mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Adding px4esc-v1 board and bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
bba8371b0f
commit
24e8c213ee
@@ -0,0 +1,67 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
|
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# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
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# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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include_directories(../../bootloaders/include)
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set(SRCS)
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list(APPEND SRCS
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../common/board_name.c
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px4esc_init.c
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px4esc_led.c
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px4esc_usb.c
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../../../drivers/bootloaders/src/common/boot_app_shared.c
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../../../drivers/bootloaders/src/util/crc.c
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)
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if(${OS} STREQUAL "nuttx")
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if (NOT ${BOARD} STREQUAL "sim")
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list(APPEND SRCS
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../../../drivers/device/device_nuttx.cpp
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../../../drivers/device/cdev.cpp
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)
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endif()
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else()
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list(APPEND SRCS
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../../../drivers/device/device_posix.cpp
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../../../drivers/device/vdev.cpp
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)
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endif()
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px4_add_module(
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MODULE drivers__boards__px4esc-v1
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COMPILE_FLAGS
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-Os
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SRCS ${SRCS}
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DEPENDS
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platforms__common
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)
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@@ -0,0 +1,363 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "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
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* PX4ESCv1 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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#if STM32_NSPI < 1
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# undef CONFIG_STM32_SPI1
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# undef CONFIG_STM32_SPI2
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#elif STM32_NSPI < 2
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# undef CONFIG_STM32_SPI2
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#endif
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/* High-resolution timer
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*/
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 17 RC_PWM
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* PA[04] PA4/SPI1_NSS 20 OC_ADJ
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* PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1 21 EN_GATE
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* PA[06] PA6/TIM1_BKIN/TIM3_CH1/TIM8_BKIN/SPI1_MISO 22 DC_CAL
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*
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*/
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#define GPIO_RC_PWM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTA | GPIO_PIN3)
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#define GPIO_OC_ADJ (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
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#define GPIO_EN_GATE (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
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#define GPIO_DC_CAL (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTA | GPIO_PIN6 | GPIO_OUTPUT_CLEAR)
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PB[02] PB2/TIM2_CH4/SPI3_MOSI 28 GAIN
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* PB[03] PB3/TIM2_CH2/I2C2_SDA/SPI1_SCK 55 TEST2
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* PB[04] PB4/TIM3_CH1/I2C3_SDA/SPI1_MISO/SPI3_MISO 56 TEST3
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*
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*/
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#define GPIO_GAIN (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTB | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
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#define GPIO_TEST2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTB | GPIO_PIN3 | GPIO_OUTPUT_CLEAR)
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#define GPIO_TEST3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTB | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
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/* CAN ************************************************************************ *
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ------------------------
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*
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* PB[05] PB5/TIM3_CH2/SPI1_MOSI/CAN2_RX 57 CAN2_RX
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* PB[06] PB6/TIM4_CH1/USART1_TX/CAN2_TX 58 CAN2_TX
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* PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
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* PB[08] PB8/TIM4_CH3/I2C1_SCL/CAN1_RX 61 CAN1_RX
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* PB[09] PB9/TIM4_CH4/I2C1_SDA/CAN1_TX 62 CAN1_TX
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*
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*/
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#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTB | GPIO_PIN7)
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/* UART3 ************************************************************************ *
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ------------------------
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*
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* PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 29 DBG_TX
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* PC[05] PC5/USART3_RX/SPDIFRX_IN3/FMC_SDCKE0 25 DBG_RX
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*
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*/
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/* Analog ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PC[00] PC0/ADC123_IN10 8 TEMP_SENS
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* PC[01] PC1/ADC123_IN11/SPI3_MOSI/SPI2_MOSI 9 VBAT_SENS
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* PC[02] PC2/ADC123_IN12/SPI2_MISO, 10 CURR_SENS2
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* PC[03] PC3/ADC123_IN13/SPI2_MOSI 11 CURR_SENS1
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*
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*/
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PC[06] TIM3_CH1/TIM8_CH1/USART6_TX 37 RPM
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*
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*/
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#define GPIO_RPM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN6)
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/* LEDs ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PC[07] PC7/TIM3_CH2/TIM8_CH2 38 LED_RED
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* PC[08] PC8/TIM3_CH3/TIM8_CH3 39 LED_GREEN
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* PC[09] PC9/TIM3_CH4/TIM8_CH4 40 LED_BLUE
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*/
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#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTC | GPIO_PIN7 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_RED GPIO_LED1
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#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTC | GPIO_PIN8 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_GREEN GPIO_LED2
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#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_CLEAR)
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#define GPIO_LED_BLUE GPIO_LED3
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/ 51 HWID0
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* PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX 52 HWID1
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* PC[12] PC12/I2C2_SDA/SPI3_MOSI/USART3_CK/UART5_TX 53 TEST4
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* PC[13] PC13/TAMP_1/WKUP1 2 PWRGD
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* PC[14] PC14/OSC32_IN 3 OCTW
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* PC[15] PC15/OSC32_OUT 4 FAULT
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*
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*/
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#define GPIO_HWID0 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN10)
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#define GPIO_HWID1 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN11)
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#define GPIO_TEST4 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_CLEAR)
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#define GPIO_PWRGD (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
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#define GPIO_OCTW (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN14)
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#define GPIO_FAULT (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15)
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PD[02] PD2/TIM3_ETR/UART5_RX/SDIO_CMD 54 TEST1
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*/
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#define GPIO_TEST1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
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GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
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#define BOARD_NAME "PX4ESC_V1"
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__BEGIN_DECLS
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/************************************************************************************
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* Public Types
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************************************************************************************/
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/************************************************************************************
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* Public data
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************************************************************************************/
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#ifndef __ASSEMBLY__
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins.
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*
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************************************************************************************/
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#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
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defined(CONFIG_STM32_SPI3)
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void weak_function board_spiinitialize(void);
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#endif
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/************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Called to setup USB-related GPIO pins.
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*
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************************************************************************************/
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void stm32_usbinitialize(void);
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/************************************************************************************
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* Name: stm32_usb_set_pwr_callback()
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*
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* Description:
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* Called to setup set a call back for USB power state changes.
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*
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* Inputs:
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* pwr_changed_handler: An interrupt handler that will be called on VBUS power
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* state changes.
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*
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************************************************************************************/
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void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
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/****************************************************************************
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* Name: stm32_led_initialize
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*
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* Description:
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* This functions is called very early in initialization to perform board-
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* specific initialization of LED-related resources. This includes such
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* things as, for example, configure GPIO pins to drive the LEDs and also
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* putting the LEDs in their correct initial state.
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*
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* NOTE: In most architectures, LED initialization() is called from
|
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* board-specific initialization and should, therefore, have the name
|
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* <arch>_led_intialize(). But there are a few architectures where the
|
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* LED initialization function is still called from common chip
|
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* architecture logic. This interface is not, however, a common board
|
||||
* interface in any event and the name board_autoled_initialization is
|
||||
* deprecated.
|
||||
*
|
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* Input Parameters:
|
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* None
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*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
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#ifdef CONFIG_ARCH_LEDS
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void board_autoled_initialize(void);
|
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#endif
|
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|
||||
/************************************************************************************
|
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* Name: stm32_can_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the CAN functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
|
||||
int board_can_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_button_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the Buttons functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_ARCH_BUTTONS)
|
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void board_button_initialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbmsc_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/usbmc or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
|
||||
int usbmsc_archinitialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: composite_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/composite or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
|
||||
extern int composite_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,65 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
||||
include_directories(${px4_bootloader_base}include)
|
||||
include_directories(${px4_module_base}systemlib)
|
||||
include_directories(.)
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__boards__px4esc-v1__bootloader
|
||||
COMPILE_FLAGS
|
||||
-Os
|
||||
SRCS
|
||||
boot.c
|
||||
led.c
|
||||
${px4_bootloader_base}src/uavcan/main.c
|
||||
${px4_bootloader_base}src/common/boot_app_shared.c
|
||||
${px4_bootloader_base}src/sched/timer.c
|
||||
${px4_bootloader_base}src/fs/flash.c
|
||||
${px4_bootloader_base}src/util/crc.c
|
||||
${px4_bootloader_base}src/util/random.c
|
||||
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
|
||||
${px4_bootloader_base}src/protocol/uavcan.c
|
||||
DEPENDS
|
||||
nuttx_export_${BOARD}
|
||||
)
|
||||
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,221 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include "led.h"
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boarddeinitialize
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the bootloader code prior to booting
|
||||
* the application. Is should place the HW into an benign initialized state.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_boarddeinitialize(void)
|
||||
{
|
||||
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
|
||||
STM32_RCC_APB1RSTR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_product_name
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the product name. The returned value is a assumed
|
||||
* to be written to a pascal style string that will be length prefixed
|
||||
* and not null terminated
|
||||
*
|
||||
* Input Parameters:
|
||||
* product_name - A pointer to a buffer to write the name.
|
||||
* maxlen - The maximum number of charter that can be written
|
||||
*
|
||||
* Returned Value:
|
||||
* The length of characters written to the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
||||
{
|
||||
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_hardware_version
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the hardware version information. The function
|
||||
* will first initialize the the callers struct to all zeros.
|
||||
*
|
||||
* Input Parameters:
|
||||
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* Length of the unique_id
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
{
|
||||
size_t length = 12;
|
||||
memset(hw_version, 0 , sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
memcpy(hw_version->unique_id, (void *) STM32_SYSMEM_UID, length);
|
||||
return length;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_indicate
|
||||
*
|
||||
* Description:
|
||||
* Provides User feedback to indicate the state of the bootloader
|
||||
* on board specific hardware.
|
||||
*
|
||||
* Input Parameters:
|
||||
* indication - A member of the uiindication_t
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||
|
||||
typedef struct packed_struct led_t {
|
||||
uint16_t red : 5;
|
||||
uint16_t green : 6;
|
||||
uint16_t blue : 5;
|
||||
uint8_t hz;
|
||||
} led_t;
|
||||
|
||||
static const led_t i2l[] = {
|
||||
|
||||
led(0, off, 0, 0, 0, 0),
|
||||
led(1, reset, 10, 63, 31, 255),
|
||||
led(2, autobaud_start, 0, 63, 0, 1),
|
||||
led(3, autobaud_end, 0, 63, 0, 2),
|
||||
led(4, allocation_start, 0, 0, 31, 2),
|
||||
led(5, allocation_end, 0, 63, 31, 3),
|
||||
led(6, fw_update_start, 15, 63, 31, 3),
|
||||
led(7, fw_update_erase_fail, 15, 63, 15, 3),
|
||||
led(8, fw_update_invalid_response, 31, 0, 0, 1),
|
||||
led(9, fw_update_timeout, 31, 0, 0, 2),
|
||||
led(a, fw_update_invalid_crc, 31, 0, 0, 4),
|
||||
led(b, jump_to_app, 0, 63, 0, 10),
|
||||
|
||||
};
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
rgb_led(i2l[indication].red << 3,
|
||||
i2l[indication].green << 2,
|
||||
i2l[indication].blue << 3,
|
||||
i2l[indication].hz);
|
||||
}
|
||||
@@ -0,0 +1,139 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file boot_config.h
|
||||
*
|
||||
* bootloader definitions that configures the behavior and options
|
||||
* of the Boot loader
|
||||
* This file is relies on the parent folder's boot_config.h file and defines
|
||||
* different usages of the hardware for bootloading
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
/* Bring in the board_config.h definitions
|
||||
* todo:make this be pulled in from a targed's build
|
||||
* files in nuttx*/
|
||||
|
||||
#include "../board_config.h"
|
||||
#include "uavcan.h"
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
|
||||
|
||||
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||
#define OPT_TBOOT_MS 5000
|
||||
#define OPT_NODE_STATUS_RATE_MS 800
|
||||
#define OPT_NODE_INFO_RATE_MS 50
|
||||
#define OPT_BL_NUMBER_TIMERS 7
|
||||
|
||||
/*
|
||||
* This Option set is set to 1 ensure a provider of firmware has an
|
||||
* opportunity update the node's firmware.
|
||||
* This Option is the default policy and can be overridden by
|
||||
* a jumper
|
||||
* When this Policy is set, the node will ignore tboot and
|
||||
* wait indefinitely for a GetNodeInfo request before booting.
|
||||
*
|
||||
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
|
||||
* the polarity of the jumper to be True Active
|
||||
*
|
||||
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
* Jumper
|
||||
* yes 1 0 x
|
||||
* yes 1 1 Active
|
||||
* no 1 1 Not Active
|
||||
* no 0 0 X
|
||||
* yes 0 1 Active
|
||||
* no 0 1 Not Active
|
||||
*
|
||||
*/
|
||||
#define OPT_WAIT_FOR_GETNODEINFO 0
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
|
||||
|
||||
#define OPT_ENABLE_WD 1
|
||||
|
||||
#define OPT_RESTART_TIMEOUT_MS 20000
|
||||
|
||||
/* Reserved for the Boot loader */
|
||||
#define OPT_BOOTLOADER_SIZE_IN_K (1024*16)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K (32*1024) /* Parameters will use the 2nd, 3rd 16KiB sectors*/
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K)
|
||||
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
|
||||
|
||||
|
||||
#define FLASH_BASE STM32_FLASH_BASE
|
||||
#define FLASH_NUMBER_PAGES STM32_FLASH_NPAGES
|
||||
#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
|
||||
#define FLASH_SIZE ((4*16*1024) + (1*64*1024) + (3*128*1024))
|
||||
|
||||
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
|
||||
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
|
||||
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
|
||||
|
||||
/* If this board uses big flash that have large sectors */
|
||||
|
||||
#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_F) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_G) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_I)
|
||||
#define OPT_USE_YIELD
|
||||
#endif
|
||||
|
||||
/* Bootloader Option*****************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------------
|
||||
* PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
|
||||
*/
|
||||
#define GPIO_GETNODEINFO_JUMPER GPIO_WAIT_GETNODEINFO
|
||||
@@ -0,0 +1,114 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "chip/stm32_tim.h"
|
||||
|
||||
|
||||
#include "led.h"
|
||||
#define TMR_BASE STM32_TIM3_BASE
|
||||
#define TMR_FREQUENCY STM32_APB1_TIM3_CLKIN
|
||||
#define TMR_REG(o) (TMR_BASE+(o))
|
||||
|
||||
|
||||
void rgb_led(int r, int g , int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = TMR_FREQUENCY;
|
||||
long prescale = 2048;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
uint16_t val;
|
||||
static bool once = 0;
|
||||
|
||||
if (!once) {
|
||||
once = 1;
|
||||
|
||||
/* Enabel Clock to Block */
|
||||
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
|
||||
|
||||
/* Reload */
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
val |= ATIM_EGR_UG;
|
||||
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
|
||||
/* Set Prescaler STM32_TIM_SETCLOCK */
|
||||
|
||||
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
|
||||
|
||||
/* Enable STM32_TIM_SETMODE*/
|
||||
|
||||
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE |
|
||||
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC4M_SHIFT) | ATIM_CCMR2_OC4PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
|
||||
putreg16(ATIM_CCER_CC2E | ATIM_CCER_CC2P |
|
||||
ATIM_CCER_CC3E | ATIM_CCER_CC3P |
|
||||
ATIM_CCER_CC4E | ATIM_CCER_CC4P, TMR_REG(STM32_GTIM_CCER_OFFSET));
|
||||
|
||||
stm32_configgpio(GPIO_TIM3_CH2OUT);
|
||||
stm32_configgpio(GPIO_TIM3_CH3OUT);
|
||||
stm32_configgpio(GPIO_TIM3_CH4OUT);
|
||||
|
||||
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
|
||||
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
|
||||
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR4_OFFSET));
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
if (freqs == 0) {
|
||||
val &= ~ATIM_CR1_CEN;
|
||||
|
||||
} else {
|
||||
val |= ATIM_CR1_CEN;
|
||||
}
|
||||
|
||||
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <systemlib/visibility.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g , int b, int freqs);
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,209 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4flow_init.c
|
||||
*
|
||||
* PX4ESC-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
#include <systemlib/systemlib.h>
|
||||
#endif
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
# include <systemlib/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/* todo: This is constant but not proper */
|
||||
__BEGIN_DECLS
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||
defined(CONFIG_STM32_SPI3)
|
||||
board_spiinitialize();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void board_initialize(void)
|
||||
{
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
int result = OK;
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t sector_map[] = {
|
||||
{1, 16 * 1024, 0x08004000},
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
static uint8_t param_buffer[PARAMETER_BUFFER_SIZE];
|
||||
|
||||
parameter_flashfs_init(sector_map, param_buffer, sizeof(param_buffer));
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
|
||||
{
|
||||
}
|
||||
@@ -0,0 +1,192 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4esc_led.c
|
||||
*
|
||||
* PX4ESC LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_LED_RED, // Indexed by BOARD_LED_RED
|
||||
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < arraySize(g_ledmap); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_initialize(void)
|
||||
{
|
||||
led_init();
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
|
||||
static bool g_initialized;
|
||||
|
||||
// Nuttx Usages
|
||||
|
||||
__EXPORT
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_STACKCREATED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
g_initialized = true;
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
break;
|
||||
|
||||
case LED_IDLE : /* IDLE */
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
|
||||
case LED_STACKCREATED:
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
break;
|
||||
|
||||
case LED_IDLE: /* IDLE */
|
||||
phy_set_led(BOARD_LED_GREEN, g_initialized);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,107 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4esc_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
./dsdlc_generated/
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
|
||||
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
|
||||
|
||||
string(TOUPPER "${OS}" OS_UPPER)
|
||||
add_definitions(
|
||||
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
|
||||
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
|
||||
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
|
||||
-DUAVCAN_NO_ASSERTIONS
|
||||
-DUAVCAN_PLATFORM=stm32
|
||||
-DUAVCAN_STM32_${OS_UPPER}=1
|
||||
-DUAVCAN_STM32_NUM_IFACES=1
|
||||
-DUAVCAN_STM32_TIMER_NUMBER=2
|
||||
-DUAVCAN_USE_CPP03=ON
|
||||
-DUAVCAN_USE_EXTERNAL_SNPRINT
|
||||
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
|
||||
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
||||
px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
|
||||
add_dependencies(uavcan platforms__nuttx)
|
||||
|
||||
include_directories(../../drivers/bootloaders/include)
|
||||
include_directories(../uavcan/libuavcan/libuavcan/include)
|
||||
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
|
||||
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
|
||||
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
|
||||
include_directories(../systemlib/flashparams)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc
|
||||
MAIN uavcanesc
|
||||
STACK_MAIN 4096
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
uavcanesc_main.cpp
|
||||
indication_controller.cpp
|
||||
led.cpp
|
||||
uavcanesc_params.c
|
||||
../systemlib/flashparams/flashparams.c
|
||||
../systemlib/flashparams/flashfs.c
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
uavcan
|
||||
)
|
||||
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__commands__cfg
|
||||
MAIN cfg
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_cfg.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_cfg.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tcfg {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int cfg_main(int argc, char *argv[]);
|
||||
int cfg_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__commands__dc
|
||||
MAIN dc
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_dc.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_dc.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tdc {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int dc_main(int argc, char *argv[]);
|
||||
int dc_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__commands__rpm
|
||||
MAIN rpm
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_rpm.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_rpm.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\trpm {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int rpm_main(int argc, char *argv[]);
|
||||
int rpm_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__commands__selftest
|
||||
MAIN selftest
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_selftest.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_selftest.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tselftest {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int selftest_main(int argc, char *argv[]);
|
||||
int selftest_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
@@ -0,0 +1,49 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__commands__stat
|
||||
MAIN cfg
|
||||
STACK_MAIN 1024
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
SRCS
|
||||
esc_stat.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <stdint.h>
|
||||
#include <cstdlib>
|
||||
|
||||
#include "esc_stat.hpp"
|
||||
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tstat {yada|yada|yada}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int stat_main(int argc, char *argv[]);
|
||||
int stat_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
@@ -0,0 +1,86 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include "indication_controller.hpp"
|
||||
#include <uavcan/equipment/indication/LightsCommand.hpp>
|
||||
#include "led.hpp"
|
||||
|
||||
namespace
|
||||
{
|
||||
unsigned self_light_index = 0;
|
||||
|
||||
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
|
||||
{
|
||||
uavcan::uint32_t red = 0;
|
||||
uavcan::uint32_t green = 0;
|
||||
uavcan::uint32_t blue = 0;
|
||||
|
||||
for (auto &cmd : msg.commands) {
|
||||
if (cmd.light_id == self_light_index) {
|
||||
using uavcan::equipment::indication::RGB565;
|
||||
|
||||
red = uavcan::uint32_t(float(cmd.color.red) *
|
||||
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
|
||||
|
||||
green = uavcan::uint32_t(float(cmd.color.green) *
|
||||
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
|
||||
|
||||
blue = uavcan::uint32_t(float(cmd.color.blue) *
|
||||
(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
|
||||
|
||||
red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
|
||||
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
|
||||
blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int init_indication_controller(uavcan::INode &node)
|
||||
{
|
||||
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
|
||||
|
||||
self_light_index = 0;
|
||||
|
||||
int res = 0;
|
||||
|
||||
res = sub_light.start(cb_light_command);
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
|
||||
|
||||
int init_indication_controller(uavcan::INode &node);
|
||||
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "chip/stm32_tim.h"
|
||||
|
||||
|
||||
#include "led.hpp"
|
||||
|
||||
void rgb_led(int r, int g , int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = 72000000;
|
||||
long prescale = 2048;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
|
||||
static struct stm32_tim_dev_s *tim = 0;
|
||||
|
||||
if (tim == 0) {
|
||||
tim = stm32_tim_init(3);
|
||||
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
|
||||
STM32_TIM_SETCLOCK(tim, p1s - 8);
|
||||
STM32_TIM_SETPERIOD(tim, p1s);
|
||||
STM32_TIM_SETCOMPARE(tim, 1, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, 0);
|
||||
STM32_TIM_SETCHANNEL(tim, 1, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 2, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 3, mode);
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
STM32_TIM_SETPERIOD(tim, p);
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <systemlib/visibility.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g , int b, int freqs);
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,48 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__uavcanesc__nshterm
|
||||
MAIN nshterm
|
||||
STACK_MAIN 1500
|
||||
COMPILE_FLAGS
|
||||
-Wno-deprecated-declarations
|
||||
-Os
|
||||
SRCS
|
||||
nshterm.c
|
||||
PRIORITY "SCHED_PRIORITY_DEFAULT-30"
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,128 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Andrew Tridgell
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file nshterm.c
|
||||
* start a nsh terminal on a given port. This can be useful for error
|
||||
* handling in startup scripts to start a nsh shell on /dev/ttyACM0
|
||||
* for diagnostics
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <termios.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <stdarg.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
#include <nshlib/nshlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
__EXPORT int nshterm_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
nshterm_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
printf("Usage: nshterm <device>\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
unsigned retries = 0;
|
||||
int fd = -1;
|
||||
|
||||
/* back off 800 ms to avoid running into the USB setup timing */
|
||||
while (hrt_absolute_time() < 800U * 1000U) {
|
||||
usleep(50000);
|
||||
}
|
||||
|
||||
/* try to bring up the console - stop doing so if the system gets armed */
|
||||
while (true) {
|
||||
|
||||
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
|
||||
/* which may not be ready immediately. */
|
||||
fd = open(argv[1], O_RDWR);
|
||||
|
||||
if (fd != -1) {
|
||||
break;
|
||||
}
|
||||
|
||||
usleep(100000);
|
||||
retries++;
|
||||
}
|
||||
|
||||
if (fd == -1) {
|
||||
perror(argv[1]);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/* set up the serial port with output processing */
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
int termios_state;
|
||||
|
||||
/* Back up the original uart configuration to restore it after exit */
|
||||
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
|
||||
warnx("ERR get config %s: %d\n", argv[1], termios_state);
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Set ONLCR flag (which appends a CR for every LF) */
|
||||
uart_config.c_oflag |= (ONLCR | OPOST);
|
||||
|
||||
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
|
||||
warnx("ERR set config %s\n", argv[1]);
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* setup standard file descriptors */
|
||||
close(0);
|
||||
close(1);
|
||||
close(2);
|
||||
dup2(fd, 0);
|
||||
dup2(fd, 1);
|
||||
dup2(fd, 2);
|
||||
|
||||
nsh_consolemain(0, NULL);
|
||||
|
||||
close(fd);
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,543 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/board_serial.h>
|
||||
#include <systemlib/scheduling_priorities.h>
|
||||
#include <version/version.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <arch/chip/chip.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "uavcanesc_main.hpp"
|
||||
#include "led.hpp"
|
||||
#include "indication_controller.hpp"
|
||||
|
||||
#include "boot_app_shared.h"
|
||||
|
||||
/**
|
||||
*
|
||||
* Implements basic functionality of UAVCAN esc.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This is the AppImageDescriptor used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc of this application
|
||||
*/
|
||||
|
||||
boot_app_shared_section app_descriptor_t AppDescriptor = {
|
||||
.signature = {APP_DESCRIPTOR_SIGNATURE},
|
||||
.image_crc = 0,
|
||||
.image_size = 0,
|
||||
.vcs_commit = 0,
|
||||
.major_version = APP_VERSION_MAJOR,
|
||||
.minor_version = APP_VERSION_MINOR,
|
||||
.reserved = {0xff , 0xff , 0xff , 0xff , 0xff , 0xff }
|
||||
};
|
||||
|
||||
/*
|
||||
* UavcanNode
|
||||
*/
|
||||
UavcanEsc *UavcanEsc::_instance;
|
||||
|
||||
UavcanEsc::UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
|
||||
CDev("uavcanesc", UAVCAN_DEVICE_PATH),
|
||||
active_bitrate(0),
|
||||
_node(can_driver, system_clock),
|
||||
_node_mutex(),
|
||||
_fw_update_listner(_node),
|
||||
_reset_timer(_node)
|
||||
{
|
||||
const int res = pthread_mutex_init(&_node_mutex, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
std::abort();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
UavcanEsc::~UavcanEsc()
|
||||
{
|
||||
if (_task != -1) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit = true;
|
||||
|
||||
unsigned i = 10;
|
||||
|
||||
do {
|
||||
/* wait 5ms - it should wake every 10ms or so worst-case */
|
||||
::usleep(5000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (--i == 0) {
|
||||
task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
_instance = nullptr;
|
||||
|
||||
}
|
||||
|
||||
int UavcanEsc::start(uavcan::NodeID node_id, uint32_t bitrate)
|
||||
{
|
||||
|
||||
|
||||
if (_instance != nullptr) {
|
||||
PX4_WARN("Already started");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* GPIO config.
|
||||
* Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
|
||||
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
|
||||
* fail during initialization.
|
||||
*/
|
||||
px4_arch_configgpio(GPIO_CAN1_RX);
|
||||
px4_arch_configgpio(GPIO_CAN1_TX);
|
||||
#if defined(GPIO_CAN2_RX)
|
||||
px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
|
||||
px4_arch_configgpio(GPIO_CAN2_TX);
|
||||
#endif
|
||||
/*
|
||||
* CAN driver init
|
||||
*/
|
||||
static CanInitHelper can;
|
||||
static bool can_initialized = false;
|
||||
|
||||
if (!can_initialized) {
|
||||
const int can_init_res = can.init(bitrate);
|
||||
|
||||
if (can_init_res < 0) {
|
||||
PX4_WARN("CAN driver init failed %i", can_init_res);
|
||||
return can_init_res;
|
||||
}
|
||||
|
||||
can_initialized = true;
|
||||
}
|
||||
|
||||
/*
|
||||
* Node init
|
||||
*/
|
||||
_instance = new UavcanEsc(can.driver, uavcan_stm32::SystemClock::instance());
|
||||
|
||||
if (_instance == nullptr) {
|
||||
PX4_WARN("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
const int node_init_res = _instance->init(node_id);
|
||||
|
||||
if (node_init_res < 0) {
|
||||
delete _instance;
|
||||
_instance = nullptr;
|
||||
PX4_WARN("Node init failed %i", node_init_res);
|
||||
return node_init_res;
|
||||
}
|
||||
|
||||
|
||||
/* Keep the bit rate for reboots on BenginFirmware updates */
|
||||
|
||||
_instance->active_bitrate = bitrate;
|
||||
|
||||
/*
|
||||
* Start the task. Normally it should never exit.
|
||||
*/
|
||||
static auto run_trampoline = [](int, char *[]) {return UavcanEsc::_instance->run();};
|
||||
_instance->_task = px4_task_spawn_cmd("uavcanesc", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
|
||||
static_cast<main_t>(run_trampoline), nullptr);
|
||||
|
||||
if (_instance->_task < 0) {
|
||||
PX4_WARN("start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void UavcanEsc::fill_node_info()
|
||||
{
|
||||
/* software version */
|
||||
uavcan::protocol::SoftwareVersion swver;
|
||||
|
||||
// Extracting the first 8 hex digits of FW_GIT and converting them to int
|
||||
char fw_git_short[9] = {};
|
||||
std::memmove(fw_git_short, FW_GIT, 8);
|
||||
assert(fw_git_short[8] == '\0');
|
||||
char *end = nullptr;
|
||||
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
|
||||
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
|
||||
swver.major = AppDescriptor.major_version;
|
||||
swver.minor = AppDescriptor.minor_version;
|
||||
swver.image_crc = AppDescriptor.image_crc;
|
||||
|
||||
PX4_WARN("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
|
||||
|
||||
_node.setSoftwareVersion(swver);
|
||||
|
||||
/* hardware version */
|
||||
uavcan::protocol::HardwareVersion hwver;
|
||||
|
||||
hwver.major = HW_VERSION_MAJOR;
|
||||
hwver.minor = HW_VERSION_MINOR;
|
||||
|
||||
uint8_t udid[12] = {}; // Someone seems to love magic numbers
|
||||
get_board_serial(udid);
|
||||
uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
|
||||
|
||||
_node.setHardwareVersion(hwver);
|
||||
}
|
||||
|
||||
static void cb_reboot(const uavcan::TimerEvent &)
|
||||
{
|
||||
px4_systemreset(false);
|
||||
|
||||
}
|
||||
|
||||
void UavcanEsc::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request>
|
||||
&req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp)
|
||||
{
|
||||
static bool inprogress = false;
|
||||
|
||||
rsp.error = rsp.ERROR_UNKNOWN;
|
||||
|
||||
if (req.image_file_remote_path.path.size()) {
|
||||
rsp.error = rsp.ERROR_IN_PROGRESS;
|
||||
|
||||
if (!inprogress) {
|
||||
inprogress = true;
|
||||
bootloader_app_shared_t shared;
|
||||
shared.bus_speed = active_bitrate;
|
||||
shared.node_id = _node.getNodeID().get();
|
||||
bootloader_app_shared_write(&shared, App);
|
||||
rgb_led(255, 128 , 0 , 5);
|
||||
_reset_timer.setCallback(cb_reboot);
|
||||
_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
|
||||
rsp.error = rsp.ERROR_OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int UavcanEsc::init(uavcan::NodeID node_id)
|
||||
{
|
||||
int ret = -1;
|
||||
|
||||
// Do regular cdev init
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
_node.setName(HW_UAVCAN_NAME);
|
||||
|
||||
_node.setNodeID(node_id);
|
||||
|
||||
fill_node_info();
|
||||
|
||||
const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
|
||||
&UavcanEsc::cb_beginfirmware_update));
|
||||
|
||||
if (srv_start_res < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
return _node.start();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Restart handler
|
||||
*/
|
||||
class RestartRequestHandler: public uavcan::IRestartRequestHandler
|
||||
{
|
||||
bool handleRestartRequest(uavcan::NodeID request_source) override
|
||||
{
|
||||
::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
|
||||
::usleep(20 * 1000 * 1000);
|
||||
px4_systemreset(false);
|
||||
return true; // Will never be executed BTW
|
||||
}
|
||||
} restart_request_handler;
|
||||
|
||||
void UavcanEsc::node_spin_once()
|
||||
{
|
||||
const int spin_res = _node.spin(uavcan::MonotonicTime());
|
||||
|
||||
if (spin_res < 0) {
|
||||
PX4_WARN("node spin error %i", spin_res);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
add a fd to the list of polled events. This assumes you want
|
||||
POLLIN for now.
|
||||
*/
|
||||
int UavcanEsc::add_poll_fd(int fd)
|
||||
{
|
||||
int ret = _poll_fds_num;
|
||||
|
||||
if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) {
|
||||
errx(1, "uavcan: too many poll fds, exiting");
|
||||
}
|
||||
|
||||
_poll_fds[_poll_fds_num] = ::pollfd();
|
||||
_poll_fds[_poll_fds_num].fd = fd;
|
||||
_poll_fds[_poll_fds_num].events = POLLIN;
|
||||
_poll_fds_num += 1;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
int UavcanEsc::run()
|
||||
{
|
||||
|
||||
get_node().setRestartRequestHandler(&restart_request_handler);
|
||||
|
||||
while (init_indication_controller(get_node()) < 0) {
|
||||
::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
|
||||
::sleep(1);
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
const unsigned PollTimeoutMs = 50;
|
||||
|
||||
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
|
||||
|
||||
if (busevent_fd < 0) {
|
||||
PX4_WARN("Failed to open %s", uavcan_stm32::BusEvent::DevName);
|
||||
_task_should_exit = true;
|
||||
}
|
||||
|
||||
/* If we had an RTC we would call uavcan_stm32::clock::setUtc()
|
||||
* but for now we use adjustUtc with a correction of 0
|
||||
*/
|
||||
// uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(0));
|
||||
|
||||
_node.setModeOperational();
|
||||
|
||||
/*
|
||||
* This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
|
||||
* Please note that with such multiplexing it is no longer possible to rely only on
|
||||
* the value returned from poll() to detect whether actuator control has timed out or not.
|
||||
* Instead, all ORB events need to be checked individually (see below).
|
||||
*/
|
||||
add_poll_fd(busevent_fd);
|
||||
|
||||
while (!_task_should_exit) {
|
||||
// Mutex is unlocked while the thread is blocked on IO multiplexing
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
|
||||
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
node_spin_once(); // Non-blocking
|
||||
|
||||
|
||||
// this would be bad...
|
||||
if (poll_ret < 0) {
|
||||
PX4_ERR("poll error %d", errno);
|
||||
continue;
|
||||
|
||||
} else {
|
||||
// Do Something
|
||||
}
|
||||
}
|
||||
|
||||
teardown();
|
||||
PX4_WARN("exiting.");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
UavcanEsc::teardown()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int
|
||||
UavcanEsc::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
if (ret == -ENOTTY) {
|
||||
ret = CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
UavcanEsc::print_info()
|
||||
{
|
||||
if (!_instance) {
|
||||
PX4_WARN("not running, start first");
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
/*
|
||||
* App entry point
|
||||
*/
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tuavcanesc {start|status|stop}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
|
||||
|
||||
int uavcannode_start(int argc, char *argv[])
|
||||
{
|
||||
// CAN bitrate
|
||||
int32_t bitrate = 0;
|
||||
// Node ID
|
||||
int32_t node_id = 0;
|
||||
|
||||
// Did the bootloader auto baud and get a node ID Allocated
|
||||
|
||||
bootloader_app_shared_t shared;
|
||||
int valid = bootloader_app_shared_read(&shared, BootLoader);
|
||||
|
||||
if (valid == 0) {
|
||||
|
||||
bitrate = shared.bus_speed;
|
||||
node_id = shared.node_id;
|
||||
|
||||
// Invalidate to prevent deja vu
|
||||
|
||||
bootloader_app_shared_invalidate();
|
||||
|
||||
} else {
|
||||
|
||||
// Node ID
|
||||
(void)param_get(param_find("ESC_NODE_ID"), &node_id);
|
||||
(void)param_get(param_find("ESC_BITRATE"), &bitrate);
|
||||
}
|
||||
|
||||
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
|
||||
PX4_WARN("Invalid Node ID %i", node_id);
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
// Start
|
||||
PX4_WARN("Node ID %u, bitrate %u", node_id, bitrate);
|
||||
int rv = UavcanEsc::start(node_id, bitrate);
|
||||
::sleep(1);
|
||||
return rv;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcanesc_main(int argc, char *argv[]);
|
||||
int uavcanesc_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "start")) {
|
||||
|
||||
if (UavcanEsc::instance()) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
return uavcannode_start(argc, argv);
|
||||
}
|
||||
|
||||
/* commands below require the app to be started */
|
||||
UavcanEsc *const inst = UavcanEsc::instance();
|
||||
|
||||
if (!inst) {
|
||||
PX4_ERR("application not running");
|
||||
::exit(1);
|
||||
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
|
||||
inst->print_info();
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "stop")) {
|
||||
delete inst;
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -0,0 +1,149 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#include <drivers/device/device.h>
|
||||
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
|
||||
#include <uavcan/node/timer.hpp>
|
||||
/**
|
||||
*
|
||||
* Defines functionality of UAVCAN ESC node.
|
||||
*/
|
||||
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
|
||||
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
|
||||
|
||||
// we add two to allow for actuator_direct and busevent
|
||||
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
|
||||
|
||||
/**
|
||||
* A UAVCAN node.
|
||||
*/
|
||||
class UavcanEsc : public device::CDev
|
||||
{
|
||||
/*
|
||||
* This memory is reserved for uavcan to use as over flow for message
|
||||
* Coming from multiple sources that my not be considered at development
|
||||
* time.
|
||||
*
|
||||
* The call to getNumFreeBlocks will tell how many blocks there are
|
||||
* free -and multiply it times getBlockSize to get the number of bytes
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned MemPoolSize = 2048;
|
||||
|
||||
/*
|
||||
* This memory is reserved for uavcan to use for queuing CAN frames.
|
||||
* At 1Mbit there is approximately one CAN frame every 200 uS.
|
||||
* The number of buffers sets how long you can go without calling
|
||||
* node_spin_xxxx. Since our task is the only one running and the
|
||||
* driver will light the fd when there is a CAN frame we can nun with
|
||||
* a minimum number of buffers to conserver memory. Each buffer is
|
||||
* 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required
|
||||
* poll rate of ~1 mS
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned RxQueueLenPerIface = 5;
|
||||
|
||||
/*
|
||||
* This memory is uses for the tasks stack size
|
||||
*/
|
||||
|
||||
static constexpr unsigned StackSize = 4096;
|
||||
|
||||
public:
|
||||
typedef uavcan::Node<MemPoolSize> Node;
|
||||
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
|
||||
typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
|
||||
|
||||
UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
|
||||
|
||||
virtual ~UavcanEsc();
|
||||
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
static int start(uavcan::NodeID node_id, uint32_t bitrate);
|
||||
|
||||
Node &get_node() { return _node; }
|
||||
|
||||
int teardown();
|
||||
|
||||
void print_info();
|
||||
|
||||
static UavcanEsc *instance() { return _instance; }
|
||||
|
||||
|
||||
/* The bit rate that can be passed back to the bootloader */
|
||||
|
||||
int32_t active_bitrate;
|
||||
|
||||
|
||||
private:
|
||||
void fill_node_info();
|
||||
int init(uavcan::NodeID node_id);
|
||||
void node_spin_once();
|
||||
int run();
|
||||
int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
|
||||
|
||||
|
||||
int _task = -1; ///< handle to the OS task
|
||||
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
|
||||
|
||||
static UavcanEsc *_instance; ///< singleton pointer
|
||||
Node _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
|
||||
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
|
||||
unsigned _poll_fds_num = 0;
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanEsc *,
|
||||
void (UavcanEsc::*)(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &)>
|
||||
BeginFirmwareUpdateCallBack;
|
||||
|
||||
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
|
||||
void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp);
|
||||
|
||||
public:
|
||||
|
||||
/* A timer used to reboot after the response is sent */
|
||||
|
||||
uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
|
||||
|
||||
};
|
||||
@@ -0,0 +1,59 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/**
|
||||
* UAVCAN Node ID.
|
||||
*
|
||||
* Read the specs at http://uavcan.org to learn more about Node ID.
|
||||
*
|
||||
* @min 1
|
||||
* @max 125
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(ESC_NODE_ID, 120);
|
||||
|
||||
/**
|
||||
* UAVCAN CAN bus bitrate.
|
||||
*
|
||||
* @min 20000
|
||||
* @max 1000000
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(ESC_BITRATE, 1000000);
|
||||
Reference in New Issue
Block a user