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Hoist the ADC and CAN board-specific pieces.
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px4dev
@@ -0,0 +1,142 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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 px4fmu_adc.c
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*
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* Board-specific ADC functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdio.h>
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#include <nuttx/analog/adc.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "up_arch.h"
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#include "stm32_adc.h"
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#include "px4fmu_internal.h"
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#define ADC3_NCHANNELS 4
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/************************************************************************************
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* Private Data
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************************************************************************************/
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/* The PX4FMU board has four ADC channels: ADC323 IN10-13
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*/
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/* Identifying number of each ADC channel: Variable Resistor. */
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#ifdef CONFIG_STM32_ADC3
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static const uint8_t g_chanlist[ADC3_NCHANNELS] = {10, 11};// , 12, 13}; ADC12 and 13 are used by MPU on v1.5 boards
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/* Configurations of pins used byte each ADC channels */
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static const uint32_t g_pinlist[ADC3_NCHANNELS] = {GPIO_ADC3_IN10, GPIO_ADC3_IN11}; // ADC12 and 13 are used by MPU on v1.5 boards, GPIO_ADC3_IN12, GPIO_ADC3_IN13};
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: adc_devinit
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*
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* Description:
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* All STM32 architectures must provide the following interface to work with
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* examples/adc.
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*
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************************************************************************************/
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int adc_devinit(void)
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{
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static bool initialized = false;
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struct adc_dev_s *adc[ADC3_NCHANNELS];
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int ret;
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int i;
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/* Check if we have already initialized */
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if (!initialized)
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{
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char name[11];
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for (i = 0; i < ADC3_NCHANNELS; i++)
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{
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stm32_configgpio(g_pinlist[i]);
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}
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for (i = 0; i < 1; i++)
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{
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/* Configure the pins as analog inputs for the selected channels */
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//stm32_configgpio(g_pinlist[i]);
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/* Call stm32_adcinitialize() to get an instance of the ADC interface */
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//multiple channels only supported with dma!
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adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
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if (adc == NULL)
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{
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adbg("ERROR: Failed to get ADC interface\n");
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return -ENODEV;
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}
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/* Register the ADC driver at "/dev/adc0" */
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sprintf(name, "/dev/adc%d", i);
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ret = adc_register(name, adc[i]);
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if (ret < 0)
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{
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adbg("adc_register failed for adc %s: %d\n", name, ret);
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return ret;
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}
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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@@ -0,0 +1,142 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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 px4fmu_can.c
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*
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* Board-specific CAN functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "up_arch.h"
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#include "stm32.h"
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#include "stm32_can.h"
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#include "px4fmu_internal.h"
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
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# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
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# undef CONFIG_STM32_CAN2
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#endif
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#ifdef CONFIG_STM32_CAN1
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# define CAN_PORT 1
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#else
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: can_devinit
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*
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* Description:
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* All STM32 architectures must provide the following interface to work with
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* examples/can.
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*
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************************************************************************************/
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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if (!initialized)
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{
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL)
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{
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candbg("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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/* Register the CAN driver at "/dev/can0" */
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ret = can_register("/dev/can0", can);
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if (ret < 0)
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{
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candbg("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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@@ -63,7 +63,6 @@
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#include "px4fmu_internal.h"
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#include "stm32_uart.h"
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#include <arch/board/up_adc.h>
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#include <arch/board/board.h>
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#include <arch/board/drv_led.h>
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#include <arch/board/drv_eeprom.h>
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@@ -98,6 +97,8 @@
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* Protected Functions
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****************************************************************************/
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extern int adc_devinit(void);
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@@ -59,8 +59,6 @@
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#include <drivers/drv_mag.h>
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#include <drivers/drv_baro.h>
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#include <arch/board/up_adc.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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