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Move the last of the board-specific code for PX4FMU out of the NuttX tree. Now it's just configuration.

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This commit is contained in:
px4dev
2012-10-31 00:37:15 -07:00
parent b685d46dbf
commit 34a3b260f3
22 changed files with 191 additions and 668 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
+2 -2
View File
@@ -61,7 +61,7 @@
#include <sys/prctl.h>
#include <v1.0/common/mavlink.h>
#include <string.h>
#include <arch/board/drv_led.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
@@ -194,7 +194,7 @@ static void buzzer_deinit()
static int led_init()
{
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
fprintf(stderr, "[commander] LED: open fail\n");
apps/drivers/boards/px4fmu/px4fmu_init.c
+3 -61
View File
@@ -64,9 +64,9 @@
#include "stm32_uart.h"
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
@@ -131,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void)
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi3;
static struct i2c_dev_s *i2c1;
static struct i2c_dev_s *i2c2;
static struct i2c_dev_s *i2c3;
#include <math.h>
@@ -153,10 +150,6 @@ __EXPORT int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
@@ -190,14 +183,12 @@ __EXPORT int nsh_archinitialize(void)
message("\r\n");
// initial LED state
drv_led_start();
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
@@ -219,38 +210,6 @@ __EXPORT int nsh_archinitialize(void)
message("[boot] Successfully initialized SPI port 1\r\n");
#if 0
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
#endif
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
@@ -276,24 +235,7 @@ __EXPORT int nsh_archinitialize(void)
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
#endif /* SPI3 */
#if 0
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
#endif
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
apps/drivers/boards/px4fmu/px4fmu_led.c
+88
View File
@@ -0,0 +1,88 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_led.c
*
* PX4FMU LED backend.
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "up_internal.h"
#include "stm32_internal.h"
#include "px4fmu_internal.h"
__EXPORT void up_ledinit()
{
/* Configure LED1-2 GPIOs for output */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
}
__EXPORT void up_ledon(int led)
{
if (led == 0)
{
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
if (led == 1)
{
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED2, false);
}
}
__EXPORT void up_ledoff(int led)
{
if (led == 0)
{
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
if (led == 1)
{
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED2, true);
}
}
apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+3 -7
View File
@@ -46,13 +46,9 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include "stm32_internal.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
#include <stm32_internal.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
apps/drivers/drv_led.h
+64
View File
@@ -0,0 +1,64 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_led.h
*
* LED driver API
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#define LED_DEVICE_PATH "/dev/led"
#define _LED_BASE 0x2800
/* PX4 LED colour codes */
#define LED_AMBER 0
#define LED_RED 0 /* some boards have red rather than amber */
#define LED_BLUE 1
#define LED_ON _IOC(_LED_BASE, 0)
#define LED_OFF _IOC(_LED_BASE, 1)
__BEGIN_DECLS
/*
* Initialise the LED driver.
*/
__EXPORT extern void drv_led_start();
__END_DECLS
apps/systemcmds/led/Makefile → apps/drivers/led/Makefile
+1 -5
View File
@@ -32,11 +32,7 @@
############################################################################
#
# Makefile to build ardrone interface
# Makefile to build the LED driver.
#
APPNAME = led
PRIORITY = SCHED_PRIORITY_MAX - 15
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/drivers/led/led.cpp
+115
View File
@@ -0,0 +1,115 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file led.cpp
*
* LED driver.
*/
#include <nuttx/config.h>
#include <drivers/device/device.h>
#include <drivers/drv_led.h>
/* Ideally we'd be able to get these from up_internal.h */
//#include <up_internal.h>
__BEGIN_DECLS
extern void up_ledinit();
extern void up_ledon(int led);
extern void up_ledoff(int led);
__END_DECLS
class LED : device::CDev
{
public:
LED();
~LED();
virtual int init();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
};
LED::LED() :
CDev("led", LED_DEVICE_PATH)
{
// force immediate init/device registration
init();
}
LED::~LED()
{
}
int
LED::init()
{
CDev::init();
up_ledinit();
return 0;
}
int
LED::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case LED_ON:
up_ledon(arg);
break;
case LED_OFF:
up_ledoff(arg);
break;
default:
result = CDev::ioctl(filp, cmd, arg);
}
return result;
}
namespace
{
LED *gLED;
}
void
drv_led_start()
{
if (gLED == nullptr) {
gLED = new LED;
if (gLED != nullptr)
gLED->init();
}
}
apps/px4/tests/test_float.c
-2
View File
@@ -45,8 +45,6 @@
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
#include <float.h>
apps/px4/tests/test_int.c
-2
View File
@@ -49,8 +49,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
apps/px4/tests/test_led.c
+2 -2
View File
@@ -49,7 +49,7 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include <drivers/drv_led.h>
#include "tests.h"
@@ -91,7 +91,7 @@ int test_led(int argc, char *argv[])
int fd;
int ret = 0;
fd = open("/dev/led", O_RDONLY | O_NONBLOCK);
fd = open(LED_DEVICE_PATH, 0);
if (fd < 0) {
printf("\tLED: open fail\n");
apps/px4/tests/test_sleep.c
-2
View File
@@ -49,8 +49,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
/****************************************************************************
apps/px4/tests/test_uart_baudchange.c
-2
View File
@@ -52,8 +52,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
apps/px4/tests/test_uart_console.c
-2
View File
@@ -50,8 +50,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
apps/px4/tests/test_uart_loopback.c
-2
View File
@@ -50,8 +50,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
apps/px4/tests/test_uart_send.c
-2
View File
@@ -50,8 +50,6 @@
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include "tests.h"
#include <math.h>
apps/px4/tests/tests.h
-1
View File
@@ -84,7 +84,6 @@ extern int test_led(int argc, char *argv[]);
extern int test_adc(int argc, char *argv[]);
extern int test_int(int argc, char *argv[]);
extern int test_float(int argc, char *argv[]);
extern int test_eeproms(int argc, char *argv[]);
extern int test_ppm(int argc, char *argv[]);
extern int test_servo(int argc, char *argv[]);
extern int test_uart_loopback(int argc, char *argv[]);
apps/systemcmds/led/led.c
-209
View File
@@ -1,209 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 led.c
* Plain, stupid led outputs
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <arch/board/drv_led.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
__EXPORT int led_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int led_task; /**< Handle of deamon task / thread */
static int leds;
static int led_init(void)
{
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
if (leds < 0) {
errx(1, "[led] LED: open fail\n");
}
if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
errx(1, "[led] LED: ioctl fail\n");
}
return 0;
}
static void led_deinit(void)
{
close(leds);
}
static int led_toggle(int led)
{
static int last_blue = LED_ON;
static int last_amber = LED_ON;
if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
}
static int led_on(int led)
{
return ioctl(leds, LED_ON, led);
}
static int led_off(int led)
{
return ioctl(leds, LED_OFF, led);
}
/**
* Mainloop of led.
*/
int led_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int led_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("led already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
led_task = task_spawn("led",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
led_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tled is running\n");
} else {
printf("\tled not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int led_thread_main(int argc, char *argv[])
{
/* welcome user */
printf("[led] Control started, taking over motors\n");
/* open leds */
led_init();
unsigned int rate = 200;
while (!thread_should_exit) {
/* swell blue led */
/* 200 Hz base loop */
usleep(1000000 / rate);
}
/* close leds */
led_deinit();
printf("[led] ending now...\n\n");
fflush(stdout);
thread_running = false;
return OK;
}