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Initial config for ASC module
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,49 @@
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############################################################################
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||||
#
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||||
# Copyright (c) 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.
|
||||
#
|
||||
############################################################################
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||||
px4_add_module(
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MODULE drivers__boards__asc-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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asc_init.c
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asc_pwr.c
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asc_timer_config.c
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asc_spi.c
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asc_usb.c
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asc_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 +1,230 @@
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||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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* @file tap-v1_init.c
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*
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* tap-v1-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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#include <px4_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/i2c.h>
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#include <nuttx/analog/adc.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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# if defined(FLASH_BASED_PARAMS)
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# include <systemlib/flashparams/flashfs.h>
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#endif
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/****************************************************************************
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||||
* Pre-Processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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||||
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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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* Ideally we'd be able to get these from up_internal.h,
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||||
* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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* separate switch, we need to build independent of the
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* CONFIG_ARCH_LEDS configuration switch.
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*/
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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__END_DECLS
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||||
/****************************************************************************
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||||
* Protected 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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||||
/************************************************************************************
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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 stm32_boardinitialize(void)
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{
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/* Hold power state */
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board_pwr_init(0);
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/* TEMP ctrl Off (active high, init is clear) */
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stm32_configgpio(GPIO_TEMP_CONT);
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/* Select 0 */
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stm32_configgpio(GPIO_S0);
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stm32_configgpio(GPIO_S1);
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stm32_configgpio(GPIO_S2);
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/* Radio Off (active low, init is set) */
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stm32_configgpio(GPIO_PCON_RADIO);
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/* configure always-on ADC pins */
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stm32_configgpio(GPIO_ADC1_IN10);
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||||
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure LEDs (empty call to NuttX' ledinit) */
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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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||||
*
|
||||
* Description:
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||||
* Perform architecture specific initialization
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||||
*
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||||
****************************************************************************/
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__EXPORT int nsh_archinitialize(void)
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{
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int result;
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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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board_pwr_init(1);
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/* initial LED state */
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drv_led_start();
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led_off(LED_AMBER);
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led_off(LED_BLUE);
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#if defined(FLASH_BASED_PARAMS)
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static sector_descriptor_t sector_map[] = {
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{1, 16 * 1024, 0x08004000},
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{2, 16 * 1024, 0x08008000},
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{0, 0, 0},
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};
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/* Initalizee the flashfs layer to use heap allocated memory */
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result = parameter_flashfs_init(sector_map, NULL, 0);
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if (result != OK) {
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message("[boot] FAILED to init params in FLASH %d\n", result);
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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||||
#endif
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return OK;
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||||
}
|
||||
@@ -0,0 +1,107 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
*
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||||
* 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) {
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, !stm32_gpioread(GPIO_BLUE_LED));
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
stm32_gpiowrite(GPIO_RED_LED, !stm32_gpioread(GPIO_RED_LED));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,167 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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_pwr.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <time.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "board_config.h"
|
||||
#include <stm32_pwr.h>
|
||||
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
|
||||
/************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
static int board_button_irq(int irq, FAR void *context)
|
||||
{
|
||||
static struct timespec time_down;
|
||||
|
||||
if (board_pwr_button_down()) {
|
||||
|
||||
led_on(BOARD_LED_RED);
|
||||
|
||||
clock_gettime(CLOCK_REALTIME, &time_down);
|
||||
|
||||
} else {
|
||||
|
||||
led_off(BOARD_LED_RED);
|
||||
|
||||
struct timespec now;
|
||||
|
||||
clock_gettime(CLOCK_REALTIME, &now);
|
||||
|
||||
uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
|
||||
|
||||
uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
|
||||
|
||||
if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
|
||||
|
||||
led_on(BOARD_LED_BLUE);
|
||||
|
||||
up_mdelay(750);
|
||||
stm32_pwr_enablebkp();
|
||||
/* XXX wow, this is evil - write a magic number into backup register zero */
|
||||
*(uint32_t *)0x40002850 = 0xdeaddead;
|
||||
up_mdelay(750);
|
||||
up_systemreset();
|
||||
|
||||
while (1);
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_pwr_init()
|
||||
*
|
||||
* Description:
|
||||
* Called to configure power control for the tap-v1 board.
|
||||
*
|
||||
* Input Parameters:
|
||||
* stage- 0 for boot, 1 for board init
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_pwr_init(int stage)
|
||||
{
|
||||
if (stage == 0) {
|
||||
stm32_configgpio(POWER_ON_GPIO);
|
||||
stm32_configgpio(KEY_AD_GPIO);
|
||||
}
|
||||
|
||||
if (stage == 1) {
|
||||
stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr_button_down
|
||||
*
|
||||
* Description:
|
||||
* Called to Read the logical state of the active low power button.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
bool board_pwr_button_down(void)
|
||||
{
|
||||
return 0 == stm32_gpioread(KEY_AD_GPIO);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr
|
||||
*
|
||||
* Description:
|
||||
* Called to turn on or off the TAP
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void board_pwr(bool on_not_off)
|
||||
{
|
||||
if (on_not_off) {
|
||||
stm32_configgpio(POWER_ON_GPIO);
|
||||
|
||||
} else {
|
||||
|
||||
stm32_configgpio(POWER_OFF_GPIO);
|
||||
}
|
||||
}
|
||||
@@ -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 +1,133 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct io_timers_t led_pwm_timers[1] = {
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.vectorno = STM32_IRQ_TIM3,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 2,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct timer_io_channels_t led_pwm_channels[3] = {
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH1OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH2OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH3OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
}
|
||||
};
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,347 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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 board_config.h
|
||||
*
|
||||
* @author David Sidrane <david_s5@nscdg.com>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*
|
||||
* TAP_V1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs
|
||||
*
|
||||
* PC4 BLUE_LED D4 Blue LED cathode
|
||||
* PC5 RED_LED D5 Red LED cathode
|
||||
*/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_BLUE_LED GPIO_LED1
|
||||
#define GPIO_RED_LED GPIO_LED2
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
|
||||
* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
|
||||
* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
|
||||
* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
|
||||
*
|
||||
* PC2 SD_SW SD-9 SW
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
|
||||
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
|
||||
*
|
||||
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
|
||||
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
|
||||
*
|
||||
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
|
||||
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
|
||||
*
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD 1
|
||||
#define PX4_I2C_BUS_SONAR 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
|
||||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||
|
||||
/*
|
||||
* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses (not includinf R/W).
|
||||
*/
|
||||
|
||||
/* todo:
|
||||
* Cannot tell from the schematic if there is one or 2 MPU6050
|
||||
* The slave address of the MPU-60X0 is b110100X which is 7 bits long.
|
||||
* The LSB bit of the 7 bit address is determined by the logic level
|
||||
* on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
|
||||
* When used in this configuration, the address of the one of the devices
|
||||
* should be b1101000 (pin AD0 is logic low) and the address of the other
|
||||
* should be b1101001 (pin AD0 is logic high).
|
||||
*/
|
||||
#define PX4_I2C_ON_BOARD_MPU6050_ADDRS {0x68,0x69}
|
||||
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
|
||||
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
|
||||
*
|
||||
*/
|
||||
#define ADC_CHANNELS (1 << 10)
|
||||
/* todo:Revisit - cannnot tell from schematic - some could be ADC */
|
||||
|
||||
// ADC defines to be used in sensors.cpp to read from a particular channel
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* TIM3_CH1 PA6 LED_R JP2-23,24
|
||||
* TIM3_CH2 PA7 LED_G JP2-25,26
|
||||
* TIM3_CH3 PB0 LED_B JP2-27,28
|
||||
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
|
||||
*
|
||||
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
|
||||
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
|
||||
*
|
||||
*/
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
|
||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
|
||||
#define TONE_ALARM_TIMER 8 /* timer 8 */
|
||||
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
* Four PWM outputs can be configured on pins
|
||||
*
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* TIM3_CH1 PA6 LED_R JP2-23,24
|
||||
* TIM3_CH2 PA7 LED_G JP2-25,26
|
||||
* TIM3_CH3 PB0 LED_B JP2-27,28
|
||||
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
|
||||
*
|
||||
*/
|
||||
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
|
||||
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 4
|
||||
|
||||
#define BOARD_HAS_LED_PWM
|
||||
#define LED_TIM3_CH1OUT GPIO_TIM3_CH1OUT
|
||||
#define LED_TIM3_CH2OUT GPIO_TIM3_CH2OUT
|
||||
#define LED_TIM3_CH3OUT GPIO_TIM3_CH3OUT
|
||||
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_NAME "TAP_V1"
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
|
||||
* system_power interface, and herefore provides the true logic
|
||||
* GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
#define BOARD_ADC_BRICK_VALID (1)
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_FMU_GPIO_TAB { \
|
||||
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
|
||||
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
|
||||
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
|
||||
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
|
||||
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
|
||||
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, }
|
||||
|
||||
|
||||
#define MS_PWR_BUTTON_DOWN 750
|
||||
#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN1)
|
||||
#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
#define GPIO_S0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_S1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_S2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
#define GPIO_PCON_RADIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
|
||||
#define RF_RADIO_CONTOL(_on_true) px4_arch_gpiowrite(GPIO_PCON_RADIO, !(_on_true))
|
||||
|
||||
#define GPIO_TEMP_CONT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
|
||||
#define TEMP_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_TEMP_CONT, (_on_true))
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
/****************************************************************************************************
|
||||
* 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: board_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SDIO.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int board_sdio_initialize(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
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_pwr_init()
|
||||
*
|
||||
* Description:
|
||||
* Called to configure power control for the tap-v1 board.
|
||||
*
|
||||
* Input Parameters:
|
||||
* stage- 0 for boot, 1 for board init
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_pwr_init(int stage);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr_button_down
|
||||
*
|
||||
* Description:
|
||||
* Called to Read the logical state of the power button
|
||||
****************************************************************************/
|
||||
|
||||
bool board_pwr_button_down(void);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr
|
||||
*
|
||||
* Description:
|
||||
* Called to turn on or off the TAP
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void board_pwr(bool on_not_off);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
__END_DECLS
|
||||
@@ -155,6 +155,10 @@
|
||||
/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_ASC_V1
|
||||
/* no GPIO driver on the ASC board */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_SITL
|
||||
/* no GPIO driver on the SITL configuration */
|
||||
#endif
|
||||
@@ -164,7 +168,7 @@
|
||||
!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_TAP_V1)
|
||||
!defined(CONFIG_ARCH_BOARD_TAP_V1) && !defined(CONFIG_ARCH_BOARD_ASC_V1)
|
||||
# error No CONFIG_ARCH_BOARD_xxxx set
|
||||
#endif
|
||||
/*
|
||||
|
||||
Reference in New Issue
Block a user