mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 00:03:33 +08:00
Adding zubaxgnss-v1 bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
276bf47865
commit
1b17bc74b2
@@ -0,0 +1,68 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# 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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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message(FATAL_ERROR Configuraton is incomplete")
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include_directories(../../bootloaders/include)
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set(SRCS)
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list(APPEND SRCS
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../common/board_name.c
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zubax_gnss_init.c
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zubax_gnss_led.c
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../../../drivers/bootloaders/src/common/boot_app_shared.c
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../../../drivers/bootloaders/src/util/crc.c
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)
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if(${OS} STREQUAL "nuttx")
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if (NOT ${BOARD} STREQUAL "sim")
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list(APPEND SRCS
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../../../drivers/device/device_nuttx.cpp
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../../../drivers/device/cdev.cpp
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)
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endif()
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else()
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list(APPEND SRCS
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../../../drivers/device/device_posix.cpp
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../../../drivers/device/vdev.cpp
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)
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endif()
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px4_add_module(
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MODULE drivers__boards__zubaxgnss-v1
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COMPILE_FLAGS
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-Os
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SRCS ${SRCS}
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DEPENDS
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platforms__common
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)
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@@ -0,0 +1,247 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 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
|
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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 board_config.h
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*
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* ZUBAXGNSSv1 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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#if STM32_NSPI < 1
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# undef CONFIG_STM32_SPI1
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# undef CONFIG_STM32_SPI2
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#elif STM32_NSPI < 2
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# undef CONFIG_STM32_SPI2
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#endif
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/* High-resolution timer
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*/
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#define HRT_TIMER 1 /* use timer1 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTB|GPIO_PIN12)
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/* LEDs ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PB[00] ADC12_IN8/TIM3_CH3/ETH_MII_RXD2/TIM1_CH2N 26 LED4
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* PC[04] ADC12_IN14/ETH_MII_RXD0(8)/ETH_RMII_RXD0 24 LED3
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* PC[05] ADC12_IN15/ETH_MII_RXD1(8)/ETH_RMII_RXD1 25 LED2
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*/
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#define GPIO_LED2 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
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GPIO_PORTC | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_CAN1 GPIO_LED2
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#define GPIO_LED3 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
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GPIO_PORTC | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_CAN2 GPIO_LED3
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#define GPIO_LED4 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
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GPIO_PORTB | GPIO_PIN0 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_INFO GPIO_LED4
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/* SPI ***************************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------------
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*
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* PC[09] PA4/SPI1_NSS/USART2_CK/ADC4 20 D10(#SS1)
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* PD[02] PD2/TIM3_ETR 54 D25(MMC_CS)
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*/
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#define GPIO_SPI1_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
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GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_SET)
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#define USER_CSn GPIO_SPI1_SSn
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__BEGIN_DECLS
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/************************************************************************************
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* Public Types
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************************************************************************************/
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/************************************************************************************
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* Public data
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************************************************************************************/
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#ifndef __ASSEMBLY__
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins.
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*
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************************************************************************************/
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#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
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defined(CONFIG_STM32_SPI3)
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void weak_function board_spiinitialize(void);
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#endif
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/************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Called to setup USB-related GPIO pins.
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*
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************************************************************************************/
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void stm32_usbinitialize(void);
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/************************************************************************************
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* Name: stm32_usb_set_pwr_callback()
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*
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* Description:
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* Called to setup set a call back for USB power state changes.
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*
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* Inputs:
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* pwr_changed_handler: An interrupt handler that will be called on VBUS power
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* state changes.
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*
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************************************************************************************/
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void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
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/****************************************************************************
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* Name: stm32_led_initialize
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*
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* Description:
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* This functions is called very early in initialization to perform board-
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* specific initialization of LED-related resources. This includes such
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* things as, for example, configure GPIO pins to drive the LEDs and also
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* putting the LEDs in their correct initial state.
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*
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* NOTE: In most architectures, LED initialization() is called from
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* board-specific initialization and should, therefore, have the name
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* <arch>_led_intialize(). But there are a few architectures where the
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* LED initialization function is still called from common chip
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* architecture logic. This interface is not, however, a common board
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* interface in any event and the name board_autoled_initialization is
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* deprecated.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_ARCH_LEDS
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void board_autoled_initialize(void);
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#endif
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/************************************************************************************
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* Name: stm32_can_initialize
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*
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* Description:
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* Called at application startup time to initialize the CAN functionality.
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*
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************************************************************************************/
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#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
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int board_can_initialize(void);
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#endif
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/************************************************************************************
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* Name: board_button_initialize
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*
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* Description:
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* Called at application startup time to initialize the Buttons functionality.
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*
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************************************************************************************/
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#if defined(CONFIG_ARCH_BUTTONS)
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void board_button_initialize(void);
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#endif
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/****************************************************************************
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* Name: usbmsc_archinitialize
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*
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* Description:
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* Called from the application system/usbmc or the boards_nsh if the
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* application is not included.
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* Perform architecture specific initialization. This function must
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* configure the block device to export via USB. This function must be
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* provided by architecture-specific logic in order to use this add-on.
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*
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****************************************************************************/
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#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
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int usbmsc_archinitialize(void);
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#endif
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/****************************************************************************
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* Name: composite_archinitialize
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*
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* Description:
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* Called from the application system/composite or the boards_nsh if the
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* application is not included.
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* Perform architecture specific initialization. This function must
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* configure the block device to export via USB. This function must be
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* provided by architecture-specific logic in order to use this add-on.
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*
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****************************************************************************/
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#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
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extern int composite_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -0,0 +1,65 @@
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############################################################################
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#
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# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
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|
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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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|
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include_directories(${px4_bootloader_base}include)
|
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include_directories(${px4_module_base}systemlib)
|
||||
include_directories(.)
|
||||
|
||||
px4_add_module(
|
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MODULE drivers__boards__zubaxgnss-v1__bootloader
|
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COMPILE_FLAGS
|
||||
-Os
|
||||
SRCS
|
||||
boot.c
|
||||
led.c
|
||||
${px4_bootloader_base}src/uavcan/main.c
|
||||
${px4_bootloader_base}src/common/boot_app_shared.c
|
||||
${px4_bootloader_base}src/sched/timer.c
|
||||
${px4_bootloader_base}src/fs/flash.c
|
||||
${px4_bootloader_base}src/util/crc.c
|
||||
${px4_bootloader_base}src/util/random.c
|
||||
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
|
||||
${px4_bootloader_base}src/protocol/uavcan.c
|
||||
DEPENDS
|
||||
nuttx_export_${BOARD}
|
||||
)
|
||||
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,224 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include "led.h"
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private 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)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
stm32_configgpio(GPIO_LED_CAN1);
|
||||
stm32_configgpio(GPIO_LED_CAN2);
|
||||
stm32_configgpio(GPIO_LED_INFO);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boarddeinitialize
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the bootloader code prior to booting
|
||||
* the application. Is should place the HW into an benign initialized state.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_boarddeinitialize(void)
|
||||
{
|
||||
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_product_name
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the product name. The returned value is a assumed
|
||||
* to be written to a pascal style string that will be length prefixed
|
||||
* and not null terminated
|
||||
*
|
||||
* Input Parameters:
|
||||
* product_name - A pointer to a buffer to write the name.
|
||||
* maxlen - The maximum number of charter that can be written
|
||||
*
|
||||
* Returned Value:
|
||||
* The length of characters written to the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
||||
{
|
||||
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_hardware_version
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the hardware version information. The function
|
||||
* will first initialize the the callers struct to all zeros.
|
||||
*
|
||||
* Input Parameters:
|
||||
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* Length of the unique_id
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
{
|
||||
size_t length = 12;
|
||||
memset(hw_version, 0 , sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
memcpy(hw_version->unique_id, (void *) STM32_SYSMEM_UID, length);
|
||||
return length;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_indicate
|
||||
*
|
||||
* Description:
|
||||
* Provides User feedback to indicate the state of the bootloader
|
||||
* on board specific hardware.
|
||||
*
|
||||
* Input Parameters:
|
||||
* indication - A member of the uiindication_t
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
#define led(code, a, b, c, h) {.led_a = (a), .led_b = (b), .led_c = (c), .hz = (h)}
|
||||
|
||||
typedef struct packed_struct led_t {
|
||||
bool led_a;
|
||||
bool led_b;
|
||||
bool led_c;
|
||||
uint8_t hz;
|
||||
} led_t;
|
||||
|
||||
static const led_t i2l[] = {
|
||||
|
||||
led(off, 0, 0, 0, 0),
|
||||
led(reset, 1, 1, 1, 255),
|
||||
led(autobaud_start, 0, 1, 0, 255),
|
||||
led(autobaud_end, 0, 1, 1, 255),
|
||||
led(allocation_start, 1, 0, 0, 255),
|
||||
led(allocation_end, 1, 0, 1, 255),
|
||||
led(fw_update_start, 1, 1, 0, 255),
|
||||
led(fw_update_erase_fail, 0, 0, 1, 5),
|
||||
led(fw_update_invalid_response, 0, 1, 0, 5),
|
||||
led(fw_update_timeout, 0, 1, 1, 5),
|
||||
led(fw_update_invalid_crc, 1, 0, 0, 5),
|
||||
led(jump_to_app, 1, 1, 1, 1),
|
||||
|
||||
};
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
set_leds(i2l[indication].led_a,
|
||||
i2l[indication].led_b,
|
||||
i2l[indication].led_c,
|
||||
i2l[indication].hz);
|
||||
}
|
||||
@@ -0,0 +1,130 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 boot_config.h
|
||||
*
|
||||
* bootloader definitions that configures the behavior and options
|
||||
* of the Boot loader
|
||||
* This file is relies on the parent folder's boot_config.h file and defines
|
||||
* different usages of the hardware for bootloading
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
/* Bring in the board_config.h definitions
|
||||
* todo:make this be pulled in from a targed's build
|
||||
* files in nuttx*/
|
||||
|
||||
#include "../board_config.h"
|
||||
#include "uavcan.h"
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
|
||||
|
||||
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||
#define OPT_TBOOT_MS 5000
|
||||
#define OPT_NODE_STATUS_RATE_MS 800
|
||||
#define OPT_NODE_INFO_RATE_MS 50
|
||||
#define OPT_BL_NUMBER_TIMERS 8
|
||||
|
||||
/*
|
||||
* This Option set is set to 1 ensure a provider of firmware has an
|
||||
* opportunity update the node's firmware.
|
||||
* This Option is the default policy and can be overridden by
|
||||
* a jumper
|
||||
* When this Policy is set, the node will ignore tboot and
|
||||
* wait indefinitely for a GetNodeInfo request before booting.
|
||||
*
|
||||
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
|
||||
* the polarity of the jumper to be True Active
|
||||
*
|
||||
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
* Jumper
|
||||
* yes 1 0 x
|
||||
* yes 1 1 Active
|
||||
* no 1 1 Not Active
|
||||
* no 0 0 X
|
||||
* yes 0 1 Active
|
||||
* no 0 1 Not Active
|
||||
*
|
||||
*/
|
||||
#define OPT_WAIT_FOR_GETNODEINFO 0
|
||||
#undef OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
|
||||
|
||||
#define OPT_ENABLE_WD 1
|
||||
|
||||
#define OPT_RESTART_TIMEOUT_MS 20000
|
||||
|
||||
/* Reserved for the Booloader */
|
||||
#define OPT_BOOTLOADER_SIZE_IN_K (1024*8)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K 0
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
|
||||
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
|
||||
|
||||
|
||||
#define FLASH_BASE STM32_FLASH_BASE
|
||||
#define FLASH_NUMBER_PAGES STM32_FLASH_NPAGES
|
||||
#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
|
||||
#define FLASH_SIZE (FLASH_NUMBER_PAGES*FLASH_PAGE_SIZE)
|
||||
|
||||
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
|
||||
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
|
||||
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
|
||||
|
||||
/* If this board uses big flash that have large sectors */
|
||||
|
||||
#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_F) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_G) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_I)
|
||||
#define OPT_USE_YIELD
|
||||
#endif
|
||||
@@ -0,0 +1,95 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "chip/stm32_tim.h"
|
||||
|
||||
|
||||
#include "led.h"
|
||||
#include "timer.h"
|
||||
#include "board_config.h"
|
||||
|
||||
const int LED_TICK = 10;
|
||||
static bool led_a;
|
||||
static bool led_b;
|
||||
static bool led_c;
|
||||
static int period;
|
||||
|
||||
static void led_process(bl_timer_id id, void *context)
|
||||
{
|
||||
static int dc = 0;
|
||||
static bool toggle = true;
|
||||
dc += LED_TICK;
|
||||
|
||||
if (dc >= period) {
|
||||
dc = 0;
|
||||
toggle ^= true;
|
||||
}
|
||||
|
||||
stm32_gpiowrite(GPIO_LED_INFO, led_a ? toggle : false);
|
||||
stm32_gpiowrite(GPIO_LED_CAN1, led_b ? toggle : false);
|
||||
stm32_gpiowrite(GPIO_LED_CAN2, led_c ? toggle : false);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void set_leds(bool a, bool b, bool c, int freqs)
|
||||
{
|
||||
static bl_timer_id tid = (bl_timer_id) - 1;
|
||||
|
||||
if (tid == (bl_timer_id) - 1) {
|
||||
|
||||
bl_timer_cb_t p = null_cb;
|
||||
p.cb = led_process;
|
||||
|
||||
tid = timer_allocate(modeRepeating | modeStarted, LED_TICK, &p);
|
||||
}
|
||||
|
||||
led_a = a;
|
||||
led_b = b;
|
||||
led_c = c;
|
||||
|
||||
if (freqs == 0) {
|
||||
timer_stop(tid);
|
||||
|
||||
} else {
|
||||
period = 1000 / freqs;
|
||||
timer_restart(tid, LED_TICK);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <systemlib/visibility.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
void set_leds(bool a, bool b, bool c, int freqs);
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,187 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 zubax_gnss_init.c
|
||||
*
|
||||
* ZUBAXGNSS-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.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_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
#include <systemlib/systemlib.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();
|
||||
}
|
||||
|
||||
|
||||
__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;
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_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);
|
||||
|
||||
return result;
|
||||
}
|
||||
@@ -0,0 +1,191 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 zubax_gnss_led.c
|
||||
*
|
||||
* zubax_gnss LED backend.
|
||||
*/
|
||||
|
||||
#include <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 uint16_t g_ledmap[] = {
|
||||
GPIO_LED_INFO, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_LED_CAN1, // Indexed by BOARD_LED_RED
|
||||
GPIO_LED_CAN2, // Indexed by BOARD_LED_BLUE - yes Blue
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED1-2 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 Up 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
|
||||
|
||||
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;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user