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Add STM32F4 discovery config.
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,136 @@
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/****************************************************************************
|
||||
*
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||||
* Copyright (c) 2013, 2014 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.
|
||||
*
|
||||
****************************************************************************/
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||||
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/**
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* @file board_config.h
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*
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* PX4-STM32F4Discovery 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 <nuttx/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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#define UDID_START 0x1FFF7A10
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs */
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_LED4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
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/* SPI chip selects */
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#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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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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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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/****************************************************************************************************
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* Public Types
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****************************************************************************************************/
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/****************************************************************************************************
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* Public data
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****************************************************************************************************/
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Public Functions
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****************************************************************************************************/
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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/****************************************************************************
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* Name: nsh_archinitialize
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*
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* Description:
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* Perform architecture specific initialization for NSH.
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*
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* CONFIG_NSH_ARCHINIT=y :
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* Called from the NSH library
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*
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* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
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* CONFIG_NSH_ARCHINIT=n :
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* Called from board_initialize().
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*
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****************************************************************************/
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#ifdef CONFIG_NSH_LIBRARY
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int nsh_archinitialize(void);
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#endif
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -0,0 +1,7 @@
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#
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# Board-specific startup code for the PX4-STM32F4Discovery
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#
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SRCS = px4discovery_init.c \
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px4discovery_usb.c \
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px4discovery_led.c
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@@ -0,0 +1,173 @@
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/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
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* @file px4discovery_init.c
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*
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* PX4-stm32f4discovery specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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*/
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/****************************************************************************
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||||
* Included Files
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||||
****************************************************************************/
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||||
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/gran.h>
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#include <stm32.h>
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#include "board_config.h"
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#include <stm32_uart.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_led.h>
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#include <systemlib/cpuload.h>
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#include <systemlib/perf_counter.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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/* Debug ********************************************************************/
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||||
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# else
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# define message printf
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# endif
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#endif
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/****************************************************************************
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||||
* Protected Functions
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****************************************************************************/
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/****************************************************************************
|
||||
* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the intitialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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__EXPORT void
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stm32_boardinitialize(void)
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{
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/* configure LEDs */
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up_ledinit();
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}
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/****************************************************************************
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* Name: nsh_archinitialize
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*
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* Description:
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* Perform architecture specific initialization
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*
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****************************************************************************/
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#include <math.h>
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#ifdef __cplusplus
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__EXPORT int matherr(struct __exception *e)
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{
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return 1;
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||||
}
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#else
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__EXPORT int matherr(struct exception *e)
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{
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return 1;
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||||
}
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#endif
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__EXPORT int nsh_archinitialize(void)
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{
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/* configure the high-resolution time/callout interface */
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hrt_init();
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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cpuload_initialize_once();
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#endif
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/* set up the serial DMA polling */
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static struct hrt_call serial_dma_call;
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struct timespec ts;
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/*
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* Poll at 1ms intervals for received bytes that have not triggered
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||||
* a DMA event.
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*/
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ts.tv_sec = 0;
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ts.tv_nsec = 1000000;
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hrt_call_every(&serial_dma_call,
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ts_to_abstime(&ts),
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ts_to_abstime(&ts),
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(hrt_callout)stm32_serial_dma_poll,
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||||
NULL);
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||||
|
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return OK;
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||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 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 px4discovery_led.c
|
||||
*
|
||||
* PX4-stm32f4discovery LED backend.
|
||||
*/
|
||||
|
||||
#include <nuttx/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()
|
||||
{
|
||||
/* Configure LED1 GPIO for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 1)
|
||||
{
|
||||
if (stm32_gpioread(GPIO_LED1))
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
else
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4discovery_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/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 PX4-STM32F4Discovery 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);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#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);
|
||||
}
|
||||
|
||||
@@ -110,9 +110,13 @@
|
||||
/* no GPIO driver on the PX4IOv2 board */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY
|
||||
/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
|
||||
#endif
|
||||
|
||||
#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_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY)
|
||||
# error No CONFIG_ARCH_BOARD_xxxx set
|
||||
#endif
|
||||
/*
|
||||
|
||||
@@ -63,4 +63,8 @@
|
||||
#define HW_ARCH "AEROCORE"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY
|
||||
#define HW_ARCH "PX4_STM32F4DISCOVERY"
|
||||
#endif
|
||||
|
||||
#endif /* VERSION_H_ */
|
||||
|
||||
@@ -89,10 +89,11 @@
|
||||
|
||||
int test_gpio(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
int ret = 0;
|
||||
|
||||
fd = open(PX4IO_DEVICE_PATH, 0);
|
||||
#ifdef PX4IO_DEVICE_PATH
|
||||
|
||||
int fd = open(PX4IO_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("GPIO: open fail\n");
|
||||
@@ -109,7 +110,11 @@ int test_gpio(int argc, char *argv[])
|
||||
/* Go back to default */
|
||||
ioctl(fd, GPIO_RESET, ~0);
|
||||
|
||||
close(fd);
|
||||
printf("\t GPIO test successful.\n");
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user