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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Add tap-v1 config
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,48 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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# Author: David Sidrane <david_s5@nscdg.com>
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||||
#
|
||||
# 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.
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||||
#
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############################################################################
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px4_add_module(
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MODULE drivers__boards__tap-v1
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COMPILE_FLAGS
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-Os
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SRCS
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../common/board_name.c
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tap_init.c
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tap_timer_config.c
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tap_spi.c
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tap_usb.c
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tap_led.c
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,276 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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||||
*
|
||||
* 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.
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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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* TAP_V1 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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__BEGIN_DECLS
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/* these headers are not C++ safe */
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#include <stm32.h>
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#include <arch/board/board.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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#define UDID_START 0x1FFF7A10
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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs
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*
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* PC4 BLUE_LED D4 Blue LED cathode
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* PC5 RED_LED D5 Red LED cathode
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*/
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
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#define GPIO_BLUE_LED GPIO_LED1
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#define GPIO_RED_LED GPIO_LED1
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/*
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* SPI
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*
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* Peripheral Port Signal Name CONN
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* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
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* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
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* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
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* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
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*
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* PC2 SD_SW SD-9 SW
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*
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*/
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#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
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#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
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/*
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* I2C busses
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*
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* Peripheral Port Signal Name CONN
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* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
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* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
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*
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* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
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* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
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*
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* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
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* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
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*
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*/
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#define PX4_I2C_BUS_ONBOARD 1
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#define PX4_I2C_BUS_SONAR 2
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#define PX4_I2C_BUS_EXPANSION 3
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/*
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* Devices on the onboard bus.
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*
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* Note that these are unshifted addresses (not includinf R/W).
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*/
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/* todo:
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* Cannot tell from the schematic if there is one or 2 MPU6050
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* The slave address of the MPU-60X0 is b110100X which is 7 bits long.
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* The LSB bit of the 7 bit address is determined by the logic level
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* on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
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* When used in this configuration, the address of the one of the devices
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* should be b1101000 (pin AD0 is logic low) and the address of the other
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* should be b1101001 (pin AD0 is logic high).
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*/
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#define PX4_I2C_ON_BOARD_MPU6050_ADDRS {0x68,0x69}
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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*/
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#define ADC_CHANNELS (1 << 10)
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/* todo:Revisit - cannnot tell from schematic - some could be ADC */
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// ADC defines to be used in sensors.cpp to read from a particular channel
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#define ADC_BATTERY_VOLTAGE_CHANNEL 10
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#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
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/* User GPIOs
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*
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* TIM3_CH1 PA6 LED_R JP2-23,24
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* TIM3_CH2 PA7 LED_G JP2-25,26
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* TIM3_CH3 PB0 LED_B JP2-27,28
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* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
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*
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* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
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* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
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*
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
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/*
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* Tone alarm output
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*/
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/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
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#define TONE_ALARM_TIMER 3 /* timer 3 */
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#define TONE_ALARM_CHANNEL 3 /* channel 3 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
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/*
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* PWM
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*
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* Four PWM outputs can be configured on pins
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*
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*
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* Peripheral Port Signal Name CONN
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* TIM3_CH1 PA6 LED_R JP2-23,24
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* TIM3_CH2 PA7 LED_G JP2-25,26
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* TIM3_CH3 PB0 LED_B JP2-27,28
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* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
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*
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*/
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#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
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#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
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#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
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#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
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*/
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#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer
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*/
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#define HRT_TIMER 1 /* use timer1 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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#define BOARD_NAME "TAP_V1"
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/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
|
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* system_power interface, and herefore provides the true logic
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* GPIO BOARD_ADC_xxxx macros.
|
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
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#define BOARD_ADC_BRICK_VALID (1)
|
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#define BOARD_ADC_SERVO_VALID (1)
|
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#define BOARD_ADC_PERIPH_5V_OC (0)
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#define BOARD_ADC_HIPOWER_5V_OC (0)
|
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
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|
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#define BOARD_FMU_GPIO_TAB { \
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{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
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{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
|
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{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
|
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{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
|
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{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
|
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{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, }
|
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|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
#define board_spi_reset(ms)
|
||||
#define board_peripheral_reset(ms)
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
/****************************************************************************
|
||||
* 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
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,204 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tap-v1_init.c
|
||||
*
|
||||
* tap-v1-specific early startup code. This file implements the
|
||||
* nsh_archinitialize() 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.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.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>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lowsyslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lowsyslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure always-on ADC pins */
|
||||
stm32_configgpio(GPIO_ADC1_IN10);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs (empty call to NuttX' ledinit) */
|
||||
up_ledinit();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
int result;
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* 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);
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_AMBER);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
/* Get the SPI port for the microSD slot */
|
||||
|
||||
spi = up_spiinitialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SPI interface to the MMCSD driver */
|
||||
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tap-v1_led.c
|
||||
*
|
||||
* TAP_V1 LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_BLUE_LED);
|
||||
stm32_configgpio(GPIO_RED_LED);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, false);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_RED_LED, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, true);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_RED_LED, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
if (stm32_gpioread(GPIO_BLUE_LED)) {
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, false);
|
||||
|
||||
} else {
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, true);
|
||||
}
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
if (stm32_gpioread(GPIO_RED_LED)) {
|
||||
stm32_gpiowrite(GPIO_RED_LED, false);
|
||||
|
||||
} else {
|
||||
stm32_gpiowrite(GPIO_RED_LED, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,88 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tap-v1_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the tap-v1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
stm32_configgpio(GPIO_SPI_SD_SW);
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void stm32_spi2select(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 */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return stm32_gpioread(GPIO_SPI_SD_SW);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,100 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file tap-v1_timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = STM32_IRQ_TIM3,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH1OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH2OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH3OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tap-v1_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 tap-v1 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
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#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)
|
||||
{
|
||||
//ulldbg("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
+21
-2
@@ -117,6 +117,24 @@
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_TAP_V1
|
||||
/*
|
||||
* PX4FMUv3 GPIO numbers.
|
||||
*
|
||||
* There are no alternate functions on this board.
|
||||
*/
|
||||
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
||||
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
||||
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
||||
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
||||
|
||||
/**
|
||||
* Device paths for things that support the GPIO ioctl protocol.
|
||||
*/
|
||||
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_AEROCORE
|
||||
/*
|
||||
* AeroCore GPIO numbers and configuration.
|
||||
@@ -144,8 +162,9 @@
|
||||
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
|
||||
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
|
||||
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
|
||||
!defined(CONFIG_ARCH_BOARD_MINDPX_V2) &&\
|
||||
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
!defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \
|
||||
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \
|
||||
!defined(CONFIG_ARCH_BOARD_TAP_V1)
|
||||
# error No CONFIG_ARCH_BOARD_xxxx set
|
||||
#endif
|
||||
/*
|
||||
|
||||
@@ -72,7 +72,7 @@
|
||||
#define DRV_RNG_DEVTYPE_MB12XX 0x31
|
||||
#define DRV_RNG_DEVTYPE_LL40LS 0x32
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_MINDPX_V2
|
||||
#if defined (CONFIG_ARCH_BOARD_MINDPX_V2) || defined (CONFIG_ARCH_BOARD_TAP_V1)
|
||||
#define DRV_ACC_DEVTYPE_MPU6050 0x14
|
||||
#define DRV_ACC_DEVTYPE_MPU6500 0x13
|
||||
|
||||
|
||||
Reference in New Issue
Block a user