Changes to aerocore for upstream Nuttx

src/drivers/boards/aerocore/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		../common/board_name.c
+		../common/board_dma_alloc.c
 		aerocore_init.c
 		aerocore_timer_config.c
 		aerocore_spi.c

src/drivers/boards/aerocore/aerocore_init.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -35,10 +35,10 @@
  * @file aerocore_init.c
  *
  * AeroCore-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
+ * 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 initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -53,11 +53,11 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/spi.h>
-#include <nuttx/i2c.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 <nuttx/gran.h>
 
 #include <stm32.h>
 #include "board_config.h"
@@ -71,6 +71,10 @@
 #include <systemlib/cpuload.h>
 #include <systemlib/perf_counter.h>
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+#include <systemlib/systemlib.h>
+#endif
+
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
@@ -81,13 +85,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lowsyslog
+#    define message syslog
 #  else
 #    define message printf
 #  endif
@@ -110,72 +114,10 @@ __END_DECLS
  * Protected Functions
  ****************************************************************************/
 
-#if defined(CONFIG_FAT_DMAMEMORY)
-# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
-#  error microSD DMA support requires CONFIG_GRAN
-# endif
-
-static GRAN_HANDLE dma_allocator;
-
-/*
- * The DMA heap size constrains the total number of things that can be
- * ready to do DMA at a time.
- *
- * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
- * one sector-sized buffer per file.
- *
- * We use a fundamental alignment / granule size of 64B; this is sufficient
- * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
- */
-static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
-static perf_counter_t g_dma_perf;
-
-static void
-dma_alloc_init(void)
-{
-	dma_allocator = gran_initialize(g_dma_heap,
-					sizeof(g_dma_heap),
-					7,  /* 128B granule - must be > alignment (XXX bug?) */
-					6); /* 64B alignment */
-
-	if (dma_allocator == NULL) {
-		message("DMA alloc FAILED");
-
-	} else {
-		g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
-	}
-}
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
 
-/*
- * DMA-aware allocator stubs for the FAT filesystem.
- */
-
-__EXPORT void *fat_dma_alloc(size_t size);
-__EXPORT void fat_dma_free(FAR void *memory, size_t size);
-
-void *
-fat_dma_alloc(size_t size)
-{
-	perf_count(g_dma_perf);
-	return gran_alloc(dma_allocator, size);
-}
-
-void
-fat_dma_free(FAR void *memory, size_t size)
-{
-	gran_free(dma_allocator, memory, size);
-}
-
-#else
-
-# define dma_alloc_init()
-
-#endif
-
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -189,46 +131,65 @@ fat_dma_free(FAR void *memory, size_t size)
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
+
 	/* configure SPI interfaces */
+
 	stm32_spiinitialize();
 
 	/* configure LEDs */
-	up_ledinit();
+
+	board_autoled_initialize();
 }
 
 /****************************************************************************
- * Name: nsh_archinitialize
+ * Name: board_app_initialize
  *
  * Description:
- *   Perform architecture specific initialization
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
  *
  ****************************************************************************/
 
 static struct spi_dev_s *spi3;
 static struct spi_dev_s *spi4;
-
-#include <math.h>
-
-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
+__EXPORT int board_app_initialize(uintptr_t arg)
 {
-	return 1;
-}
+#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
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
 #endif
 
-__EXPORT int nsh_archinitialize(void)
-{
-
-	/* configure ADC pins */
-	px4_arch_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
-	px4_arch_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
-	px4_arch_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
-	px4_arch_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -236,6 +197,10 @@ __EXPORT int nsh_archinitialize(void)
 	/* configure the DMA allocator */
 	dma_alloc_init();
 
+	if (board_dma_alloc_init() < 0) {
+		message("DMA alloc FAILED");
+	}
+
 	/* configure CPU load estimation */
 #ifdef CONFIG_SCHED_INSTRUMENTATION
 	cpuload_initialize_once();
@@ -263,11 +228,12 @@ __EXPORT int nsh_archinitialize(void)
 	led_off(LED_AMBER);
 
 	/* Configure Sensors on SPI bus #3 */
+
 	spi3 = px4_spibus_initialize(3);
 
 	if (!spi3) {
 		message("[boot] FAILED to initialize SPI port 3\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 
@@ -282,11 +248,12 @@ __EXPORT int nsh_archinitialize(void)
 	message("[boot] Initialized SPI port 3 (SENSORS)\n");
 
 	/* Configure FRAM on SPI bus #4 */
+
 	spi4 = px4_spibus_initialize(4);
 
 	if (!spi4) {
 		message("[boot] FAILED to initialize SPI port 4\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 

src/drivers/boards/aerocore/aerocore_led.c

@@ -63,19 +63,19 @@ __END_DECLS
 
 __EXPORT void led_init()
 {
-	px4_arch_configgpio(GPIO_LED0);
-	px4_arch_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED0);
+	stm32_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	switch (led) {
 	case 0:
-		px4_arch_gpiowrite(GPIO_LED0, true);
+		stm32_gpiowrite(GPIO_LED0, true);
 		break;
 
 	case 1:
-		px4_arch_gpiowrite(GPIO_LED1, true);
+		stm32_gpiowrite(GPIO_LED1, true);
 		break;
 
 	default:
@@ -87,11 +87,11 @@ __EXPORT void led_off(int led)
 {
 	switch (led) {
 	case 0:
-		px4_arch_gpiowrite(GPIO_LED0, false);
+		stm32_gpiowrite(GPIO_LED0, false);
 		break;
 
 	case 1:
-		px4_arch_gpiowrite(GPIO_LED1, false);
+		stm32_gpiowrite(GPIO_LED1, false);
 		break;
 
 	default:
@@ -103,21 +103,21 @@ __EXPORT void led_toggle(int led)
 {
 	switch (led) {
 	case 0:
-		if (px4_arch_gpioread(GPIO_LED0)) {
-			px4_arch_gpiowrite(GPIO_LED0, false);
+		if (stm32_gpioread(GPIO_LED0)) {
+			stm32_gpiowrite(GPIO_LED0, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED0, true);
+			stm32_gpiowrite(GPIO_LED0, true);
 		}
 
 		break;
 
 	case 1:
-		if (px4_arch_gpioread(GPIO_LED1)) {
-			px4_arch_gpiowrite(GPIO_LED1, false);
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED1, true);
+			stm32_gpiowrite(GPIO_LED1, true);
 		}
 
 		break;

src/drivers/boards/aerocore/aerocore_spi.c

@@ -47,7 +47,7 @@
 #include <stdbool.h>
 #include <debug.h>
 
-#include <nuttx/spi.h>
+#include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
 #include <up_arch.h>
@@ -70,36 +70,36 @@
 __EXPORT void stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-	px4_arch_configgpio(GPIO_SPI1_NSS);
-	px4_arch_gpiowrite(GPIO_SPI1_NSS, 1);
+	stm32_configgpio(GPIO_SPI1_NSS);
+	stm32_gpiowrite(GPIO_SPI1_NSS, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	px4_arch_configgpio(GPIO_SPI2_NSS);
-	px4_arch_gpiowrite(GPIO_SPI2_NSS, 1);
+	stm32_configgpio(GPIO_SPI2_NSS);
+	stm32_gpiowrite(GPIO_SPI2_NSS, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI3
-	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-	px4_arch_configgpio(GPIO_SPI_CS_BARO);
+	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	stm32_configgpio(GPIO_SPI_CS_BARO);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
 
-	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
-	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
-	px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI4
-	px4_arch_configgpio(GPIO_SPI4_NSS);
-	px4_arch_gpiowrite(GPIO_SPI4_NSS, 1);
+	stm32_configgpio(GPIO_SPI4_NSS);
+	stm32_gpiowrite(GPIO_SPI4_NSS, 1);
 #endif
 }
 
@@ -107,7 +107,7 @@ __EXPORT void stm32_spiinitialize(void)
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there is only one device broken-out so select it */
-	px4_arch_gpiowrite(GPIO_SPI1_NSS, !selected);
+	stm32_gpiowrite(GPIO_SPI1_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -120,7 +120,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there is only one device broken-out so select it */
-	px4_arch_gpiowrite(GPIO_SPI2_NSS, !selected);
+	stm32_gpiowrite(GPIO_SPI2_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -137,23 +137,23 @@ __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
 		break;
 
 	default:
@@ -172,7 +172,7 @@ __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there can only be one device on this bus, so always select it */
-	px4_arch_gpiowrite(GPIO_SPI4_NSS, !selected);
+	stm32_gpiowrite(GPIO_SPI4_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

src/drivers/boards/aerocore/board_config.h

@@ -47,10 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32.h>
-#include <arch/board/board.h>
-
-#define UDID_START		0x1FFF7A10
 
 /****************************************************************************************************
  * Definitions
@@ -215,25 +211,6 @@ extern void stm32_spiinitialize(void);
 
 #define board_peripheral_reset(ms)
 
-/****************************************************************************
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization for NSH.
- *
- *   CONFIG_NSH_ARCHINIT=y :
- *     Called from the NSH library
- *
- *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
- *   CONFIG_NSH_ARCHINIT=n :
- *     Called from board_initialize().
- *
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_LIBRARY
-int nsh_archinitialize(void);
-#endif
-
 #include "../common/board_common.h"
 
 #endif /* __ASSEMBLY__ */