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boards: add Radiolink PIX6 (#25562)
* boards: add Radiolink PIX6 * Fix newlines and format issues * Fix newlines issues * docs:add radiolink_pix6.md document * Subedit, prettier, get images * Add hero image * docs:Add some necessary instructions * Subedit --------- Co-authored-by: Ubuntu <diaohuayuan@radiolink.com.cn> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Radiolink
co-authored by
Ubuntu
Hamish Willee
Ubuntu
Hamish Willee
parent
a5c4cc38ac
commit
2ec0407815
@@ -0,0 +1,277 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2022 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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name 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
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "board_config.h"
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#include <stdbool.h>
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#include <stdio.h>
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#include <string.h>
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#include <debug.h>
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#include <errno.h>
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#include <syslog.h>
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#include <nuttx/config.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/mm/gran.h>
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#include <chip.h>
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#include <stm32_uart.h>
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#include <arch/board/board.h>
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#include "arm_internal.h"
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_board_led.h>
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#include <systemlib/px4_macros.h>
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#include <px4_arch/io_timer.h>
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#include <px4_platform_common/init.h>
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#include <px4_platform_common/px4_manifest.h>
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#include <px4_platform/gpio.h>
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#include <px4_platform/board_dma_alloc.h>
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* Configuration ************************************************************/
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/*
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* Ideally we'd be able to get these from arm_internal.h,
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* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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* separate switch, we need to build independent of the
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* CONFIG_ARCH_LEDS configuration switch.
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*/
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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__END_DECLS
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/************************************************************************************
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* Name: board_peripheral_reset
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*
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* Description:
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*
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************************************************************************************/
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__EXPORT void board_peripheral_reset(int ms)
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{
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/* set the peripheral rails off */
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VDD_5V_PERIPH_EN(false);
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board_control_spi_sensors_power(false, 0xffff);
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VDD_3V3_SENSORS4_EN(false);
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bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
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/* Keep Spektum on to discharge rail*/
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VDD_3V3_SPEKTRUM_POWER_EN(false);
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/* wait for the peripheral rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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/* re-enable power */
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/* switch the peripheral rail back on */
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VDD_3V3_SPEKTRUM_POWER_EN(last);
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board_control_spi_sensors_power(true, 0xffff);
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VDD_3V3_SENSORS4_EN(true);
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VDD_5V_PERIPH_EN(true);
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}
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/************************************************************************************
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* Name: board_on_reset
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*
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* Description:
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* Optionally provided function called on entry to board_system_reset
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* It should perform any house keeping prior to the rest.
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*
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* status - 1 if resetting to boot loader
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* 0 if just resetting
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*
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************************************************************************************/
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__EXPORT void board_on_reset(int status)
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{
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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
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px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
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}
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if (status >= 0) {
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up_mdelay(100);
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}
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}
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the initialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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extern "C" __EXPORT void
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stm32_boardinitialize(void)
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{
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board_on_reset(-1); /* Reset PWM first thing */
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/* configure LEDs */
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board_autoled_initialize();
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/* configure pins */
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const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
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px4_gpio_init(gpio, arraySize(gpio));
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board_control_spi_sensors_power_configgpio();
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/* configure USB interfaces */
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stm32_usbinitialize();
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}
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/****************************************************************************
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* Name: board_app_initialize
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*
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* Description:
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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static struct spi_dev_s *spi4;
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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/* Power on Interfaces */
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VDD_5V_PERIPH_EN(true);
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VDD_5V_HIPOWER_EN(true);
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board_control_spi_sensors_power(true, 0xffff);
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VDD_3V3_SENSORS4_EN(true);
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VDD_3V3_SPEKTRUM_POWER_EN(true);
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/* Need hrt running before using the ADC */
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px4_platform_init();
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/* Configure the Actual SPI interfaces (after we determined the HW version) */
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stm32_spiinitialize();
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spi4 = px4_spibus_initialize(4);
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if (!spi4) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
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board_autoled_on(LED_AMBER);
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}
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/* Default SPI4 to 10MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi4, 10000000);
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SPI_SETBITS(spi4, 8);
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SPI_SETMODE(spi4, SPIDEV_MODE3);
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up_udelay(20);
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//board_spi_reset(10, 0xffff);
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/* Configure the DMA allocator */
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if (board_dma_alloc_init() < 0) {
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syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
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}
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#if defined(SERIAL_HAVE_RXDMA)
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// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
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static struct hrt_call serial_dma_call;
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hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
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#endif
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/* initial LED state */
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drv_led_start();
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led_off(LED_RED);
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led_on(LED_GREEN); // Indicate Power.
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led_off(LED_BLUE);
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if (board_hardfault_init(2, true) != 0) {
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led_on(LED_RED);
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}
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#ifdef CONFIG_MMCSD
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int ret = stm32_sdio_initialize();
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if (ret != OK) {
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led_on(LED_RED);
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}
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#endif /* CONFIG_MMCSD */
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/* Configure the HW based on the manifest */
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px4_platform_configure();
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return OK;
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}
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