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deprecate samv7 support and atmel same70xplained board
This commit is contained in:
Daniel Agar
@@ -1,114 +0,0 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR atmel
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MODEL same70xplained
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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TESTING
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#UAVCAN_INTERFACES 1
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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DRIVERS
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barometer # all available barometer drivers
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batt_smbus
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#camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
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#heater
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#imu # all available imu drivers
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imu/l3gd20
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imu/lsm303d
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imu/mpu6000
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imu/mpu9250
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irlock
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lights/blinkm
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lights/oreoled
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lights/rgbled
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magnetometer # all available magnetometer drivers
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mkblctrl
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pca9685
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#pwm_input
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pwm_out_sim
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px4flow
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px4fmu
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#rc_input
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samv7
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#samv7/adc # WIP
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samv7/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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#test_ppm
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#uavcan
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MODULES
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attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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fw_att_control
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fw_pos_control_l1
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gnd_att_control
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gnd_pos_control
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_pos_control
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navigator
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position_estimator_inav
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sensors
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vmount
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vtol_att_control
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wind_estimator
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SYSTEMCMDS
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bl_update
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config
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dumpfile
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esc_calib
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#WIP hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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#mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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tests # tests and test runner
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top
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topic_listener
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tune_control
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#usb_connected
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ver
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EXAMPLES
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bottle_drop # OBC challenge
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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uuv_example_app
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)
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@@ -1,13 +0,0 @@
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{
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"board_id": 110,
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"magic": "PX4FWv1",
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"description": "Firmware for the SAME70xplained board",
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"image": "",
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"build_time": 0,
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"summary": "Atmel/SAME70xplained",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 2097152,
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"git_identity": "",
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"board_revision": 0
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}
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@@ -1,11 +0,0 @@
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#!/bin/sh
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#
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# Atmel SAM E70 Xplained specific board sensors init
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#------------------------------------------------------------------------------
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# External I2C bus
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hmc5883 -C -T -X start
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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mpu9250 -R 2 start
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@@ -1,443 +0,0 @@
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/************************************************************************************
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* configs/same70-xplained/include/board.h
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
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#define __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <stdbool.h>
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* After power-on reset, the SAME70Q device is running out of the Master Clock using
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* the Fast RC Oscillator running at 4 MHz.
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*
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* MAINOSC: Frequency = 12MHz (crystal)
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*
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* 300MHz Settings:
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* PLLA: PLL Divider = 1, Multiplier = 20 to generate PLLACK = 240MHz
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* Master Clock (MCK): Source = PLLACK, Prescalar = 1 to generate MCK = 120MHz
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* CPU clock: 120MHz
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*
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* There can be two on-board crystals. However, the the 32.768 crystal is not
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* populated on the stock SAME70. The fallback is to use th on-chip, slow RC
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* oscillator which has a frequency of 22-42 KHz, nominally 32 KHz.
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*/
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#undef BOARD_HAVE_SLOWXTAL /* Slow crystal not populated */
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#define BOARD_SLOWCLK_FREQUENCY (32000) /* 32 KHz RC oscillator (nominal) */
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#define BOARD_MAINOSC_FREQUENCY (12000000) /* 12 MHz main oscillator */
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/* Main oscillator register settings.
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*
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* The main oscillator could be either the embedded 4/8/12 MHz fast RC oscillators
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* or an external 3-20 MHz crystal or ceramic resonator. The external clock source
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* is selected by default in sam_clockconfig.c. Here we need to specify the main
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* oscillator start-up time.
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*
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* REVISIT... this is old information:
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* The start up time should be should be:
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*
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* Start Up Time = 8 * MOSCXTST / SLCK = 56 Slow Clock Cycles.
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*/
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#define BOARD_CKGR_MOR_MOSCXTST (62 << PMC_CKGR_MOR_MOSCXTST_SHIFT) /* Start-up Time */
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#define BOARD_CKGR_MOR_MOSCXTENBY (PMC_CKGR_MOR_MOSCXTEN) /* Crystal Oscillator Enable */
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/* PLLA configuration.
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*
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* Divider = 1
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* Multiplier = 25
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*
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* Yields:
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*
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* PLLACK = 25 * 12MHz / 1 = 300MHz
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*/
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#define BOARD_CKGR_PLLAR_STMODE PMC_CKGR_PLLAR_STMODE_FAST
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#define BOARD_CKGR_PLLAR_COUNT (63 << PMC_CKGR_PLLAR_COUNT_SHIFT)
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#define BOARD_CKGR_PLLAR_MUL PMC_CKGR_PLLAR_MUL(24)
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#define BOARD_CKGR_PLLAR_DIV PMC_CKGR_PLLAR_DIV_BYPASS
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/* PMC master clock register settings.
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*
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* BOARD_PMC_MCKR_CSS - The source of main clock input. This may be one of:
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*
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* PMC_MCKR_CSS_SLOW Slow Clock
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* PMC_MCKR_CSS_MAIN Main Clock
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* PMC_MCKR_CSS_PLLA PLLA Clock
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* PMC_MCKR_CSS_UPLL Divided UPLL Clock
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*
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* BOARD_PMC_MCKR_PRES - Source clock pre-scaler. May be one of:
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*
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* PMC_MCKR_PRES_DIV1 Selected clock
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* PMC_MCKR_PRES_DIV2 Selected clock divided by 2
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* PMC_MCKR_PRES_DIV4 Selected clock divided by 4
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* PMC_MCKR_PRES_DIV8 Selected clock divided by 8
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* PMC_MCKR_PRES_DIV16 Selected clock divided by 16
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* PMC_MCKR_PRES_DIV32 Selected clock divided by 32
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* PMC_MCKR_PRES_DIV64 Selected clock divided by 64
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* PMC_MCKR_PRES_DIV3 Selected clock divided by 3
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*
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* The prescaler determines (1) the CPU clock and (2) the input into the
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* second divider that then generates the Master Clock (MCK). MCK is the
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* source clock of the peripheral clocks.
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*
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* BOARD_PMC_MCKR_MDIV - MCK divider. May be one of:
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*
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* PMC_MCKR_MDIV_DIV1 Master Clock = Prescaler Output Clock / 1
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* PMC_MCKR_MDIV_DIV2 Master Clock = Prescaler Output Clock / 2
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* PMC_MCKR_MDIV_DIV4 Master Clock = Prescaler Output Clock / 4
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* PMC_MCKR_MDIV_DIV3 Master Clock = Prescaler Output Clock / 3
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*/
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#define BOARD_PMC_MCKR_CSS PMC_MCKR_CSS_PLLA /* Source = PLLA */
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#define BOARD_PMC_MCKR_PRES PMC_MCKR_PRES_DIV1 /* Prescaler = /1 */
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#define BOARD_PMC_MCKR_MDIV PMC_MCKR_MDIV_DIV2 /* MCK divider = /2 */
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/* USB clocking */
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#define BOARD_PMC_MCKR_UPLLDIV2 0 /* UPLL clock not divided by 2 */
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/* Resulting frequencies */
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#define BOARD_PLLA_FREQUENCY (300000000) /* PLLACK: 25 * 12Mhz / 1 */
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#define BOARD_CPU_FREQUENCY (300000000) /* CPU: PLLACK / 1 */
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#define BOARD_MCK_FREQUENCY (150000000) /* MCK: PLLACK / 1 / 2 */
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#undef BOARD_UPLL_FREQUENCY /* To be provided */
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/* HSMCI clocking
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*
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* Multimedia Card Interface clock (MCCK or MCI_CK) is Master Clock (MCK)
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* divided by (2*(CLKDIV) + CLOCKODD + 2).
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*
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* MCI_SPEED = MCK / (2*CLKDIV + CLOCKODD + 2)
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*
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* Where CLKDIV has a range of 0-255.
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*/
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/* MCK = 150MHz, CLKDIV = 186, MCI_SPEED = 150MHz / (2*186 + 1 + 2) = 400 KHz */
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#define HSMCI_INIT_CLKDIV ((186 << HSMCI_MR_CLKDIV_SHIFT) | HSMCI_MR_CLKODD)
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/* MCK = 150MHz, CLKDIV = 3 w/CLOCKODD, MCI_SPEED = 150MHz /(2*3 + 0 + 2) = 18.75 MHz */
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#define HSMCI_MMCXFR_CLKDIV (2 << HSMCI_MR_CLKDIV_SHIFT)
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/* MCK = 150MHz, CLKDIV = 2, MCI_SPEED = 150MHz /(2*2 + 0 + 2) = 25 MHz */
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#define HSMCI_SDXFR_CLKDIV (2 << HSMCI_MR_CLKDIV_SHIFT)
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#define HSMCI_SDWIDEXFR_CLKDIV HSMCI_SDXFR_CLKDIV
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/* FLASH wait states.
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*
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* Wait states Max frequency at 105 centigrade (STH conditions)
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*
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* VDDIO
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* 1.62V 2.7V
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* --- ------- -------
|
||||
* 0 26 MHz 30 MHz
|
||||
* 1 52 MHz 62 MHz
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||||
* 2 78 MHz 93 MHz
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* 3 104 MHz 124 MHz
|
||||
* 4 131 MHz 150 MHz
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* 5 150 MHz --- MHz
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||||
*
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||||
* Given: VDDIO=3.3V, VDDCORE=1.2V, MCK=150MHz
|
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*/
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#define BOARD_FWS 4
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||||
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/* LED definitions ******************************************************************/
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/* LEDs
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*
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||||
* A single LED is available driven by PC8.
|
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*/
|
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|
||||
/* LED index values for use with board_userled() */
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||||
#define BOARD_LED0 0
|
||||
#define BOARD_NLEDS 1
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/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED0_BIT (1 << BOARD_LED0)
|
||||
|
||||
/* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
|
||||
* defined. In that case, the usage by the board port is defined in
|
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* include/board.h and src/sam_autoleds.c. The LEDs are used to encode
|
||||
* OS-related events as follows:
|
||||
*
|
||||
* ------------------- ---------------------------- ------
|
||||
* SYMBOL Meaning LED
|
||||
* ------------------- ---------------------------- ------ */
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF */
|
||||
#define LED_HEAPALLOCATE 0 /* Heap has been allocated OFF */
|
||||
#define LED_IRQSENABLED 0 /* Interrupts enabled OFF */
|
||||
#define LED_STACKCREATED 1 /* Idle stack created ON */
|
||||
#define LED_INIRQ 2 /* In an interrupt N/C */
|
||||
#define LED_SIGNAL 2 /* In a signal handler N/C */
|
||||
#define LED_ASSERTION 2 /* An assertion failed N/C */
|
||||
#define LED_PANIC 3 /* The system has crashed FLASH */
|
||||
#undef LED_IDLE /* MCU is is sleep mode Not used */
|
||||
|
||||
/* Thus is LED is statically on, NuttX has successfully booted and is,
|
||||
* apparently, running normally. If LED is flashing at approximately
|
||||
* 2Hz, then a fatal error has been detected and the system has halted.
|
||||
*/
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN19)
|
||||
# define PROBE_2 (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN26)
|
||||
# define PROBE_3 (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN2)
|
||||
# define PROBE_4 (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN24)
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { sam_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { sam_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { sam_configgpio(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { sam_configgpio(PROBE_4); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {sam_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
/* Button definitions ***************************************************************/
|
||||
/* Buttons
|
||||
*
|
||||
* SAM E70 Xplained contains two mechanical buttons. One button is the RESET
|
||||
* button connected to the SAM E70 reset line and the other, PA11, is a generic
|
||||
* user configurable button. When a button is pressed it will drive the I/O
|
||||
* line to GND.
|
||||
*
|
||||
* NOTE: There are no pull-up resistors connected to the generic user buttons
|
||||
* so it is necessary to enable the internal pull-up in the SAM E70 to use the
|
||||
* button.
|
||||
*/
|
||||
|
||||
#define BUTTON_SW0 0
|
||||
#define NUM_BUTTONS 1
|
||||
|
||||
#define BUTTON_SW0_BIT (1 << BUTTON_SW0)
|
||||
|
||||
/* PIO Disambiguation ***************************************************************/
|
||||
/* Serial Console
|
||||
*
|
||||
* The SAME70-XPLD has no on-board RS-232 drivers so it will be necessary to use
|
||||
* either the VCOM or an external RS-232 driver. Here are some options.
|
||||
*
|
||||
* - Arduino Serial Shield: One option is to use an Arduino-compatible
|
||||
* serial shield. This will use the RXD and TXD signals available at pins
|
||||
* 0 an 1, respectively, of the Arduino "Digital Low" connector. On the
|
||||
* SAME70-XPLD board, this corresponds to UART3:
|
||||
*
|
||||
* ------ ------ ------- ------- --------
|
||||
* Pin on SAME70 Arduino Arduino SAME70
|
||||
* J503 PIO Name Pin Function
|
||||
* ------ ------ ------- ------- --------
|
||||
* 1 PD28 RX0 0 URXD3
|
||||
* 2 PD30 TX0 1 UTXD3
|
||||
* ------ ------ ------- ------- --------
|
||||
*
|
||||
* There are alternative pin selections only for UART3 TXD:
|
||||
*/
|
||||
|
||||
//#define GPIO_UART3_TXD GPIO_UART3_TXD_1
|
||||
|
||||
|
||||
/* - Arduino Communications. Additional UART/USART connections are available
|
||||
* on the Arduino Communications connection J505:
|
||||
*
|
||||
* ------ ------ ------- ------- --------
|
||||
* Pin on SAME70 Arduino Arduino SAME70
|
||||
* J503 PIO Name Pin Function
|
||||
* ------ ------ ------- ------- --------
|
||||
* 3 PD18 RX1 0 URXD4
|
||||
* 4 PD19 TX1 0 UTXD4
|
||||
* 5 PD15 RX2 0 RXD2
|
||||
* 6 PD16 TX2 0 TXD2
|
||||
* 7 PB0 RX3 0 RXD0
|
||||
* 8 PB1 TX3 1 TXD0
|
||||
* ------ ------ ------- ------- --------
|
||||
*
|
||||
* There are alternative pin selections only for UART4 TXD:
|
||||
*/
|
||||
|
||||
//#define GPIO_UART4_TXD GPIO_UART4_TXD_1
|
||||
|
||||
/* - SAMV7-XULT EXTn connectors. USART pins are also available the EXTn
|
||||
* connectors. The following are labelled in the User Guide for USART
|
||||
* functionality:
|
||||
*
|
||||
* ---- -------- ------ --------
|
||||
* EXT1 EXTI1 SAME70 SAME70
|
||||
* Pin Name PIO Function
|
||||
* ---- -------- ------ --------
|
||||
* 13 USART_RX PB00 RXD0
|
||||
* 14 USART_TX PB01 TXD0
|
||||
*
|
||||
* ---- -------- ------ --------
|
||||
* EXT2 EXTI2 SAME70 SAME70
|
||||
* Pin Name PIO Function
|
||||
* ---- -------- ------ --------
|
||||
* 13 USART_RX PA21 RXD1
|
||||
* 14 USART_TX PB04 TXD1
|
||||
*
|
||||
* There are no alternative pin selections for USART0 or USART1.
|
||||
*/
|
||||
|
||||
/* - VCOM. The Virtual Com Port gateway is available on USART1:
|
||||
*
|
||||
* ------ --------
|
||||
* SAME70 SAME70
|
||||
* PIO Function
|
||||
* ------ --------
|
||||
* PB04 TXD1
|
||||
* PA21 RXD1
|
||||
* ------ --------
|
||||
*
|
||||
* There are no alternative pin selections for USART1.
|
||||
*/
|
||||
|
||||
|
||||
/* SAME70-XPLD board, this corresponds to UART1:
|
||||
*
|
||||
* ------ ------ ------- ------- --------
|
||||
* Pin on SAME70 SAME70
|
||||
* PIO Function
|
||||
* ------ ------ ------- ------- --------
|
||||
* J503-3 PA5 URXD1
|
||||
* J503-4 PA6 UTXD1
|
||||
* ------ ------ ------- ------- --------
|
||||
*
|
||||
* There are alternative pin selections only for UART1 TXD:
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_UART1_TXD GPIO_UART1_TXD_3
|
||||
|
||||
/* SAME70-XPLD board, this corresponds to UART2:
|
||||
*
|
||||
* ------ ------ ------- ------- --------
|
||||
* Pin on SAME70 SAME70
|
||||
* PIO Function
|
||||
* ------ ------ ------- ------- --------
|
||||
* J500-3 PD25 URXD2
|
||||
* J502-1 PD26 UTXD3
|
||||
* ------ ------ ------- ------- --------
|
||||
*
|
||||
* There are No alternative pin selections only for UART2
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/* MCAN1
|
||||
*
|
||||
* SAM E70 Xplained has two MCAN modules that performs communication according
|
||||
* to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
|
||||
* specification V1.0. MCAN1 is connected to an on-board ATA6561 CAN physical-layer
|
||||
* transceiver.
|
||||
*
|
||||
* ------- -------- -------- -------------
|
||||
* SAM E70 FUNCTION ATA6561 SHARED
|
||||
* PIN FUNCTION FUNCTIONALITY
|
||||
* ------- -------- -------- -------------
|
||||
* PC14 CANTX1 TXD Shield
|
||||
* PC12 CANRX1 RXD Shield
|
||||
* ------- -------- -------- -------------
|
||||
*/
|
||||
|
||||
#define GPIO_MCAN1_TX GPIO_MCAN1_TX_2
|
||||
#define GPIO_MCAN1_RX GPIO_MCAN1_RX_2
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_lcdclear
|
||||
*
|
||||
* Description:
|
||||
* This is a non-standard LCD interface just for the SAM4e-EK board. Because
|
||||
* of the various rotations, clearing the display in the normal way by writing a
|
||||
* sequences of runs that covers the entire display can be very slow. Here the
|
||||
* display is cleared by simply setting all GRAM memory to the specified color.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void sam_lcdclear(uint16_t color);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,145 +0,0 @@
|
||||
/****************************************************************************
|
||||
* configs/same70-xplained/scripts/flash-sram.ld
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
|
||||
* 384Kb of SRAM beginining at 0x2040:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0400:0000 address range (Assuming that ITCM is not enable).
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
|
||||
sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,50 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
can.c
|
||||
init.c
|
||||
led.c
|
||||
sdram.c
|
||||
spi.c
|
||||
timer_config.c
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
@@ -1,24 +0,0 @@
|
||||
## Atmel Same70 Xplained ##
|
||||
|
||||
This is the board config that runs on the Atmel Same70 Xplained development board.
|
||||
|
||||
http://www.atmel.com/tools/ATSAME70-XPLD.aspx
|
||||
|
||||
1. git clone https://github.com/PX4/Firmware.git
|
||||
2. git checkout same70xplained
|
||||
3. make clean
|
||||
4. git submudule update --init --recursive
|
||||
5. make px4same70xplained-v1_default
|
||||
|
||||
The ELF file Firmare will be in `build/px4same70xplained-v1_default/`
|
||||
|
||||
The EFL file name is `firmware_nuttx`
|
||||
|
||||
Pin out Same70 Xplained development board is:
|
||||
|
||||
May-3-2016 Changes are highlited in orange
|
||||
May-23-2016 Changes are highlited in Blue
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,513 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4SAME70_XPLAINEDV1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <chip.h>
|
||||
#include <sam_gpio.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* PX4_SAME70XPLAINED_V1 GPIO Pin Definitions *************************************************/
|
||||
|
||||
/* Ethernet MAC.
|
||||
*
|
||||
* KSZ8081RNACA Connections
|
||||
* ------------------------
|
||||
*
|
||||
* ------ --------- ---------
|
||||
* SAME70 SAME70 Ethernet
|
||||
* Pin Function Functio
|
||||
* ------ --------- ---------
|
||||
* PD0 GTXCK REF_CLK
|
||||
* PD1 GTXEN TXEN
|
||||
* PD2 GTX0 TXD0
|
||||
* PD3 GTX1 TXD1
|
||||
* PD4 GRXDV CRS_DV
|
||||
* PD5 GRX0 RXD0
|
||||
* PD6 GRX1 RXD1
|
||||
* PD7 GRXER RXER
|
||||
* PD8 GMDC MDC
|
||||
* PD9 GMDIO MDIO
|
||||
* PA14 GPIO INTERRUPT
|
||||
* PC10 GPIO RESET
|
||||
* ------ --------- ---------
|
||||
*/
|
||||
|
||||
#define GPIO_EMAC0_INT (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | GPIO_INT_FALLING | GPIO_PORT_PIOA | GPIO_PIN14)
|
||||
#define GPIO_EMAC0_RESET (GPIO_OUTPUT | GPIO_CFG_PULLUP | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN10)
|
||||
|
||||
#define IRQ_EMAC0_INT SAM_IRQ_PA14
|
||||
|
||||
/* LEDs
|
||||
*
|
||||
* A single LED is available driven by PC8.
|
||||
*/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN8)
|
||||
#define GPIO_LED_RED GPIO_LED1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/* Buttons
|
||||
*
|
||||
* SAM E70 Xplained contains two mechanical buttons. One button is the RESET
|
||||
* button connected to the SAM E70 reset line and the other, PA11, is a generic
|
||||
* user configurable button. When a button is pressed it will drive the I/O
|
||||
* line to GND.
|
||||
*
|
||||
* NOTE: There are no pull-up resistors connected to the generic user buttons
|
||||
* so it is necessary to enable the internal pull-up in the SAM E70 to use the
|
||||
* button.
|
||||
*/
|
||||
|
||||
#define GPIO_SW0 (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | GPIO_INT_BOTHEDGES | GPIO_PORT_PIOA | GPIO_PIN11)
|
||||
#define IRQ_SW0 SAM_IRQ_PA11
|
||||
|
||||
/* HSMCI SD Card Detect
|
||||
*
|
||||
* The SAM E70 Xplained has one standard SD card connector that is connected
|
||||
* to the High Speed Multimedia Card Interface (HSMCI) of the SAM E70. SD
|
||||
* card connector:
|
||||
*
|
||||
* ------ ----------------- ---------------------
|
||||
* SAME70 SAME70 Shared functionality
|
||||
* Pin Function
|
||||
* ------ ----------------- ---------------------
|
||||
* PA30 MCDA0 (DAT0)
|
||||
* PA31 MCDA1 (DAT1)
|
||||
* PA26 MCDA2 (DAT2)
|
||||
* PA27 MCDA3 (DAT3) Camera
|
||||
* PA25 MCCK (CLK) Shield
|
||||
* PA28 MCCDA (CMD)
|
||||
* PC16 Card Detect (C/D) Shield
|
||||
* ------ ----------------- ---------------------
|
||||
*/
|
||||
|
||||
#define GPIO_MCI0_CD (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_BOTHEDGES | GPIO_PORT_PIOC | GPIO_PIN16)
|
||||
#define IRQ_MCI0_CD SAM_IRQ_PC16
|
||||
|
||||
/* USB Host
|
||||
*
|
||||
* The SAM E70 Xplained has a Micro-USB connector for use with the SAM E70 USB
|
||||
* module labeled as TARGET USB on the kit. In USB host mode VBUS voltage is
|
||||
* provided by the kit and has to be enabled by setting the "VBUS Host Enable"
|
||||
* pin (PC16) low.
|
||||
*/
|
||||
|
||||
#define GPIO_VBUSON (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN16)
|
||||
|
||||
|
||||
|
||||
/* External interrupts */
|
||||
//todo:DBS fix all these
|
||||
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
|
||||
/* Data ready pins off */
|
||||
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN22)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN20)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN21)
|
||||
|
||||
/* SPI1 chip selects off */
|
||||
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN13)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN17)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN11)
|
||||
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN27)
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN13)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN17)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOD | GPIO_PIN11)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOD | GPIO_PIN27)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS PX4_BUS_NUMBER_TO_PX4(0)
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
#define PX4_SPIDEV_BARO 3
|
||||
#define PX4_SPIDEV_MPU 4
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
|
||||
/* No Onboard Sensors #define PX4_I2C_BUS_ONBOARD 0 */
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* Define the follwoing to output the clock on J500-1 */
|
||||
//#define GPIO_PCK1 (GPIO_PERIPHB | GPIO_CFG_DEFAULT | GPIO_PORT_PIOA | GPIO_PIN17)
|
||||
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
|
||||
|
||||
// ADC defines to be used in sensors.cpp to read from a particular channel
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL 3
|
||||
#define ADC_5V_RAIL_SENSE 4
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
|
||||
|
||||
/* r GPIOs
|
||||
*
|
||||
* GPIO0-3 are the PWM servo outputs.
|
||||
*/
|
||||
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO0-3 are the PWM servo outputs.
|
||||
*/
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN19)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN26)
|
||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN2)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN24)
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN19)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN26)
|
||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN2)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN24)
|
||||
|
||||
|
||||
/* Tone alarm output */
|
||||
#define TONE_ALARM_CHANNEL 5 /* channel TC 1 Chan 5 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_CLEAR | GPIO_PORT_PIOC | GPIO_PIN30)
|
||||
#define GPIO_TONE_ALARM GPIO_TC5_TIOB
|
||||
|
||||
#if 0
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* Six PWM outputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CH1 : PE14 : TIM1_CH4
|
||||
* CH2 : PE13 : TIM1_CH3
|
||||
* CH3 : PE11 : TIM1_CH2
|
||||
* CH4 : PE9 : TIM1_CH1
|
||||
* CH5 : PD13 : TIM4_CH2
|
||||
* CH6 : PD14 : TIM4_CH3
|
||||
*/
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
|
||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
|
||||
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
|
||||
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
|
||||
#endif
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 1
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 1
|
||||
|
||||
/* High-resolution timer */
|
||||
/* sam timers are usually addressed by channel number 0-11
|
||||
* Timer 0 has Channel 0,1,2, Timer 1 has channels 3, 4, 5,
|
||||
* Timer 2 has Channel 6,7,8, Timer 3 has channels 9, 10, 11,
|
||||
*/
|
||||
#define HRT_TIMER_CHANNEL 2 /* use channel 2 */
|
||||
|
||||
#if 0
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL 2
|
||||
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
|
||||
#endif
|
||||
|
||||
/*
|
||||
* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
/*
|
||||
#define BOARD_ADC_USB_CONNECTED board_read_VBUS_state()
|
||||
#define BOARD_ADC_BRICK_VALID (1)
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
*/
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_sdram_config
|
||||
*
|
||||
* Description:
|
||||
* Configures the on-board SDRAM. SAME70 Xplained features one external
|
||||
* IS42S16100E-7BLI, 512Kx16x2, 10ns, SDRAM. SDRAM0 is connected to chip select
|
||||
* NCS1.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* The DDR memory regions is configured as strongly ordered memory. When we
|
||||
* complete initialization of SDRAM and it is ready for use, we will make DRAM
|
||||
* into normal memory.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SAMV7_SDRAMC
|
||||
void sam_sdram_config(void);
|
||||
#else
|
||||
# define sam_sdram_config(t)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_bringup
|
||||
*
|
||||
* Description:
|
||||
* Bring up board features
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
|
||||
int sam_bringup(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the SAME70-XPLD board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI
|
||||
#define board_spi_reset(ms)
|
||||
void board_spi_initialize(void);
|
||||
#endif
|
||||
|
||||
#define board_peripheral_reset(ms)
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_hsmci_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize HSMCI support
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_HSMCI
|
||||
int sam_hsmci_initialize(int slot, int minor);
|
||||
#else
|
||||
# define sam_hsmci_initialize(s,m) (-ENOSYS)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_usb_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called from stm32_boardinitialize very early in initialization to setup USB-
|
||||
* related GPIO pins for the SAME70-XPLD board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_usb_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_netinitialize
|
||||
*
|
||||
* Description:
|
||||
* Configure board resources to support networking.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_NETWORK
|
||||
void sam_netinitialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_emac0_setmac
|
||||
*
|
||||
* Description:
|
||||
* Read the Ethernet MAC address from the AT24 FLASH and configure the Ethernet
|
||||
* driver with that address.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_MACADDR
|
||||
int sam_emac0_setmac(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_cardinserted
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the selected HSMCI slot
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_HSMCI
|
||||
bool sam_cardinserted(int slotno);
|
||||
#else
|
||||
# define sam_cardinserted(slotno) (false)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_writeprotected
|
||||
*
|
||||
* Description:
|
||||
* Check if the card in the MMCSD slot is write protected
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_HSMCI
|
||||
bool sam_writeprotected(int slotno);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_automount_initialize
|
||||
*
|
||||
* Description:
|
||||
* Configure auto-mounters for each enable and so configured HSMCI
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
void sam_automount_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_automount_event
|
||||
*
|
||||
* Description:
|
||||
* The HSMCI card detection logic has detected an insertion or removal event. It
|
||||
* has already scheduled the MMC/SD block driver operations. Now we need to
|
||||
* schedule the auto-mount event which will occur with a substantial delay to make
|
||||
* sure that everything has settle down.
|
||||
*
|
||||
* Input Parameters:
|
||||
* slotno - Identifies the HSMCI0 slot: HSMCI0 or HSMCI1_SLOTNO. There is a
|
||||
* terminology problem here: Each HSMCI supports two slots, slot A and slot B.
|
||||
* Only slot A is used. So this is not a really a slot, but an HSCMI peripheral
|
||||
* number.
|
||||
* inserted - True if the card is inserted in the slot. False otherwise.
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Interrupts are disabled.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
void sam_automount_event(int slotno, bool inserted);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_writeprotected
|
||||
*
|
||||
* Description:
|
||||
* Check if the card in the MMCSD slot is write protected
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_HSMCI
|
||||
bool sam_writeprotected(int slotno);
|
||||
#else
|
||||
# define sam_writeprotected(slotno) (false)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_at24config
|
||||
*
|
||||
* Description:
|
||||
* Create an AT24xx-based MTD configuration device for storage device configuration
|
||||
* information.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_MTDCONFIG
|
||||
int sam_at24config(void);
|
||||
#endif
|
||||
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,144 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2017 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 px4same70xplained_can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can/can.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "board_config.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "sam_mcan.h"
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
|
||||
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||
# undef CONFIG_SAMV7_MCAN0
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SAMV7_MCAN0
|
||||
# define CAN_PORT 0
|
||||
#else
|
||||
# define CAN_PORT 1
|
||||
#endif
|
||||
|
||||
/* Debug ***************************************************************************/
|
||||
/* Non-standard debug that may be enabled just for testing CAN */
|
||||
|
||||
#ifdef CONFIG_DEBUG_CAN
|
||||
# define candbg dbg
|
||||
# define canvdbg vdbg
|
||||
# define canlldbg lldbg
|
||||
# define canllvdbg llvdbg
|
||||
#else
|
||||
# define candbg(x...)
|
||||
# define canvdbg(x...)
|
||||
# define canlldbg(x...)
|
||||
# define canllvdbg(x...)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All SAM architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_can_initialize(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call sam_mcan_initialize() to get an instance of the CAN interface */
|
||||
|
||||
can = sam_mcan_initialize(CAN_PORT);
|
||||
|
||||
if (can == NULL) {
|
||||
candbg("ERROR: Failed to get CAN interface\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the CAN driver at "/dev/can0" */
|
||||
|
||||
ret = can_register("/dev/can0", can);
|
||||
|
||||
if (ret < 0) {
|
||||
candbg("ERROR: can_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Now we are initialized */
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,328 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2017 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 px4same70xplained_init.c
|
||||
*
|
||||
* PX4_SAME70XPLAINED_V1 specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <sam_lowputc.h>
|
||||
#include <sam_gpio.h>
|
||||
#include <sam_spi.h>
|
||||
#include <sam_hsmci.h>
|
||||
#include <sam_pck.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <px4_init.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: sam_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All SAMV7 architectures must provide the following entry point. This
|
||||
* entry point is called early in the initialization -- after clocking and
|
||||
* memory have been configured but before caches have been enabled and
|
||||
* before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
sam_boardinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_SCHED_TICKLESS
|
||||
uint32_t frequency;
|
||||
uint32_t actual;
|
||||
|
||||
/* If Tickless mode is selected then enabled PCK6 as a possible clock
|
||||
* source for the timer/counters. The ideal frequency could be:
|
||||
*
|
||||
* frequency = 1,000,000 / CONFIG_USEC_PER_TICK
|
||||
*
|
||||
* The main crystal is selected as the frequency source. The maximum
|
||||
* prescaler value is 256 so the minimum frequency is 46,875 Hz which
|
||||
* corresponds to a period of 21.3 microseconds. A value of
|
||||
* CONFIG_USEC_PER_TICK=20, or 50KHz, would give an exact solution with
|
||||
* a divider of 240.
|
||||
*/
|
||||
|
||||
frequency = USEC_PER_SEC / CONFIG_USEC_PER_TICK;
|
||||
DEBUGASSERT(frequency >= (BOARD_MAINOSC_FREQUENCY / 256));
|
||||
|
||||
actual = sam_pck_configure(PCK6, PCKSRC_MAINCK, frequency);
|
||||
|
||||
/* We expect to achieve this frequency exactly */
|
||||
|
||||
DEBUGASSERT(actual == frequency);
|
||||
UNUSED(actual);
|
||||
|
||||
/* Enable PCK6 */
|
||||
|
||||
(void)sam_pck_enable(PCK6, true);
|
||||
#endif
|
||||
|
||||
/* Lets bring the clock out for a sanity check*/
|
||||
#ifdef GPIO_PCK1
|
||||
sam_configgpio(GPIO_PCK1);
|
||||
volatile uint32_t actual = sam_pck_configure(PCK1, PCKSRC_MCK, BOARD_MCK_FREQUENCY / 2); // Out 1/2 Clock
|
||||
UNUSED(actual);
|
||||
|
||||
(void)sam_pck_enable(PCK1, true);
|
||||
#endif
|
||||
#ifdef CONFIG_SAMV7_SDRAMC
|
||||
/* Configure SDRAM if it has been enabled in the NuttX configuration.
|
||||
* Here we assume, of course, that we are not running out SDRAM.
|
||||
*/
|
||||
|
||||
sam_sdram_config();
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
board_spi_initialize();
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
board_autoled_initialize();
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi0;
|
||||
#if defined(CONFIG_SAMV7_SPI1_MASTER)
|
||||
static struct spi_dev_s *spi1;
|
||||
#endif
|
||||
static struct sdio_dev_s *sdio;
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
/* configure ADC pins */
|
||||
|
||||
/* configure power supply control/sense pins */
|
||||
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_on(LED_AMBER);
|
||||
led_off(LED_AMBER);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi0 = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
|
||||
|
||||
if (!spi0) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
||||
SPI_SETFREQUENCY(spi0, 10000000);
|
||||
SPI_SETBITS(spi0, 8);
|
||||
SPI_SETMODE(spi0, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi0, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi0, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
SPI_SELECT(spi0, PX4_SPIDEV_BARO, false);
|
||||
SPI_SELECT(spi0, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
#if defined(CONFIG_SAMV7_SPI1_MASTER)
|
||||
spi1 = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
|
||||
|
||||
/* Default SPI4 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_EXT0, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_EXT1, false);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdio) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
|
||||
CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
|
||||
sdio_mediachange(sdio, true);
|
||||
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#if defined(CONFIG_BOARDCTL_RESET)
|
||||
int board_reset(int status)
|
||||
{
|
||||
up_systemreset();
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
//FIXME: Stubs -----v
|
||||
/* g_rtc_enabled is set true after the RTC has successfully initialized */
|
||||
|
||||
volatile bool g_rtc_enabled = false;
|
||||
|
||||
int up_rtc_getdatetime(FAR struct tm *tp);
|
||||
int up_rtc_getdatetime(FAR struct tm *tp)
|
||||
{
|
||||
tp->tm_sec = 0;
|
||||
tp->tm_min = 0;
|
||||
tp->tm_hour = 0;
|
||||
tp->tm_mday = 30;
|
||||
tp->tm_mon = 10;
|
||||
tp->tm_year = 116;
|
||||
tp->tm_wday = 1; /* Day of the week (0-6) */
|
||||
tp->tm_yday = 0; /* Day of the year (0-365) */
|
||||
tp->tm_isdst = 0; /* Non-0 if daylight savings time is in effect */
|
||||
return 0;
|
||||
}
|
||||
|
||||
int up_rtc_initialize(void)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
int up_rtc_settime(FAR const struct timespec *tp)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
//FIXME: Stubs -----^
|
||||
@@ -1,129 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 px4same70xplained_led.c
|
||||
*
|
||||
* PX4_SAME70XPLAINED_V1 LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "sam_gpio.h"
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "board_config.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
|
||||
|
||||
__EXPORT void led_init()
|
||||
{
|
||||
/* Configure LED1 GPIO for output */
|
||||
|
||||
sam_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
sam_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
sam_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 1) {
|
||||
if (sam_gpioread(GPIO_LED1)) {
|
||||
sam_gpiowrite(GPIO_LED1, false);
|
||||
|
||||
} else {
|
||||
sam_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(CONFIG_ARCH_LEDS)
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_initialize
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_initialize(void)
|
||||
{
|
||||
led_init();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_on
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
if (led == 1 || led == 3) {
|
||||
sam_gpiowrite(GPIO_LED1, false); /* Low illuminates */
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_off(int led)
|
||||
{
|
||||
if (led == 3) {
|
||||
sam_gpiowrite(GPIO_LED1, true); /* High extinguishes */
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -1,313 +0,0 @@
|
||||
/****************************************************************************
|
||||
* configs/same70-xplained/src/sam_sdram.c
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Most of this file derives from Atmel sample code for the SAME70-XPLD
|
||||
* board. That sample code has licensing that is compatible with the NuttX
|
||||
* modified BSD license:
|
||||
*
|
||||
* Copyright (c) 2012, Atmel Corporation
|
||||
* 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 NuttX nor Atmel 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 <nuttx/config.h>
|
||||
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "sam_periphclks.h"
|
||||
#include "chip/sam_memorymap.h"
|
||||
#include "chip/sam_pinmap.h"
|
||||
#include "chip/sam_pmc.h"
|
||||
#include "chip/sam_matrix.h"
|
||||
#include "chip/sam_sdramc.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_SAMV7_SDRAMC
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define SDRAM_BA0 (1 << 20)
|
||||
#define SDRAM_BA1 (1 << 21)
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_sdram_config
|
||||
*
|
||||
* Description:
|
||||
* Configures the on-board SDRAM. SAME70 Xplained features one external
|
||||
* IS42S16100E-7BLI, 512Kx16x2, 10ns, SDRAM. SDRAM0 is connected to chip
|
||||
* select NCS1.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* This test runs early in initialization before I- and D-caches are
|
||||
* enabled.
|
||||
*
|
||||
* NOTE: Since the delay loop is calibrate with caches in enabled, the
|
||||
* calls to up_udelay() are wrong ty orders of magnitude.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void sam_sdram_config(void)
|
||||
{
|
||||
volatile uint8_t *psdram = (uint8_t *)SAM_SDRAMCS_BASE;
|
||||
uint32_t regval;
|
||||
int i;
|
||||
|
||||
/* Configure SDRAM pins */
|
||||
|
||||
sam_configgpio(GPIO_SMC_D0);
|
||||
sam_configgpio(GPIO_SMC_D1);
|
||||
sam_configgpio(GPIO_SMC_D2);
|
||||
sam_configgpio(GPIO_SMC_D3);
|
||||
sam_configgpio(GPIO_SMC_D4);
|
||||
sam_configgpio(GPIO_SMC_D5);
|
||||
sam_configgpio(GPIO_SMC_D6);
|
||||
sam_configgpio(GPIO_SMC_D7);
|
||||
sam_configgpio(GPIO_SMC_D8);
|
||||
sam_configgpio(GPIO_SMC_D9);
|
||||
sam_configgpio(GPIO_SMC_D10);
|
||||
sam_configgpio(GPIO_SMC_D11);
|
||||
sam_configgpio(GPIO_SMC_D12);
|
||||
sam_configgpio(GPIO_SMC_D13);
|
||||
sam_configgpio(GPIO_SMC_D14);
|
||||
sam_configgpio(GPIO_SMC_D15);
|
||||
|
||||
/* SAME70 SDRAM
|
||||
* --------------- -----------
|
||||
* PC20 A2 A0
|
||||
* PC21 A3 A1
|
||||
* PC22 A4 A2
|
||||
* PC23 A5 A3
|
||||
* PC24 A6 A4
|
||||
* PC25 A7 A5
|
||||
* PC26 A8 A6
|
||||
* PC27 A9 A7
|
||||
* PC28 A10 A8
|
||||
* PC29 A11 A9
|
||||
* PD13 SDA10 A10
|
||||
* PA20 BA0 A11
|
||||
* PD17 CAS nCAS
|
||||
* PD14 SDCKE CKE
|
||||
* PD23 SDCK CLK
|
||||
* PC15 SDCS nCS
|
||||
* PC18 A0/NBS0 LDQM
|
||||
* PD16 RAS nRAS
|
||||
* PD15 NWR1/NBS1 UDQM
|
||||
* PD29 SDWE nWE
|
||||
*/
|
||||
|
||||
sam_configgpio(GPIO_SMC_A2); /* PC20 A2 -> A0 */
|
||||
sam_configgpio(GPIO_SMC_A3); /* PC21 A3 -> A1 */
|
||||
sam_configgpio(GPIO_SMC_A4); /* PC22 A4 -> A2 */
|
||||
sam_configgpio(GPIO_SMC_A5); /* PC23 A5 -> A3 */
|
||||
sam_configgpio(GPIO_SMC_A6); /* PC24 A6 -> A4 */
|
||||
sam_configgpio(GPIO_SMC_A7); /* PC25 A7 -> A5 */
|
||||
sam_configgpio(GPIO_SMC_A8); /* PC26 A8 -> A6 */
|
||||
sam_configgpio(GPIO_SMC_A9); /* PC27 A9 -> A7 */
|
||||
sam_configgpio(GPIO_SMC_A10); /* PC28 A10 -> A8 */
|
||||
sam_configgpio(GPIO_SMC_A11); /* PC29 A11 -> A9 */
|
||||
sam_configgpio(GPIO_SDRAMC_A10_2); /* PD13 SDA10 -> A10 */
|
||||
sam_configgpio(GPIO_SDRAMC_BA0); /* PA20 BA0 -> A11 */
|
||||
|
||||
sam_configgpio(GPIO_SDRAMC_CKE); /* PD14 SDCKE -> CKE */
|
||||
sam_configgpio(GPIO_SDRAMC_CK); /* PD23 SDCK -> CLK */
|
||||
sam_configgpio(GPIO_SDRAMC_CS_1); /* PC15 SDCS -> nCS */
|
||||
sam_configgpio(GPIO_SDRAMC_RAS); /* PD16 RAS -> nRAS */
|
||||
sam_configgpio(GPIO_SDRAMC_CAS); /* PD17 CAS -> nCAS */
|
||||
sam_configgpio(GPIO_SDRAMC_WE); /* PD29 SDWE -> nWE */
|
||||
sam_configgpio(GPIO_SMC_NBS0); /* PC18 A0/NBS0 -> LDQM */
|
||||
sam_configgpio(GPIO_SMC_NBS1); /* PD15 NWR1/NBS1 -> UDQM */
|
||||
|
||||
/* Enable the SDRAMC peripheral */
|
||||
|
||||
sam_sdramc_enableclk();
|
||||
|
||||
regval = getreg32(SAM_MATRIX_CCFG_SMCNFCS);
|
||||
regval |= MATRIX_CCFG_SMCNFCS_SDRAMEN;
|
||||
putreg32(regval, SAM_MATRIX_CCFG_SMCNFCS);
|
||||
|
||||
/* 1. SDRAM features must be set in the configuration register:
|
||||
* asynchronous timings (TRC, TRAS, etc.), number of columns, rows, CAS
|
||||
* latency, and the data bus width.
|
||||
*
|
||||
* SDRAMC_CR_NC_COL8 8 column bits
|
||||
* SDRAMC_CR_NR_ROW11 1 row bits
|
||||
* SDRAMC_CR_NB_BANK2 2 banks
|
||||
* SDRAMC_CR_CAS_LATENCY3 3 cycle CAS latency
|
||||
* SDRAMC_CR_DBW 16 bit
|
||||
* SDRAMC_CR_TWR(4) 4 cycle write recovery delay
|
||||
* SDRAMC_CR_TRCTRFC(11) 63 ns min
|
||||
* SDRAMC_CR_TRP(5) 21 ns min Command period (PRE to ACT)
|
||||
* SDRAMC_CR_TRCD(5) 21 ns min Active Command to read/Write Command delay time
|
||||
* SDRAMC_CR_TRAS(8) 42 ns min Command period (ACT to PRE)
|
||||
* SDRAMC_CR_TXSR(13) 70 ns min Exit self-refresh to active time
|
||||
*/
|
||||
|
||||
regval = SDRAMC_CR_NC_COL8 | /* 8 column bits */
|
||||
SDRAMC_CR_NR_ROW11 | /* 11 row bits */
|
||||
SDRAMC_CR_NB_BANK2 | /* 2 banks */
|
||||
SDRAMC_CR_CAS_LATENCY3 | /* 3 cycle CAS latency */
|
||||
SDRAMC_CR_DBW | /* 16 bit */
|
||||
SDRAMC_CR_TWR(4) | /* 4 cycle write recovery delay */
|
||||
SDRAMC_CR_TRCTRFC(11) | /* 63 ns min */
|
||||
SDRAMC_CR_TRP(5) | /* 21 ns min Command period (PRE to ACT) */
|
||||
SDRAMC_CR_TRCD(5) | /* 21 ns min Active Command to read/Write Command delay time */
|
||||
SDRAMC_CR_TRAS(8) | /* 42 ns min Command period (ACT to PRE) */
|
||||
SDRAMC_CR_TXSR(13); /* 70 ns min Exit self-refresh to active time */
|
||||
|
||||
putreg32(regval, SAM_SDRAMC_CR);
|
||||
|
||||
/* 2. For mobile SDRAM, temperature-compensated self refresh (TCSR), drive
|
||||
* strength (DS) and partial array self refresh (PASR) must be set in
|
||||
* the Low Power Register.
|
||||
*/
|
||||
|
||||
putreg32(0, SAM_SDRAMC_LPR);
|
||||
|
||||
/* 3. The SDRAM memory type must be set in the Memory Device Register.*/
|
||||
|
||||
putreg32(SDRAMC_MDR_SDRAM, SAM_SDRAMC_MDR);
|
||||
|
||||
/* 4. A minimum pause of 200 usec is provided to precede any signal toggle.*/
|
||||
|
||||
up_udelay(200);
|
||||
|
||||
/* 5. A NOP command is issued to the SDRAM devices. The application must
|
||||
* set Mode to 1 in the Mode Register and perform a write access to any
|
||||
* SDRAM address.
|
||||
*/
|
||||
|
||||
putreg32(SDRAMC_MR_MODE_NOP, SAM_SDRAMC_MR);
|
||||
*psdram = 0;
|
||||
up_udelay(200);
|
||||
|
||||
/* 6. An All Banks Precharge command is issued to the SDRAM devices. The
|
||||
* application must set Mode to 2 in the Mode Register and perform a
|
||||
* write access to any SDRAM address.
|
||||
*/
|
||||
|
||||
putreg32(SDRAMC_MR_MODE_PRECHARGE, SAM_SDRAMC_MR);
|
||||
*psdram = 0;
|
||||
up_udelay(200);
|
||||
|
||||
/* 7. Eight auto-refresh (CBR) cycles are provided. The application must
|
||||
* set the Mode to 4 in the Mode Register and perform a write access to
|
||||
* any SDRAM location eight times.
|
||||
*/
|
||||
|
||||
for (i = 0 ; i < 8; i++) {
|
||||
putreg32(SDRAMC_MR_MODE_AUTOREFRESH, SAM_SDRAMC_MR);
|
||||
*psdram = 0;
|
||||
}
|
||||
|
||||
up_udelay(200);
|
||||
|
||||
/* 8. A Mode Register set (MRS) cycle is issued to program the parameters
|
||||
* of the SDRAM devices, in particular CAS latency and burst length.
|
||||
* The application must set Mode to 3 in the Mode Register and perform
|
||||
* a write access to the SDRAM. The write address must be chosen so
|
||||
* that BA[1:0] are set to 0. For example, with a 16-bit 128 MB SDRAM
|
||||
* (12 rows, 9 columns, 4 banks) bank address, the SDRAM write access
|
||||
* should be done at the address 0x70000000.
|
||||
*/
|
||||
|
||||
putreg32(SDRAMC_MR_MODE_LOADMODE, SAM_SDRAMC_MR);
|
||||
*psdram = 0;
|
||||
up_udelay(200);
|
||||
|
||||
/* 9. For mobile SDRAM initialization, an Extended Mode Register set
|
||||
* (EMRS) cycle is issued to program the SDRAM parameters (TCSR, PASR,
|
||||
* DS). The application must set Mode to 5 in the Mode Register and
|
||||
* perform a write access to the SDRAM. The write address must be
|
||||
* chosen so that BA[1] or BA[0] are set to 1.
|
||||
*
|
||||
* For example, with a 16-bit 128 MB SDRAM, (12 rows, 9 columns, 4
|
||||
* banks) bank address the SDRAM write access should be done at the
|
||||
* address 0x70800000 or 0x70400000.
|
||||
*/
|
||||
|
||||
//putreg32(SDRAMC_MR_MODE_EXTLOADMODE, SDRAMC_MR_MODE_EXT_LOAD_MODEREG);
|
||||
// *((uint8_t *)(psdram + SDRAM_BA0)) = 0;
|
||||
|
||||
/* 10. The application must go into Normal Mode, setting Mode to 0 in the
|
||||
* Mode Register and performing a write access at any location in the
|
||||
* SDRAM.
|
||||
*/
|
||||
|
||||
putreg32(SDRAMC_MR_MODE_NORMAL, SAM_SDRAMC_MR);
|
||||
*psdram = 0;
|
||||
up_udelay(200);
|
||||
|
||||
/* 11. Write the refresh rate into the count field in the SDRAMC Refresh
|
||||
* Timer register. (Refresh rate = delay between refresh cycles). The
|
||||
* SDRAM device requires a refresh every 15.625 usec or 7.81 usec. With
|
||||
* a 100 MHz frequency, the Refresh Timer Counter Register must be set
|
||||
* with the value 1562(15.625 usec x 100 MHz) or 781(7.81 usec x 100
|
||||
* MHz).
|
||||
*
|
||||
* For IS42S16100E, 2048 refresh cycle every 32ms, every 15.625 usec
|
||||
*/
|
||||
|
||||
regval = (32 * (BOARD_MCK_FREQUENCY / 1000)) / 2048 ;
|
||||
putreg32(regval, SAM_SDRAMC_TR);
|
||||
|
||||
regval = getreg32(SAM_SDRAMC_CFR1);
|
||||
regval |= SDRAMC_CFR1_UNAL;
|
||||
putreg32(regval, SAM_SDRAMC_CFR1);
|
||||
|
||||
/* After initialization, the SDRAM devices are fully functional. */
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SAMV7_SDRAMC */
|
||||
@@ -1,241 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4same70xplained_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <sam_spi.h>
|
||||
#include <sam_gpio.h>
|
||||
#include "board_config.h"
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: boad_spi_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4_SAME70XPLAINED_V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_initialize(void)
|
||||
{
|
||||
#ifdef CONFIG_SAMV7_SPI0_MASTER
|
||||
sam_configgpio(GPIO_SPI_CS_GYRO);
|
||||
sam_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||
sam_configgpio(GPIO_SPI_CS_BARO);
|
||||
sam_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
|
||||
sam_configgpio(GPIO_EXTI_GYRO_DRDY);
|
||||
sam_configgpio(GPIO_EXTI_MAG_DRDY);
|
||||
sam_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
||||
sam_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI1_MASTER
|
||||
sam_configgpio(GPIO_SPI_CS_EXT0);
|
||||
sam_configgpio(GPIO_SPI_CS_EXT1);
|
||||
sam_configgpio(GPIO_SPI_CS_EXT2);
|
||||
sam_configgpio(GPIO_SPI_CS_EXT3);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_spi[0|1]select
|
||||
*
|
||||
* Description:
|
||||
* PIO chip select pins may be programmed by the board specific logic in
|
||||
* one of two different ways. First, the pins may be programmed as SPI
|
||||
* peripherals. In that case, the pins are completely controlled by the
|
||||
* SPI driver. This method still needs to be provided, but it may be only
|
||||
* a stub.
|
||||
*
|
||||
* An alternative way to program the PIO chip select pins is as a normal
|
||||
* PIO output. In that case, the automatic control of the CS pins is
|
||||
* bypassed and this function must provide control of the chip select.
|
||||
* NOTE: In this case, the PIO output pin does *not* have to be the
|
||||
* same as the NPCS pin normal associated with the chip select number.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devid - Identifies the (logical) device
|
||||
* selected - TRUE:Select the device, FALSE:De-select the device
|
||||
*
|
||||
* Returned Values:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI0_MASTER
|
||||
void sam_spi0select(uint32_t devid, bool selected)
|
||||
{
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_GYRO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL_MAG:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI1_MASTER
|
||||
void sam_spi1select(uint32_t devid, bool selected)
|
||||
{
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_EXT0:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_EXT1:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_EXT2:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_EXT3:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
|
||||
sam_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_spi[0|1]status
|
||||
*
|
||||
* Description:
|
||||
* Return status information associated with the SPI device.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devid - Identifies the (logical) device
|
||||
*
|
||||
* Returned Values:
|
||||
* Bit-encoded SPI status (see include/nuttx/spi/spi.h.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI0_MASTER
|
||||
uint8_t sam_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SAMV7_SPI1_MASTER
|
||||
uint8_t sam_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
@@ -1,76 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 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 px4same70xplained_timer_config.c
|
||||
*
|
||||
* Configuration data for the sam7 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <chip.h>
|
||||
#include <sam_gpio.h>
|
||||
#include <sam_tc.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = 0,
|
||||
.clock_register = 0,
|
||||
.clock_bit = 0,
|
||||
.clock_freq = 0,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = 0,
|
||||
|
||||
},
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = 0,//GPIO_TIM1_CH4OUT,
|
||||
.gpio_in = 0,//GPIO_TIM1_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = 0,
|
||||
.masks = 0
|
||||
},
|
||||
};
|
||||
@@ -1,103 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4same70xplained_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include "sam_gpio.h"
|
||||
#include "sam_usbdev.h"
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_usb_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the PX4_SAME70XPLAINED_V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_usb_initialize(void)
|
||||
{
|
||||
/* Initialize the VBUS enable signal to HI output in any event so that, by
|
||||
* default, VBUS power is not provided at the USB connector.
|
||||
*/
|
||||
|
||||
sam_configgpio(GPIO_VBUSON);
|
||||
}
|
||||
|
||||
/***********************************************************************************
|
||||
* Name: sam_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the sam_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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void sam_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Reference in New Issue
Block a user