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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/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/drivers/led/Makefile
+38
View File
@@ -0,0 +1,38 @@
############################################################################
#
# 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.
#
############################################################################
#
# Makefile to build the LED driver.
#
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();
}
}