fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 03:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

boards: mRo Control Zero F7 fix RC input and cleanup sensors init

Browse Source
This commit is contained in:
Daniel Agar
2020-10-04 22:23:47 -04:00
parent eabbd19c1c
commit 1bf0218c87
7 changed files with 37 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/mro/ctrl-zero-f7/src/board_config.h
+12 -22
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 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
@@ -105,9 +105,7 @@
/* CAN Silence: Silent mode control \ ESC Mux select */
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
/* PWM
*
*/
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
@@ -118,12 +116,10 @@
#define BOARD_NUMBER_BRICKS 1
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
/* Define True logic Power Control in arch agnostic form */
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
@@ -134,22 +130,18 @@
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
/* USB OTG FS */
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL /* T3C2 */ 2 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3
#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS3"
#define RC_SERIAL_SINGLEWIRE
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@@ -162,12 +154,11 @@
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
/*
* FMUv5 has a separate RC_IN
* Board has a separate RC_IN
*
* GPIO PPM_IN on PC7 T3CH2
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
* In version is possible in the UART
* and can drive GPIO PPM_IN as an output
* GPIO PPM_IN on PB0 T3CH3
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
@@ -201,7 +192,6 @@
GPIO_CAN1_SILENT_S0, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
}
boards/mro/ctrl-zero-f7/src/init.c
+2 -9
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 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
@@ -100,9 +100,6 @@ __END_DECLS
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
board_control_spi_sensors_power(false, 0xffff);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
/* Keep Spektum on to discharge rail*/
VDD_3V3_SPEKTRUM_POWER_EN(false);
@@ -115,7 +112,6 @@ __EXPORT void board_peripheral_reset(int ms)
/* switch the peripheral rail back on */
VDD_3V3_SPEKTRUM_POWER_EN(last);
board_control_spi_sensors_power(true, 0xffff);
}
/************************************************************************************
@@ -161,9 +157,7 @@ stm32_boardinitialize(void)
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
/* configure SPI interfaces */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
board_control_spi_sensors_power_configgpio();
/* configure USB interfaces */
stm32_usbinitialize();
@@ -198,7 +192,6 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SPEKTRUM_POWER_EN(true);
boards/mro/ctrl-zero-f7/src/spi.cpp
+1 -1
View File
@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),