|
*
|
||||||
|
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||||
|
*/
|
||||||
|
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||||
|
|
||||||
|
/* PWM
|
||||||
|
*
|
||||||
|
* The PX4FMU has five PWM outputs, of which only the output on
|
||||||
|
* pin PC8 is fixed assigned to this function. The other four possible
|
||||||
|
* pwm sources are the TX, RX, RTS and CTS pins of USART2
|
||||||
|
*
|
||||||
|
* Alternate function mapping:
|
||||||
|
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef CONFIG_PWM
|
||||||
|
# if defined(CONFIG_STM32_TIM3_PWM)
|
||||||
|
# define BUZZER_PWMCHANNEL 3
|
||||||
|
# define BUZZER_PWMTIMER 3
|
||||||
|
# elif defined(CONFIG_STM32_TIM8_PWM)
|
||||||
|
# define BUZZER_PWMCHANNEL 3
|
||||||
|
# define BUZZER_PWMTIMER 8
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public Types
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public data
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Name: stm32_spiinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||||
|
*
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
extern void stm32_spiinitialize(void);
|
||||||
|
|
||||||
|
#endif /* __ASSEMBLY__ */
|
||||||
|
|
||||||
|
__END_DECLS
|
||||||
@@ -0,0 +1,87 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* @file px4fmu_pwm_servo.c
|
||||||
|
*
|
||||||
|
* Configuration data for the stm32 pwm_servo driver.
|
||||||
|
*
|
||||||
|
* Note that these arrays must always be fully-sized.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <drivers/stm32/drv_pwm_servo.h>
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
#include <drivers/drv_pwm_output.h>
|
||||||
|
|
||||||
|
#include <stm32_internal.h>
|
||||||
|
#include <stm32_gpio.h>
|
||||||
|
#include <stm32_tim.h>
|
||||||
|
|
||||||
|
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||||
|
{
|
||||||
|
.base = STM32_TIM2_BASE,
|
||||||
|
.clock_register = STM32_RCC_APB1ENR,
|
||||||
|
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||||
|
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH1OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 1,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH2OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 2,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH3OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 3,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH4OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 4,
|
||||||
|
.default_value = 1000,
|
||||||
|
}
|
||||||
|
};
|
||||||
@@ -0,0 +1,154 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file px4fmu_spi.c
|
||||||
|
*
|
||||||
|
* Board-specific SPI functions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <nuttx/spi.h>
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#include "up_arch.h"
|
||||||
|
#include "chip.h"
|
||||||
|
#include "stm32_internal.h"
|
||||||
|
#include "px4fmu_internal.h"
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spiinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void weak_function stm32_spiinitialize(void)
|
||||||
|
{
|
||||||
|
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||||
|
stm32_configgpio(GPIO_SPI_CS_ACCEL);
|
||||||
|
stm32_configgpio(GPIO_SPI_CS_MPU);
|
||||||
|
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||||
|
|
||||||
|
/* De-activate all peripherals,
|
||||||
|
* required for some peripheral
|
||||||
|
* state machines
|
||||||
|
*/
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||||
|
{
|
||||||
|
/* SPI select is active low, so write !selected to select the device */
|
||||||
|
|
||||||
|
switch (devid) {
|
||||||
|
case PX4_SPIDEV_GYRO:
|
||||||
|
/* Making sure the other peripherals are not selected */
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case PX4_SPIDEV_ACCEL:
|
||||||
|
/* Making sure the other peripherals are not selected */
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case PX4_SPIDEV_MPU:
|
||||||
|
/* Making sure the other peripherals are not selected */
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||||
|
{
|
||||||
|
/* SPI select is active low, so write !selected to select the device */
|
||||||
|
|
||||||
|
switch (devid) {
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||||
|
{
|
||||||
|
/* there can only be one device on this bus, so always select it */
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||||
|
{
|
||||||
|
/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
|
||||||
@@ -0,0 +1,108 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file px4fmu_usb.c
|
||||||
|
*
|
||||||
|
* Board-specific USB functions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/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_internal.h"
|
||||||
|
#include "px4fmu_internal.h"
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Definitions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Private Functions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_usbinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void stm32_usbinitialize(void)
|
||||||
|
{
|
||||||
|
/* The OTG FS has an internal soft pull-up */
|
||||||
|
|
||||||
|
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_OTGFS
|
||||||
|
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||||
|
/* XXX We only support device mode
|
||||||
|
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||||
|
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||||
|
*/
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_usbsuspend
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||||
|
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||||
|
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||||
|
* while the USB is suspended.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||||
|
{
|
||||||
|
ulldbg("resume: %d\n", resume);
|
||||||
|
}
|
||||||
|
|
||||||
Reference in New Issue
Block a user