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Merge branch 'master' of https://github.com/PX4/Firmware

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This commit is contained in:
Doug Weibel
2012-10-21 14:27:36 -06:00
parent 0a0215338a 73521cbc66
commit 64ba024db2
79 changed files with 2894 additions and 3762 deletions
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.gitignore
+1
View File
@@ -38,3 +38,4 @@ Firmware.sublime-workspace
nsh_romfsimg.h
cscope.out
.configX-e
nuttx-export.zip
apps/ChangeLog.txt
+26 -3
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@@ -279,14 +279,14 @@
* apps/*/Make.defs: Numerous fixes needed to use the automated
configuration (from Richard Cochran).
6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
6.22 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
* apps/netutils/thttpd/thttpd_cgi.c: Missing NULL in argv[]
list (contributed by Kate).
* apps/nshlib/nsh_parse.c: CONFIG_NSH_DISABLE_WGET not CONFIG_NSH_DISABLE_GET
in one location (found by Kate).
* apps/examples/ostest/prioinherit.c: Limit the number of test
threds to no more than 3 of each priority. Bad things happen
threads to no more than 3 of each priority. Bad things happen
when the existing logic tried to created several hundred test
treads!
* apps/nshlib/nsh.h: Both CONFIG_LIBC_STRERROR and CONFIG_NSH_STRERROR
@@ -341,7 +341,30 @@
* apps/netutils/webserver/httpd.c: Add support for Keep-alive connections
(from Kate).
* apps/NxWidget/Kconfig: This is a kludge. I created this NxWidgets
directory that ONLY contains Kconfig. NxWidgets does not like in
directory that ONLY contains Kconfig. NxWidgets does not live in
either the nuttx/ or the apps/ source trees. This kludge makes it
possible to configure NxWidgets/NxWM without too much trouble (with
the tradeoff being a kind ugly structure and some maintenance issues).
* apps/examples/Make.defs: Missing support for apps/examples/watchdog.
* apps/NxWidgets/Kconfig: Add option to turn on the memory monitor
feature of the NxWidgets/NxWM unit tests.
6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
* vsn: Moved all NSH commands from vsn/ to system/. Deleted the vsn/
directory.
* Makefile: Change order of includes when CONFIG_NEWCONFIG=y. In
that case, namedapp must be included first so that the namedapp
context is established first. If the namedapp context is established
later, it will overwrite any existing namedapp_list.h and nameapp_proto.h
files.
* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
* Kconfig: Fleshed out apps/examples/adc/Kconfig and apps/examples/wget/Kconfig.
There are still a LOT of empty, stub Kconfig files.
* Kconfig: Fleshed out apps/examples/buttons/Kconfig. There are still a LOT
of empty, stub Kconfig files.
* apps/netutils/webserver/httpd.c: Fix a bug that I introduced in
recent check-ins (Darcy Gong).
* apps/netutils/webclient/webclient.c: Fix another but that I introduced
when I was trying to add correct handling for loss of connection (Darcy Gong)
apps/Kconfig
-4
View File
@@ -34,7 +34,3 @@ endmenu
menu "System NSH Add-Ons"
source "$APPSDIR/system/Kconfig"
endmenu
menu "VSN board Add-Ons"
source "$APPSDIR/vsn/Kconfig"
endmenu
apps/Makefile
+5 -4
View File
@@ -46,10 +46,10 @@ APPDIR = ${shell pwd}
# appears in this directory as .config)
# SUBDIRS is the list of all directories containing Makefiles. It is used
# only for cleaning. namedapp must always be the first in the list. This
# list can be extended by the .config file as well
# list can be extended by the .config file as well.
CONFIGURED_APPS =
#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system vsn
#SUBDIRS = examples graphics interpreters modbus namedapp nshlib netutils system
ALL_SUBDIRS = $(dir $(shell /usr/bin/find . -name Makefile))
SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
@@ -73,15 +73,16 @@ SUBDIRS = namedapp/ $(filter-out ./ ./namedapp/ ./examples/,$(ALL_SUBDIRS))
ifeq ($(CONFIG_NUTTX_NEWCONFIG),y)
# namedapp/Make.defs must be included first
-include namedapp/Make.defs
-include examples/Make.defs
-include graphics/Make.defs
-include interpreters/Make.defs
-include modbus/Make.defs
-include namedapp/Make.defs
-include netutils/Make.defs
-include nshlib/Make.defs
-include system/Make.defs
-include vsn/Make.defs
# INSTALLED_APPS is the list of currently available application directories. It
# is the same as CONFIGURED_APPS, but filtered to exclude any non-existent
apps/README.txt
+1 -1
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@@ -107,7 +107,7 @@ NuttX is configured. .config is included in the toplevel apps/Makefile.
As a minimum, this configuration file must define files to add to the
CONFIGURED_APPS list like:
CONFIGURED_APPS += examples/hello vsn/poweroff
CONFIGURED_APPS += examples/hello system/poweroff
Named Start-Up main() function
------------------------------
apps/drivers/device/cdev.cpp
+2 -2
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@@ -74,7 +74,7 @@ static int cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
* Note that we use the GNU extension syntax here because we don't get designated
* initialisers in gcc 4.6.
*/
static const struct file_operations cdev_fops = {
const struct file_operations CDev::fops = {
open : cdev_open,
close : cdev_close,
read : cdev_read,
@@ -118,7 +118,7 @@ CDev::init()
goto out;
// now register the driver
ret = register_driver(_devname, &cdev_fops, 0666, (void *)this);
ret = register_driver(_devname, &fops, 0666, (void *)this);
if (ret != OK)
goto out;
apps/drivers/device/device.h
+6
View File
@@ -286,6 +286,12 @@ public:
bool is_open() { return _open_count > 0; }
protected:
/**
* Pointer to the default cdev file operations table; useful for
* registering clone devices etc.
*/
static const struct file_operations fops;
/**
* Check the current state of the device for poll events from the
* perspective of the file.
apps/examples/Make.defs
+5 -1
View File
@@ -58,7 +58,7 @@ ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
CONFIGURED_APPS += examples/dhcpd
endif
ifeq ($(CONFIG_EXAMPLE_DISCOVER),y)
ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
CONFIGURED_APPS += examples/discover
endif
@@ -218,6 +218,10 @@ ifeq ($(CONFIG_EXAMPLES_USBTERM),y)
CONFIGURED_APPS += examples/usbterm
endif
ifeq ($(CONFIG_EXAMPLES_WATCHDOG),y)
CONFIGURED_APPS += examples/watchdog
endif
ifeq ($(CONFIG_EXAMPLES_WGET),y)
CONFIGURED_APPS += examples/wget
endif
apps/examples/README.txt
+57 -57
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@@ -60,20 +60,20 @@ examples/buttons
This is a simple configuration that may be used to test the board-
specific button interfaces. Configuration options:
CONFIG_ARCH_BUTTONS - Must be defined for button support
CONFIG_EXAMPLE_BUTTONS_MIN - Lowest button number (MIN=0)
CONFIG_EXAMPLE_BUTTONS_MAX - Highest button number (MAX=7)
CONFIG_ARCH_BUTTONS - Must be defined for button support
CONFIG_EXAMPLES_BUTTONS_MIN - Lowest button number (MIN=0)
CONFIG_EXAMPLES_BUTTONS_MAX - Highest button number (MAX=7)
CONFIG_ARCH_IRQBUTTONS - Must be defined for interrupting button support
CONFIG_EXAMPLE_IRQBUTTONS_MIN - Lowest interrupting button number (MIN=0)
CONFIG_EXAMPLE_IRQBUTTONS_MAX - Highest interrupting button number (MAX=7)
CONFIG_ARCH_IRQBUTTONS - Must be defined for interrupting button support
CONFIG_EXAMPLES_IRQBUTTONS_MIN - Lowest interrupting button number (MIN=0)
CONFIG_EXAMPLES_IRQBUTTONS_MAX - Highest interrupting button number (MAX=7)
Name strings for buttons:
CONFIG_EXAMPLE_BUTTONS_NAME0, CONFIG_EXAMPLE_BUTTONS_NAME1,
CONFIG_EXAMPLE_BUTTONS_NAME2, CONFIG_EXAMPLE_BUTTONS_NAME3,
CONFIG_EXAMPLE_BUTTONS_NAME4, CONFIG_EXAMPLE_BUTTONS_NAME5,
CONFIG_EXAMPLE_BUTTONS_NAME6, CONFIG_EXAMPLE_BUTTONS_NAME7,
CONFIG_EXAMPLES_BUTTONS_NAME0, CONFIG_EXAMPLES_BUTTONS_NAME1,
CONFIG_EXAMPLES_BUTTONS_NAME2, CONFIG_EXAMPLES_BUTTONS_NAME3,
CONFIG_EXAMPLES_BUTTONS_NAME4, CONFIG_EXAMPLES_BUTTONS_NAME5,
CONFIG_EXAMPLES_BUTTONS_NAME6, CONFIG_EXAMPLES_BUTTONS_NAME7,
Additional architecture-/board- specific configuration settings may also
be required.
@@ -260,10 +260,10 @@ examples/dhcpd
configuration settings)
CONFIG_NET_BROADCAST=y - UDP broadcast support is needed.
CONFIG_EXAMPLE_DHCPD_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLE_DHCPD_IPADDR - Target IP address
CONFIG_EXAMPLE_DHCPD_DRIPADDR - Default router IP addess
CONFIG_EXAMPLE_DHCPD_NETMASK - Network mask
CONFIG_EXAMPLES_DHCPD_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLES_DHCPD_IPADDR - Target IP address
CONFIG_EXAMPLES_DHCPD_DRIPADDR - Default router IP addess
CONFIG_EXAMPLES_DHCPD_NETMASK - Network mask
See also CONFIG_NETUTILS_DHCPD_* settings described elsewhere
and used in netutils/dhcpd/dhcpd.c. These settings are required
@@ -291,11 +291,11 @@ examples/discover
NuttX configuration settings:
CONFIG_EXAMPLE_DISCOVER_DHCPC - DHCP Client
CONFIG_EXAMPLE_DISCOVER_NOMAC - Use canned MAC address
CONFIG_EXAMPLE_DISCOVER_IPADDR - Target IP address
CONFIG_EXAMPLE_DISCOVER_DRIPADDR - Router IP address
CONFIG_EXAMPLE_DISCOVER_NETMASK - Network Mask
CONFIG_EXAMPLES_DISCOVER_DHCPC - DHCP Client
CONFIG_EXAMPLES_DISCOVER_NOMAC - Use canned MAC address
CONFIG_EXAMPLES_DISCOVER_IPADDR - Target IP address
CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
examples/ftpc
^^^^^^^^^^^^^
@@ -367,12 +367,12 @@ examples/ftpd
If CONFIG_EXAMPLES_FTPD_NONETINIT is not defined, then the following may
be specified to customized the network configuration:
CONFIG_EXAMPLE_FTPD_NOMAC - If the hardware has no MAC address of its
CONFIG_EXAMPLES_FTPD_NOMAC - If the hardware has no MAC address of its
own, define this =y to provide a bogus address for testing.
CONFIG_EXAMPLE_FTPD_IPADDR - The target IP address. Default 10.0.0.2
CONFIG_EXAMPLE_FTPD_DRIPADDR - The default router address. Default
CONFIG_EXAMPLES_FTPD_IPADDR - The target IP address. Default 10.0.0.2
CONFIG_EXAMPLES_FTPD_DRIPADDR - The default router address. Default
10.0.0.1
CONFIG_EXAMPLE_FTPD_NETMASK - The network mask. Default: 255.255.255.0
CONFIG_EXAMPLES_FTPD_NETMASK - The network mask. Default: 255.255.255.0
Other required configuration settings: Of course TCP networking support
is required. But here are a couple that are less obvious:
@@ -465,15 +465,15 @@ examples/igmp
does not do much of value -- Much more is needed in order to verify
the IGMP features!
* CONFIG_EXAMPLE_IGMP_NOMAC
* CONFIG_EXAMPLES_IGMP_NOMAC
Set if the hardware has no MAC address; one will be assigned
* CONFIG_EXAMPLE_IGMP_IPADDR
* CONFIG_EXAMPLES_IGMP_IPADDR
Target board IP address
* CONFIG_EXAMPLE_IGMP_DRIPADDR
* CONFIG_EXAMPLES_IGMP_DRIPADDR
Default router address
* CONFIG_EXAMPLE_IGMP_NETMASK
* CONFIG_EXAMPLES_IGMP_NETMASK
Network mask
* CONFIG_EXAMPLE_IGMP_GRPADDR
* CONFIG_EXAMPLES_IGMP_GRPADDR
Multicast group address
Applications using this example will need to provide an appconfig
@@ -1023,10 +1023,10 @@ examples/poll
CONFIG_NSOCKET_DESCRIPTORS - Defined to be greater than 0
CONFIG_NET_NTCP_READAHEAD_BUFFERS - Defined to be greater than zero
CONFIG_EXAMPLE_POLL_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLE_POLL_IPADDR - Target IP address
CONFIG_EXAMPLE_POLL_DRIPADDR - Default router IP addess
CONFIG_EXAMPLE_POLL_NETMASK - Network mask
CONFIG_EXAMPLES_POLL_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLES_POLL_IPADDR - Target IP address
CONFIG_EXAMPLES_POLL_DRIPADDR - Default router IP addess
CONFIG_EXAMPLES_POLL_NETMASK - Network mask
In order to for select to work with incoming connections, you
must also select:
@@ -1163,14 +1163,14 @@ examples/sendmail
Settings unique to this example include:
CONFIG_EXAMPLE_SENDMAIL_NOMAC - May be defined to use software assigned MAC (optional)
CONFIG_EXAMPLE_SENDMAIL_IPADDR - Target IP address (required)
CONFIG_EXAMPLE_SENDMAIL_DRIPADDR - Default router IP addess (required)
CONFIG_EXAMPLE_SENDMAILT_NETMASK - Network mask (required)
CONFIG_EXAMPLE_SENDMAIL_RECIPIENT - The recipient of the email (required)
CONFIG_EXAMPLE_SENDMAIL_SENDER - Optional. Default: "nuttx-testing@example.com"
CONFIG_EXAMPLE_SENDMAIL_SUBJECT - Optional. Default: "Testing SMTP from NuttX"
CONFIG_EXAMPLE_SENDMAIL_BODY - Optional. Default: "Test message sent by NuttX"
CONFIG_EXAMPLES_SENDMAIL_NOMAC - May be defined to use software assigned MAC (optional)
CONFIG_EXAMPLES_SENDMAIL_IPADDR - Target IP address (required)
CONFIG_EXAMPLES_SENDMAIL_DRIPADDR - Default router IP addess (required)
CONFIG_EXAMPLES_SENDMAILT_NETMASK - Network mask (required)
CONFIG_EXAMPLES_SENDMAIL_RECIPIENT - The recipient of the email (required)
CONFIG_EXAMPLES_SENDMAIL_SENDER - Optional. Default: "nuttx-testing@example.com"
CONFIG_EXAMPLES_SENDMAIL_SUBJECT - Optional. Default: "Testing SMTP from NuttX"
CONFIG_EXAMPLES_SENDMAIL_BODY - Optional. Default: "Test message sent by NuttX"
NOTE: This test has not been verified on the NuttX target environment.
As of this writing, unit-tested in the Cygwin/Linux host environment.
@@ -1213,12 +1213,12 @@ examples/telnetd
Default: SCHED_PRIORITY_DEFAULT
CONFIG_EXAMPLES_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
Telnet client. Default: 2048
CONFIG_EXAMPLE_TELNETD_NOMAC - If the hardware has no MAC address of its
CONFIG_EXAMPLES_TELNETD_NOMAC - If the hardware has no MAC address of its
own, define this =y to provide a bogus address for testing.
CONFIG_EXAMPLE_TELNETD_IPADDR - The target IP address. Default 10.0.0.2
CONFIG_EXAMPLE_TELNETD_DRIPADDR - The default router address. Default
CONFIG_EXAMPLES_TELNETD_IPADDR - The target IP address. Default 10.0.0.2
CONFIG_EXAMPLES_TELNETD_DRIPADDR - The default router address. Default
10.0.0.1
CONFIG_EXAMPLE_TELNETD_NETMASK - The network mask. Default: 255.255.255.0
CONFIG_EXAMPLES_TELNETD_NETMASK - The network mask. Default: 255.255.255.0
The appconfig file (apps/.config) should include:
@@ -1240,9 +1240,9 @@ examples/thttpd
CGI programs. see configs/README.txt for most THTTPD settings.
In addition to those, this example accepts:
CONFIG_EXAMPLE_THTTPD_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLE_THTTPD_DRIPADDR - Default router IP addess
CONFIG_EXAMPLE_THTTPD_NETMASK - Network mask
CONFIG_EXAMPLES_THTTPD_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLES_THTTPD_DRIPADDR - Default router IP addess
CONFIG_EXAMPLES_THTTPD_NETMASK - Network mask
Applications using this example will need to provide an appconfig
file in the configuration directory with instruction to build applications
@@ -1335,11 +1335,11 @@ examples/uip
This is a port of uIP tiny webserver example application. Settings
specific to this example include:
CONFIG_EXAMPLE_UIP_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLE_UIP_IPADDR - Target IP address
CONFIG_EXAMPLE_UIP_DRIPADDR - Default router IP addess
CONFIG_EXAMPLE_UIP_NETMASK - Network mask
CONFIG_EXAMPLE_UIP_DHCPC - Select to get IP address via DHCP
CONFIG_EXAMPLES_UIP_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLES_UIP_IPADDR - Target IP address
CONFIG_EXAMPLES_UIP_DRIPADDR - Default router IP addess
CONFIG_EXAMPLES_UIP_NETMASK - Network mask
CONFIG_EXAMPLES_UIP_DHCPC - Select to get IP address via DHCP
If you use DHCPC, then some special configuration network options are
required. These include:
@@ -1637,11 +1637,11 @@ examples/wget
A simple web client example. It will obtain a file from a server using the HTTP
protocol. Settings unique to this example include:
CONFIG_EXAMPLE_WGET_URL - The URL of the file to get
CONFIG_EXAMPLE_WGET_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLE_WGET_IPADDR - Target IP address
CONFIG_EXAMPLE_WGET_DRIPADDR - Default router IP addess
CONFIG_EXAMPLE_WGET_NETMASK - Network mask
CONFIG_EXAMPLES_WGET_URL - The URL of the file to get
CONFIG_EXAMPLES_WGET_NOMAC - (May be defined to use software assigned MAC)
CONFIG_EXAMPLES_WGET_IPADDR - Target IP address
CONFIG_EXAMPLES_WGET_DRIPADDR - Default router IP addess
CONFIG_EXAMPLES_WGET_NETMASK - Network mask
This example uses netutils/webclient. Additional configuration settings apply
to that code as follows (but built-in defaults are probably OK):
apps/examples/adc/Kconfig
+24
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@@ -6,8 +6,32 @@
config EXAMPLES_ADC
bool "ADC example"
default n
depends on ADC
---help---
Enable the ADC example
if EXAMPLES_ADC
config EXAMPLES_ADC_DEVPATH
string "ADC device path"
default "/dev/adc0"
---help---
The default path to the ADC device. Default: /dev/adc0
config EXAMPLES_ADC_NSAMPLES
int "Number of Sample Groups"
default 0
depends on !NSH_BUILTIN_APPS
---help---
If NSH_BUILTIN_APPS is defined, then the number of samples is provided
on the command line and this value is ignored. Otherwise, this number
of samples is collected and the program terminates. Default: 0 (samples
are collected indefinitely).
config EXAMPLES_ADC_GROUPSIZE
int "Number of Samples per Group"
default 4
---help---
The number of samples to read at once. Default: 4
endif
apps/examples/adc/adc_main.c
+11 -3
View File
@@ -57,6 +57,14 @@
* Pre-processor Definitions
****************************************************************************/
/* Use CONFIG_EXAMPLES_ADC_NSAMPLES == 0 to mean to collect samples
* indefinitely.
*/
#ifndef CONFIG_EXAMPLES_ADC_NSAMPLES
# define CONFIG_EXAMPLES_ADC_NSAMPLES 0
#endif
/****************************************************************************
* Private Types
****************************************************************************/
@@ -249,7 +257,7 @@ int adc_main(int argc, char *argv[])
adc_devpath(&g_adcstate, CONFIG_EXAMPLES_ADC_DEVPATH);
#ifdef CONFIG_EXAMPLES_ADC_NSAMPLES
#if CONFIG_EXAMPLES_ADC_NSAMPLES > 0
g_adcstate.count = CONFIG_EXAMPLES_ADC_NSAMPLES;
#else
g_adcstate.count = 1;
@@ -267,7 +275,7 @@ int adc_main(int argc, char *argv[])
* samples that we collect before returning. Otherwise, we never return
*/
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
#if defined(CONFIG_NSH_BUILTIN_APPS) || CONFIG_EXAMPLES_ADC_NSAMPLES > 0
message("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
#endif
@@ -290,7 +298,7 @@ int adc_main(int argc, char *argv[])
#if defined(CONFIG_NSH_BUILTIN_APPS)
for (; g_adcstate.count > 0; g_adcstate.count--)
#elif defined(CONFIG_EXAMPLES_ADC_NSAMPLES)
#elif CONFIG_EXAMPLES_ADC_NSAMPLES > 0
for (g_adcstate.count = 0; g_adcstate.count < CONFIG_EXAMPLES_ADC_NSAMPLES; g_adcstate.count++)
#else
for (;;)
apps/examples/buttons/Kconfig
+51 -1
View File
@@ -7,7 +7,57 @@ config EXAMPLES_BUTTONS
bool "Buttons example"
default n
---help---
Enable the buttons example
Enable the buttons example. May require ARCH_BUTTONS on some boards.
if EXAMPLES_BUTTONS
config EXAMPLES_BUTTONS_MIN
int "Lowest Button Number"
default 0
config EXAMPLES_BUTTONS_MAX
int "Highest Button Number"
default 7
if ARCH_IRQBUTTONS
config EXAMPLES_IRQBUTTONS_MIN
int "Lowest Interrupting Button Number"
default 0
config EXAMPLES_IRQBUTTONS_MAX
int "Highest Interrupting Button Number"
default 7
config EXAMPLES_BUTTONS_NAME0
string "Button 0 Name"
default "Button 0"
config EXAMPLES_BUTTONS_NAME1
string "Button 1 Name"
default "Button 1"
config EXAMPLES_BUTTONS_NAME2
string "Button 2 Name"
default "Button 2"
config EXAMPLES_BUTTONS_NAME3
string "Button 3 Name"
default "Button 3"
config EXAMPLES_BUTTONS_NAME4
string "Button 4 Name"
default "Button 4"
config EXAMPLES_BUTTONS_NAME5
string "Button 5 Name"
default "Button 5"
config EXAMPLES_BUTTONS_NAME6
string "Button 6 Name"
default "Button 6"
config EXAMPLES_BUTTONS_NAME7
string "Button 7 Name"
default "Button 7"
endif
endif
apps/examples/buttons/buttons_main.c
+44 -44
View File
@@ -61,60 +61,60 @@
# error "CONFIG_ARCH_BUTTONS is not defined in the configuration"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME0
# define CONFIG_EXAMPLE_BUTTONS_NAME0 "BUTTON0"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME0
# define CONFIG_EXAMPLES_BUTTONS_NAME0 "BUTTON0"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME1
# define CONFIG_EXAMPLE_BUTTONS_NAME1 "BUTTON1"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME1
# define CONFIG_EXAMPLES_BUTTONS_NAME1 "BUTTON1"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME2
# define CONFIG_EXAMPLE_BUTTONS_NAME2 "BUTTON2"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME2
# define CONFIG_EXAMPLES_BUTTONS_NAME2 "BUTTON2"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME3
# define CONFIG_EXAMPLE_BUTTONS_NAME3 "BUTTON3"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME3
# define CONFIG_EXAMPLES_BUTTONS_NAME3 "BUTTON3"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME4
# define CONFIG_EXAMPLE_BUTTONS_NAME4 "BUTTON4"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME4
# define CONFIG_EXAMPLES_BUTTONS_NAME4 "BUTTON4"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME5
# define CONFIG_EXAMPLE_BUTTONS_NAME5 "BUTTON5"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME5
# define CONFIG_EXAMPLES_BUTTONS_NAME5 "BUTTON5"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME6
# define CONFIG_EXAMPLE_BUTTONS_NAME6 "BUTTON6"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME6
# define CONFIG_EXAMPLES_BUTTONS_NAME6 "BUTTON6"
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_NAME7
# define CONFIG_EXAMPLE_BUTTONS_NAME7 "BUTTON7"
#ifndef CONFIG_EXAMPLES_BUTTONS_NAME7
# define CONFIG_EXAMPLES_BUTTONS_NAME7 "BUTTON7"
#endif
#define BUTTON_MIN 0
#define BUTTON_MAX 7
#ifndef CONFIG_EXAMPLE_BUTTONS_MIN
# define CONFIG_EXAMPLE_BUTTONS_MIN BUTTON_MIN
#ifndef CONFIG_EXAMPLES_BUTTONS_MIN
# define CONFIG_EXAMPLES_BUTTONS_MIN BUTTON_MIN
#endif
#ifndef CONFIG_EXAMPLE_BUTTONS_MAX
# define CONFIG_EXAMPLE_BUTTONS_MAX BUTTON_MAX
#ifndef CONFIG_EXAMPLES_BUTTONS_MAX
# define CONFIG_EXAMPLES_BUTTONS_MAX BUTTON_MAX
#endif
#if CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX
# error "CONFIG_EXAMPLE_BUTTONS_MIN > CONFIG_EXAMPLE_BUTTONS_MAX"
#if CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX
# error "CONFIG_EXAMPLES_BUTTONS_MIN > CONFIG_EXAMPLES_BUTTONS_MAX"
#endif
#if CONFIG_EXAMPLE_BUTTONS_MAX > 7
# error "CONFIG_EXAMPLE_BUTTONS_MAX > 7"
#if CONFIG_EXAMPLES_BUTTONS_MAX > 7
# error "CONFIG_EXAMPLES_BUTTONS_MAX > 7"
#endif
#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MIN
# define CONFIG_EXAMPLE_IRQBUTTONS_MIN CONFIG_EXAMPLE_BUTTONS_MIN
#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MIN
# define CONFIG_EXAMPLES_IRQBUTTONS_MIN CONFIG_EXAMPLES_BUTTONS_MIN
#endif
#ifndef CONFIG_EXAMPLE_IRQBUTTONS_MAX
# define CONFIG_EXAMPLE_IRQBUTTONS_MAX CONFIG_EXAMPLE_BUTTONS_MAX
#ifndef CONFIG_EXAMPLES_IRQBUTTONS_MAX
# define CONFIG_EXAMPLES_IRQBUTTONS_MAX CONFIG_EXAMPLES_BUTTONS_MAX
#endif
#if CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX
# error "CONFIG_EXAMPLE_IRQBUTTONS_MIN > CONFIG_EXAMPLE_IRQBUTTONS_MAX"
#if CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX
# error "CONFIG_EXAMPLES_IRQBUTTONS_MIN > CONFIG_EXAMPLES_IRQBUTTONS_MAX"
#endif
#if CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7
# error "CONFIG_EXAMPLE_IRQBUTTONS_MAX > 7"
#if CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7
# error "CONFIG_EXAMPLES_IRQBUTTONS_MAX > 7"
#endif
#ifndef MIN
@@ -124,8 +124,8 @@
# define MAX(a,b) (a > b ? a : b)
#endif
#define MIN_BUTTON MIN(CONFIG_EXAMPLE_BUTTONS_MIN, CONFIG_EXAMPLE_IRQBUTTONS_MIN)
#define MAX_BUTTON MAX(CONFIG_EXAMPLE_BUTTONS_MAX, CONFIG_EXAMPLE_IRQBUTTONS_MAX)
#define MIN_BUTTON MIN(CONFIG_EXAMPLES_BUTTONS_MIN, CONFIG_EXAMPLES_IRQBUTTONS_MIN)
#define MAX_BUTTON MAX(CONFIG_EXAMPLES_BUTTONS_MAX, CONFIG_EXAMPLES_IRQBUTTONS_MAX)
#define NUM_BUTTONS (MAX_BUTTON - MIN_BUTTON + 1)
#define BUTTON_INDEX(b) ((b)-MIN_BUTTON)
@@ -187,7 +187,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
{
#if MIN_BUTTON < 1
{
CONFIG_EXAMPLE_BUTTONS_NAME0,
CONFIG_EXAMPLES_BUTTONS_NAME0,
#ifdef CONFIG_ARCH_IRQBUTTONS
button0_handler
#endif
@@ -195,7 +195,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 2 && MAX_BUTTON > 0
{
CONFIG_EXAMPLE_BUTTONS_NAME1,
CONFIG_EXAMPLES_BUTTONS_NAME1,
#ifdef CONFIG_ARCH_IRQBUTTONS
button1_handler
#endif
@@ -203,7 +203,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 3 && MAX_BUTTON > 1
{
CONFIG_EXAMPLE_BUTTONS_NAME2,
CONFIG_EXAMPLES_BUTTONS_NAME2,
#ifdef CONFIG_ARCH_IRQBUTTONS
button2_handler
#endif
@@ -211,7 +211,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 4 && MAX_BUTTON > 2
{
CONFIG_EXAMPLE_BUTTONS_NAME3,
CONFIG_EXAMPLES_BUTTONS_NAME3,
#ifdef CONFIG_ARCH_IRQBUTTONS
button3_handler
#endif
@@ -219,7 +219,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 5 && MAX_BUTTON > 3
{
CONFIG_EXAMPLE_BUTTONS_NAME4,
CONFIG_EXAMPLES_BUTTONS_NAME4,
#ifdef CONFIG_ARCH_IRQBUTTONS
button4_handler
#endif
@@ -227,7 +227,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 6 && MAX_BUTTON > 4
{
CONFIG_EXAMPLE_BUTTONS_NAME5,
CONFIG_EXAMPLES_BUTTONS_NAME5,
#ifdef CONFIG_ARCH_IRQBUTTONS
button5_handler
#endif
@@ -235,7 +235,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MIN_BUTTON < 7 && MAX_BUTTON > 5
{
CONFIG_EXAMPLE_BUTTONS_NAME6,
CONFIG_EXAMPLES_BUTTONS_NAME6,
#ifdef CONFIG_ARCH_IRQBUTTONS
button6_handler
#endif
@@ -243,7 +243,7 @@ static const struct button_info_s g_buttoninfo[NUM_BUTTONS] =
#endif
#if MAX_BUTTON > 6
{
CONFIG_EXAMPLE_BUTTONS_NAME7,
CONFIG_EXAMPLES_BUTTONS_NAME7,
#ifdef CONFIG_ARCH_IRQBUTTONS
button7_handler
#endif
@@ -419,7 +419,7 @@ int buttons_main(int argc, char *argv[])
/* Register to recieve button interrupts */
#ifdef CONFIG_ARCH_IRQBUTTONS
for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
{
xcpt_t oldhandler = up_irqbutton(i, g_buttoninfo[BUTTON_INDEX(i)].handler);
@@ -488,7 +488,7 @@ int buttons_main(int argc, char *argv[])
/* Un-register button handlers */
#if defined(CONFIG_ARCH_IRQBUTTONS) && defined(CONFIG_NSH_BUILTIN_APPS)
for (i = CONFIG_EXAMPLE_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLE_IRQBUTTONS_MAX; i++)
for (i = CONFIG_EXAMPLES_IRQBUTTONS_MIN; i <= CONFIG_EXAMPLES_IRQBUTTONS_MAX; i++)
{
(void)up_irqbutton(i, NULL);
}
apps/examples/poll/net_listener.c
+5 -5
View File
@@ -290,14 +290,14 @@ static inline bool net_mksocket(struct net_listener_s *nls)
static void net_configure(void)
{
struct in_addr addr;
#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
uint8_t mac[IFHWADDRLEN];
#endif
/* Configure uIP */
/* Many embedded network interfaces must have a software assigned MAC */
#ifdef CONFIG_EXAMPLE_POLL_NOMAC
#ifdef CONFIG_EXAMPLES_POLL_NOMAC
mac[0] = 0x00;
mac[1] = 0xe0;
mac[2] = 0xde;
@@ -309,17 +309,17 @@ static void net_configure(void)
/* Set up our host address */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
uip_sethostaddr("eth0", &addr);
/* Set up the default router address */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
uip_setdraddr("eth0", &addr);
/* Setup the subnet mask */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
uip_setnetmask("eth0", &addr);
}
apps/examples/poll/net_reader.c
+5 -5
View File
@@ -83,14 +83,14 @@
static void net_configure(void)
{
struct in_addr addr;
#if defined(CONFIG_EXAMPLE_POLL_NOMAC)
#if defined(CONFIG_EXAMPLES_POLL_NOMAC)
uint8_t mac[IFHWADDRLEN];
#endif
/* Configure uIP */
/* Many embedded network interfaces must have a software assigned MAC */
#ifdef CONFIG_EXAMPLE_POLL_NOMAC
#ifdef CONFIG_EXAMPLES_POLL_NOMAC
mac[0] = 0x00;
mac[1] = 0xe0;
mac[2] = 0xde;
@@ -102,17 +102,17 @@ static void net_configure(void)
/* Set up our host address */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_IPADDR);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_IPADDR);
uip_sethostaddr("eth0", &addr);
/* Set up the default router address */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_DRIPADDR);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_DRIPADDR);
uip_setdraddr("eth0", &addr);
/* Setup the subnet mask */
addr.s_addr = HTONL(CONFIG_EXAMPLE_POLL_NETMASK);
addr.s_addr = HTONL(CONFIG_EXAMPLES_POLL_NETMASK);
uip_setnetmask("eth0", &addr);
}
apps/nshlib/Kconfig
+43 -15
View File
@@ -291,19 +291,18 @@ config NSH_CONSOLE
console front-end is selected (/dev/console).
Normally, the serial console device is a UART and RS-232
interface. However, if CONFIG_USBDEV is defined, then a USB
interface. However, if USBDEV is defined, then a USB
serial device may, instead, be used if the one of
the following are defined:
CONFIG_PL2303 and CONFIG_PL2303_CONSOLE - Sets up the
Prolifics PL2303 emulation as a console device at /dev/console.
PL2303 and PL2303_CONSOLE - Set up the Prolifics PL2303
emulation as a console device at /dev/console.
CONFIG_CDCACM and CONFIG_CDCACM_CONSOLE - Sets up the
CDC/ACM serial device as a console device at dev/console.
CDCACM and CDCACM_CONSOLE - Set up the CDC/ACM serial
device as a console device at dev/console.
CONFIG_NSH_USBCONSOLE and CONFIG_NSH_USBCONDEV - Sets up the
some other USB serial device as the NSH console (not necessarily
dev/console).
NSH_USBCONSOLE and NSH_USBCONDEV - Sets up some other USB
serial device as the NSH console (not necessarily dev/console).
config NSH_USBCONSOLE
bool "Use a USB console"
@@ -311,20 +310,20 @@ config NSH_USBCONSOLE
depends on NSH_CONSOLE && USBDEV
---help---
If defined, then the an arbitrary USB device may be used
to as the NSH console. In this case, CONFIG_NSH_USBCONDEV
must be defined to indicate which USB device to use as
the console.
to as the NSH console. In this case, NSH_USBCONDEV must
be defined to indicate which USB device to use as the
console.
config NSH_USBCONDEV
string "USB console device"
default "/dev/ttyACM0"
depends on NSH_USBCONSOLE
---help---
If CONFIG_NSH_USBCONSOLE is set to 'y', then CONFIG_NSH_USBCONDEV
must also be set to select the USB device used to support
the NSH console. This should be set to the quoted name of a
If NSH_USBCONSOLE is set to 'y', then NSH_USBCONDEV must
also be set to select the USB device used to support the
NSH console. This should be set to the quoted name of a
readable/write-able USB driver such as:
CONFIG_NSH_USBCONDEV="/dev/ttyACM0".
NSH_USBCONDEV="/dev/ttyACM0".
config UBSDEV_MINOR
int "USB console device minor number"
@@ -448,6 +447,35 @@ config NSH_IOBUFFER_SIZE
---help---
Determines the size of the I/O buffer to use for sending/
receiving TELNET commands/reponses. Default: 512
config NSH_TELNET_LOGIN
bool "Telnet Login"
default n
---help---
If defined, then the Telnet user will be required to provide a
username and password to start the NSH shell.
if NSH_TELNET_LOGIN
config NSH_TELNET_USERNAME
string "Login Username"
default "admin"
---help---
Login user name. Default: "admin"
config NSH_TELNET_PASSWORD
string "Login Password"
default "nuttx"
---help---
Login password: Default: "nuttx"
config NSH_TELNET_FAILCOUNT
int "Login Retry Count"
default 3
---help---
Number of login retry attempts.
endif
endif
config NSH_DHCPC
apps/nshlib/nsh.h
+34 -1
View File
@@ -164,10 +164,19 @@
* Default: SCHED_PRIORITY_DEFAULT
* CONFIG_NSH_TELNETD_DAEMONSTACKSIZE - Stack size allocated for the
* Telnet daemon. Default: 2048
* CONFIG_NSH_TELNETD_CLIENTPRIO- Priority of the Telnet client.
* CONFIG_NSH_TELNETD_CLIENTPRIO - Priority of the Telnet client.
* Default: SCHED_PRIORITY_DEFAULT
* CONFIG_NSH_TELNETD_CLIENTSTACKSIZE - Stack size allocated for the
* Telnet client. Default: 2048
* CONFIG_NSH_TELNET_LOGIN - Support a simple Telnet login.
*
* If CONFIG_NSH_TELNET_LOGIN is defined, then these additional
* options may be specified:
*
* CONFIG_NSH_TELNET_USERNAME - Login user name. Default: "admin"
* CONFIG_NSH_TELNET_PASSWORD - Login password: Default: "nuttx"
* CONFIG_NSH_TELNET_FAILCOUNT - Number of login retry attempts.
* Default 3.
*/
#ifndef CONFIG_NSH_TELNETD_PORT
@@ -190,6 +199,22 @@
# define CONFIG_NSH_TELNETD_CLIENTSTACKSIZE 2048
#endif
#ifdef CONFIG_NSH_TELNET_LOGIN
# ifndef CONFIG_NSH_TELNET_USERNAME
# define CONFIG_NSH_TELNET_USERNAME "admin"
# endif
# ifndef CONFIG_NSH_TELNET_PASSWORD
# define CONFIG_NSH_TELNET_PASSWORD "nuttx"
# endif
# ifndef CONFIG_NSH_TELNET_FAILCOUNT
# define CONFIG_NSH_TELNET_FAILCOUNT 3
# endif
#endif /* CONFIG_NSH_TELNET_LOGIN */
/* Verify support for ROMFS /etc directory support options */
#ifdef CONFIG_NSH_ROMFSETC
@@ -364,6 +389,14 @@ typedef int (*cmd_t)(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
****************************************************************************/
extern const char g_nshgreeting[];
#if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
extern const char g_telnetgreeting[];
extern const char g_userprompt[];
extern const char g_passwordprompt[];
extern const char g_loginsuccess[];
extern const char g_badcredentials[];
extern const char g_loginfailure[];
#endif
extern const char g_nshprompt[];
extern const char g_nshsyntax[];
extern const char g_fmtargrequired[];
apps/nshlib/nsh_console.c
+10 -5
View File
@@ -75,12 +75,17 @@ struct serialsave_s
static FAR struct nsh_vtbl_s *nsh_consoleclone(FAR struct nsh_vtbl_s *vtbl);
#endif
static void nsh_consolerelease(FAR struct nsh_vtbl_s *vtbl);
static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl, FAR const void *buffer, size_t nbytes);
static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl, const char *fmt, ...);
static ssize_t nsh_consolewrite(FAR struct nsh_vtbl_s *vtbl,
FAR const void *buffer, size_t nbytes);
static int nsh_consoleoutput(FAR struct nsh_vtbl_s *vtbl,
FAR const char *fmt, ...);
static FAR char *nsh_consolelinebuffer(FAR struct nsh_vtbl_s *vtbl);
static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
static void nsh_consoleredirect(FAR struct nsh_vtbl_s *vtbl, int fd,
FAR uint8_t *save);
static void nsh_consoleundirect(FAR struct nsh_vtbl_s *vtbl,
FAR uint8_t *save);
static void nsh_consoleexit(FAR struct nsh_vtbl_s *vtbl, int exitstatus)
noreturn_function;
/****************************************************************************
* Private Data
apps/nshlib/nsh_console.h
+1 -1
View File
@@ -109,7 +109,7 @@ struct nsh_vtbl_s
FAR char *(*linebuffer)(FAR struct nsh_vtbl_s *vtbl);
void (*redirect)(FAR struct nsh_vtbl_s *vtbl, int fd, FAR uint8_t *save);
void (*undirect)(FAR struct nsh_vtbl_s *vtbl, FAR uint8_t *save);
void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus);
void (*exit)(FAR struct nsh_vtbl_s *vtbl, int exitstatus) noreturn_function;
/* Parser state data */
apps/nshlib/nsh_parse.c
+11
View File
@@ -395,6 +395,17 @@ const char g_nshgreeting[] = "\nNuttShell (NSH) NuttX-" CONFIG_VERSION_STR
const char g_nshgreeting[] = "\nNuttShell (NSH)\n";
#endif
/* Telnet login prompts */
#if defined(CONFIG_NSH_TELNET_LOGIN) && defined(CONFIG_NSH_TELNET)
const char g_telnetgreeting[] = "\nWelcome to NuttShell(NSH) Telnet Server...\n";
const char g_userprompt[] = "login: ";
const char g_passwordprompt[] = "password: ";
const char g_loginsuccess[] = "\nUser Logged-in!\n";
const char g_badcredentials[] = "\nInvalid username or password\n";
const char g_loginfailure[] = "Login failed!\n";
#endif
/* The NSH prompt */
const char g_nshprompt[] = "nsh> ";
apps/nshlib/nsh_telnetd.c
+109 -1
View File
@@ -43,6 +43,7 @@
#include <unistd.h>
#include <assert.h>
#include <debug.h>
#include <string.h>
#include <apps/netutils/telnetd.h>
@@ -55,6 +56,18 @@
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_NSH_TELNET_LOGIN
# define TELNET_IAC 255
# define TELNET_WILL 251
# define TELNET_WONT 252
# define TELNET_DO 253
# define TELNET_DONT 254
# define TELNET_USE_ECHO 1
# define TELNET_NOTUSE_ECHO 0
#endif /* CONFIG_NSH_TELNET_LOGIN */
/****************************************************************************
* Private Types
****************************************************************************/
@@ -75,6 +88,91 @@
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: nsh_telnetecho
****************************************************************************/
#ifdef CONFIG_NSH_TELNET_LOGIN
void nsh_telnetecho(struct console_stdio_s *pstate, uint8_t is_use)
{
uint8_t optbuf[4];
optbuf[0] = TELNET_IAC;
optbuf[1] = (is_use == TELNET_USE_ECHO) ? TELNET_WILL : TELNET_DO;
optbuf[2] = 1;
optbuf[3] = 0;
fputs((char *)optbuf, pstate->cn_outstream);
fflush(pstate->cn_outstream);
}
#endif
/****************************************************************************
* Name: nsh_telnetlogin
****************************************************************************/
#ifdef CONFIG_NSH_TELNET_LOGIN
int nsh_telnetlogin(struct console_stdio_s *pstate)
{
char username[16];
char password[16];
uint8_t i;
/* Present the NSH Telnet greeting */
fputs(g_telnetgreeting, pstate->cn_outstream);
fflush(pstate->cn_outstream);
/* Loop for the configured number of retries */
for(i = 0; i < CONFIG_NSH_TELNET_FAILCOUNT; i++)
{
/* Ask for the login username */
fputs(g_userprompt, pstate->cn_outstream);
fflush(pstate->cn_outstream);
if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
{
strcpy(username, pstate->cn_line);
username[strlen(pstate->cn_line) - 1] = 0;
}
/* Ask for the login password */
fputs(g_passwordprompt, pstate->cn_outstream);
fflush(pstate->cn_outstream);
nsh_telnetecho(pstate, TELNET_NOTUSE_ECHO);
if (fgets(pstate->cn_line, CONFIG_NSH_LINELEN, INSTREAM(pstate)) != NULL)
{
/* Verify the username and password */
strcpy(password,pstate->cn_line);
password[strlen(pstate->cn_line) - 1] = 0;
if (strcmp(password, CONFIG_NSH_TELNET_PASSWORD) == 0 &&
strcmp(username, CONFIG_NSH_TELNET_USERNAME) == 0)
{
fputs(g_loginsuccess, pstate->cn_outstream);
fflush(pstate->cn_outstream);
nsh_telnetecho(pstate, TELNET_USE_ECHO);
return OK;
}
else
{
fputs(g_badcredentials, pstate->cn_outstream);
fflush(pstate->cn_outstream);
}
}
nsh_telnetecho(pstate, TELNET_USE_ECHO);
}
/* Too many failed login attempts */
fputs(g_loginfailure, pstate->cn_outstream);
fflush(pstate->cn_outstream);
return -1;
}
#endif /* CONFIG_NSH_TELNET_LOGIN */
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -90,7 +188,17 @@ int nsh_telnetmain(int argc, char *argv[])
dbg("Session [%d] Started\n", getpid());
/* Present a greeting */
/* Login User and Password Check */
#ifdef CONFIG_NSH_TELNET_LOGIN
if (nsh_telnetlogin(pstate) != OK)
{
nsh_exit(&pstate->cn_vtbl, 1);
return -1; /* nsh_exit does not return */
}
#endif /* CONFIG_NSH_TELNET_LOGIN */
/* Present the NSH greeting */
fputs(g_nshgreeting, pstate->cn_outstream);
fflush(pstate->cn_outstream);
apps/px4/fmu/fmu.cpp
+34 -17
View File
@@ -79,7 +79,7 @@ public:
FMUServo(Mode mode, int update_rate);
~FMUServo();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init();
@@ -93,6 +93,7 @@ private:
int _t_armed;
orb_advert_t _t_outputs;
unsigned _num_outputs;
bool _primary_pwm_device;
volatile bool _task_should_exit;
bool _armed;
@@ -118,7 +119,7 @@ FMUServo *g_servo;
} // namespace
FMUServo::FMUServo(Mode mode, int update_rate) :
CDev("fmuservo", PWM_OUTPUT_DEVICE_PATH),
CDev("fmuservo", "/dev/px4fmu"),
_mode(mode),
_update_rate(update_rate),
_task(-1),
@@ -126,6 +127,7 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
_t_armed(-1),
_t_outputs(0),
_num_outputs(0),
_primary_pwm_device(false),
_task_should_exit(false),
_armed(false),
_mixers(nullptr)
@@ -135,18 +137,16 @@ FMUServo::FMUServo(Mode mode, int update_rate) :
FMUServo::~FMUServo()
{
if (_task != -1) {
/* task should wake up every 100ms or so at least */
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 0;
unsigned i = 10;
do {
/* wait 20ms */
usleep(20000);
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
/* if we have given up, kill it */
if (++i > 10) {
if (--i == 0) {
task_delete(_task);
break;
}
@@ -154,6 +154,10 @@ FMUServo::~FMUServo()
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
g_servo = nullptr;
}
@@ -170,6 +174,13 @@ FMUServo::init()
if (ret != OK)
return ret;
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
}
/* start the IO interface task */
_task = task_spawn("fmuservo",
SCHED_DEFAULT,
@@ -216,8 +227,12 @@ FMUServo::task_main()
break;
}
/* subscribe to objects that we are interested in watching */
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
/* convert the update rate in hz to milliseconds, rounding down if necessary */
int update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, update_rate_in_ms);
@@ -226,11 +241,13 @@ FMUServo::task_main()
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
struct actuator_outputs_s outputs;
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
_t_outputs = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs);
/* advertise the mixed control outputs */
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
struct pollfd fds[2];
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
@@ -282,7 +299,7 @@ FMUServo::task_main()
/* how about an arming update? */
if (fds[1].revents & POLLIN) {
struct actuator_armed_s aa;
actuator_armed_s aa;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
@@ -320,7 +337,7 @@ FMUServo::control_callback(uintptr_t handle,
}
int
FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
FMUServo::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
int channel;
@@ -569,7 +586,7 @@ fake(int argc, char *argv[])
exit(1);
}
struct actuator_controls_s ac;
actuator_controls_s ac;
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
apps/px4/px4io/driver/px4io.cpp
+306 -259
View File
@@ -37,8 +37,7 @@
*
* PX4IO is connected via serial (or possibly some other interface at a later
* point).
*
* XXX current design is racy as all hell; need a locking strategy.
*/
#include <nuttx/config.h>
@@ -53,6 +52,7 @@
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
@@ -61,129 +61,21 @@
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <systemlib/perf_counter.h>
#include <systemlib/hx_stream.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/rc_channels.h>
#include "px4io/protocol.h"
#include "uploader.h"
class PX4IO;
namespace
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4IO *g_dev;
}
class PX4IO_RC : public device::CDev
{
public:
PX4IO_RC();
~PX4IO_RC();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
friend class PX4IO;
protected:
void set_channels(unsigned count, const servo_position_t *data);
private:
orb_advert_t _publication;
struct rc_input_values _input;
};
/* XXX this may conflict with the onboard PPM input */
PX4IO_RC::PX4IO_RC() :
CDev("px4io_rc", RC_INPUT_DEVICE_PATH),
_publication(-1)
{
for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
_input.values[i] = 0;
}
_input.channel_count = 0;
}
PX4IO_RC::~PX4IO_RC()
{
if (_publication != -1)
::close(_publication);
}
int
PX4IO_RC::init()
{
int ret;
ret = CDev::init();
/* advertise ourselves as the RC input controller */
if (ret == OK) {
_publication = orb_advertise(ORB_ID(input_rc), &_input);
if (_publication < 0)
ret = -errno;
}
return ret;
}
ssize_t
PX4IO_RC::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned channels = buflen / sizeof(rc_input_t);
rc_input_t *pdata = (rc_input_t *)buffer;
unsigned i;
if (channels > PX4IO_INPUT_CHANNELS)
return -EIO;
lock();
for (i = 0; i < channels; i++)
pdata[i] = _input.values[i];
unlock();
return i * sizeof(servo_position_t);
}
void
PX4IO_RC::set_channels(unsigned count, const servo_position_t *data)
{
ASSERT(count <= PX4IO_INPUT_CHANNELS);
/* convert incoming servo position values into 0-100 range */
lock();
for (unsigned i = 0; i < count; i++) {
rc_input_t chn;
if (data[i] < 1000) {
chn = 0;
} else if (data[i] > 2000) {
chn = 100;
} else {
chn = (data[i] - 1000) / 10;
}
_input.values[i] = chn;
}
_input.channel_count = count;
unlock();
/* publish to anyone that might be listening */
if (_publication != -1)
orb_publish(ORB_ID(input_rc), _publication, &_input);
}
class PX4IO : public device::CDev
{
@@ -193,53 +85,98 @@ public:
virtual int init();
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
private:
int _fd;
int _task;
PX4IO_RC *_rc;
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
/** command to be sent to IO */
struct px4io_command _next_command;
int _serial_fd; ///< serial interface to PX4IO
hx_stream_t _io_stream; ///< HX protocol stream
/** RC channel input from IO */
servo_position_t _rc_channel[PX4IO_INPUT_CHANNELS];
int _rc_channel_count;
volatile bool _armed;
int _task; ///< worker task
volatile bool _task_should_exit;
bool _send_needed;
int _t_actuators; ///< actuator output topic
actuator_controls_s _controls; ///< actuator outputs
hx_stream_t _io_stream;
int _t_armed; ///< system armed control topic
actuator_armed_s _armed; ///< system armed state
orb_advert_t _t_outputs; ///< mixed outputs topic
actuator_outputs_s _outputs; ///< mixed outputs
MixerGroup *_mixers; ///< loaded mixers
bool _primary_pwm_device; ///< true if we are the default PWM output
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
bool _send_needed; ///< If true, we need to send a packet to IO
/**
* Trampoline to the worker task
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main();
/**
* Handle receiving bytes from PX4IO
*/
void io_recv();
/**
* HX protocol callback trampoline.
*/
static void rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
/**
* Callback invoked when we receive a whole packet from PX4IO
*/
void rx_callback(const uint8_t *buffer, size_t bytes_received);
/**
* Send an update packet to PX4IO
*/
void io_send();
/**
* Mixer control callback; invoked to fetch a control from a specific
* group/index during mixing.
*/
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
};
namespace
{
PX4IO *g_dev;
}
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
_fd(-1),
_serial_fd(-1),
_io_stream(nullptr),
_task(-1),
_rc(new PX4IO_RC),
_rc_channel_count(0),
_armed(false),
_task_should_exit(false),
_send_needed(false),
_io_stream(nullptr)
_t_actuators(-1),
_t_armed(-1),
_t_outputs(-1),
_mixers(nullptr),
_primary_pwm_device(false),
_switch_armed(false),
_send_needed(false)
{
/* set up the command we will use */
_next_command.f2i_magic = F2I_MAGIC;
/* we need this potentially before it could be set in px4io_main */
/* we need this potentially before it could be set in task_main */
g_dev = this;
_debug_enabled = true;
@@ -247,19 +184,18 @@ PX4IO::PX4IO() :
PX4IO::~PX4IO()
{
if (_rc != nullptr)
delete _rc;
if (_task != -1) {
/* task should wake up every 100ms or so at least */
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 0;
/* spin waiting for the thread to stop */
unsigned i = 10;
do {
/* wait 20ms */
usleep(20000);
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
/* if we have given up, kill it */
if (++i > 10) {
if (--i == 0) {
task_delete(_task);
break;
}
@@ -267,6 +203,14 @@ PX4IO::~PX4IO()
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
/* kill the HX stream */
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
g_dev = nullptr;
}
@@ -277,17 +221,20 @@ PX4IO::init()
ASSERT(_task == -1);
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
}
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
@@ -305,36 +252,61 @@ PX4IO::task_main_trampoline(int argc, char *argv[])
void
PX4IO::task_main()
{
ASSERT(_fd == -1);
log("ready");
log("starting");
/* open the serial port */
_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_fd < 0) {
_serial_fd = ::open("/dev/ttyS2", O_RDWR);
if (_serial_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
_exit(errno);
}
/* protocol stream */
_io_stream = hx_stream_init(_fd, &PX4IO::rx_callback_trampoline, this);
_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
perf_counter_t pc_tx_bytes = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_tx_frames = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_frames = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
hx_stream_set_counters(_io_stream, pc_tx_bytes, pc_rx_bytes, pc_rx_errors);
hx_stream_set_counters(_io_stream, pc_tx_frames, pc_rx_frames, pc_rx_errors);
/* poll descriptor(s) */
struct pollfd fds[1];
fds[0].fd = _fd;
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
/* convert the update rate in hz to milliseconds, rounding down if necessary */
//int update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, 20); /* XXX 50Hz hardcoded for now */
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&_outputs);
/* poll descriptor */
pollfd fds[3];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
fds[1].fd = _t_actuators;
fds[1].events = POLLIN;
fds[2].fd = _t_armed;
fds[2].events = POLLIN;
log("ready");
/* loop handling received serial bytes */
while (!_task_should_exit) {
/* sleep waiting for data, but no more than 100ms */
int ret = ::poll(&fds[0], 1, 100);
int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 1000);
/* this would be bad... */
if (ret < 0) {
@@ -347,9 +319,36 @@ PX4IO::task_main()
if (ret == 0)
_send_needed = true;
/* if we have new data from IO, go handle it */
if ((ret > 0) && (fds[0].revents & POLLIN))
io_recv();
if (ret > 0) {
/* if we have new data from IO, go handle it */
if (fds[0].revents & POLLIN)
io_recv();
/* if we have new data from the ORB, go handle it */
if (fds[1].revents & POLLIN) {
/* get controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* mix */
if (_mixers != nullptr) {
/* XXX is this the right count? */
_mixers->mix(&_outputs.output[0], _max_actuators);
/* convert to PWM values */
for (unsigned i = 0; i < _max_actuators; i++)
_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
/* and flag for update */
_send_needed = true;
}
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
_send_needed = true;
}
}
/* send an update to IO if required */
if (_send_needed) {
@@ -357,23 +356,40 @@ PX4IO::task_main()
io_send();
}
}
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_fd);
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
PX4IO::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls->control[control_index];
return 0;
}
void
PX4IO::io_recv()
{
uint8_t c;
uint8_t buf[32];
int count;
/* handle bytes from IO */
while (::read(_fd, &c, 1) == 1)
hx_stream_rx(_io_stream, c);
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. If more bytes are
* available, we'll go back to poll() again...
*/
count = ::read(_serial_fd, buf, sizeof(buf));
/* pass received bytes to the packet decoder */
for (int i = 0; i < count; i++)
hx_stream_rx(_io_stream, buf[i]);
}
void
@@ -385,98 +401,139 @@ PX4IO::rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_receiv
void
PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
{
const struct px4io_report *rep = (const struct px4io_report *)buffer;
const px4io_report *rep = (const px4io_report *)buffer;
/* sanity-check the received frame size */
if (bytes_received != sizeof(struct px4io_report))
if (bytes_received != sizeof(px4io_report))
return;
lock();
/* XXX handle R/C inputs here ... needs code sharing/library */
/* pass RC input data to the driver */
if (_rc != nullptr)
_rc->set_channels(rep->channel_count, &rep->rc_channel[0]);
_armed = rep->armed;
/* send an update frame */
_send_needed = true;
/* remember the latched arming switch state */
_switch_armed = rep->armed;
unlock();
}
void
PX4IO::io_send()
{
lock();
px4io_command cmd;
/* send packet to IO while we're guaranteed it won't change */
hx_stream_send(_io_stream, &_next_command, sizeof(_next_command));
cmd.f2i_magic = F2I_MAGIC;
unlock();
}
/* set outputs */
for (unsigned i = 0; i < _max_actuators; i++)
cmd.servo_command[i] = _outputs.output[i];
ssize_t
PX4IO::write(struct file *filp, const char *buffer, size_t len)
{
unsigned channels = len / sizeof(servo_position_t);
servo_position_t *pdata = (servo_position_t *)buffer;
unsigned i;
/* publish as we send */
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
if (channels > PX4IO_OUTPUT_CHANNELS)
return -EIO;
// XXX relays
lock();
for (i = 0; i < channels; i++)
_next_command.servo_command[i] = pdata[i];
unlock();
cmd.arm_ok = _armed.armed;
return i * sizeof(servo_position_t);
hx_stream_send(_io_stream, &cmd, sizeof(cmd));
}
int
PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg)
PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
{
int ret = -ENOTTY;
int ret = OK;
lock();
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
_next_command.arm_ok = true;
ret = 0;
/* fake an armed transition */
_armed.armed = true;
_send_needed = true;
break;
case PWM_SERVO_DISARM:
_next_command.arm_ok = false;
ret = 0;
/* fake a disarmed transition */
_armed.armed = true;
_send_needed = true;
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
/* fake an update to the selected servo channel */
if ((arg >= 900) && (arg <= 2100)) {
_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
_send_needed = true;
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
/* copy the current output value from the channel */
*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _max_actuators;
break;
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
/* build the new mixer from the supplied argument */
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)&_controls, mixinfo);
/* validate the new mixer */
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
/* if we don't have a group yet, allocate one */
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback,
(uintptr_t)&_controls);
/* add the new mixer to the group */
_mixers->add_mixer(mixer);
}
}
break;
case MIXERIOCADDMULTIROTOR:
/* XXX not yet supported */
ret = -ENOTTY;
break;
case MIXERIOCLOADFILE: {
MixerGroup *newmixers;
const char *path = (const char *)arg;
/* allocate a new mixer group and load it from the file */
newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (newmixers->load_from_file(path) != 0) {
delete newmixers;
ret = -EINVAL;
}
/* swap the new mixers in for the old */
if (_mixers != nullptr) {
delete _mixers;
}
_mixers = newmixers;
}
break;
default:
/* channel set? */
if ((cmd >= PWM_SERVO_SET(0)) && (cmd < PWM_SERVO_SET(PX4IO_OUTPUT_CHANNELS))) {
/* XXX sanity-check value? */
_next_command.servo_command[cmd - PWM_SERVO_SET(0)] = arg;
ret = 0;
break;
}
/* channel get? */
if ((cmd >= PWM_SERVO_GET(0)) && (cmd < PWM_SERVO_GET(PX4IO_INPUT_CHANNELS))) {
int channel = cmd - PWM_SERVO_GET(0);
/* currently no data for this channel */
if (channel >= _rc_channel_count) {
ret = -ERANGE;
break;
}
*(servo_position_t *)arg = _rc_channel[channel];
ret = 0;
break;
}
/* not a recognised value */
ret = -ENOTTY;
}
@@ -492,28 +549,25 @@ px4io_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) {
fprintf(stderr, "PX4IO: already loaded\n");
return -EBUSY;
}
if (g_dev != nullptr)
errx(1, "already loaded");
/* create the driver - it will set g_dev */
(void)new PX4IO;
if (g_dev == nullptr) {
fprintf(stderr, "PX4IO: driver alloc failed\n");
return -ENOMEM;
}
if (g_dev == nullptr)
errx(1, "driver alloc failed");
if (OK != g_dev->init()) {
fprintf(stderr, "PX4IO: driver init failed\n");
delete g_dev;
return -EIO;
errx(1, "driver init failed");
}
return OK;
exit(0);
}
/* note, stop not currently implemented */
if (!strcmp(argv[1], "update")) {
PX4IO_Uploader *up;
const char *fn[3];
@@ -536,26 +590,19 @@ px4io_main(int argc, char *argv[])
case OK:
break;
case -ENOENT:
fprintf(stderr, "PX4IO firmware file not found\n");
break;
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
fprintf(stderr, "error updating PX4IO - check that bootloader mode is enabled\n");
break;
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
fprintf(stderr, "verify failed - retry the update\n");
break;
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
fprintf(stderr, "timed out waiting for bootloader - power-cycle and try again\n");
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
fprintf(stderr, "unexpected error %d\n", ret);
break;
errx(1, "unexpected error %d", ret);
}
return ret;
}
printf("need a verb, only support 'start' and 'update'\n");
return ERROR;
errx(1, "need a verb, only support 'start' and 'update'");
}
apps/px4/px4io/driver/uploader.cpp
+1 -1
View File
@@ -318,7 +318,7 @@ PX4IO_Uploader::verify()
ret = recv(c);
if (ret != OK) {
log("%d: got %d waiting for bytes", ret);
log("%d: got %d waiting for bytes", base + i, ret);
return ret;
}
apps/px4/tests/test_sensors.c
-330
View File
@@ -56,10 +56,6 @@
#include "tests.h"
#include <arch/board/drv_lis331.h>
#include <arch/board/drv_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <arch/board/drv_hmc5883l.h>
#include <drivers/drv_accel.h>
/****************************************************************************
@@ -75,10 +71,6 @@
****************************************************************************/
//static int lis331(int argc, char *argv[]);
static int l3gd20(int argc, char *argv[]);
static int bma180(int argc, char *argv[]);
static int hmc5883l(int argc, char *argv[]);
static int ms5611(int argc, char *argv[]);
static int mpu6000(int argc, char *argv[]);
/****************************************************************************
@@ -90,12 +82,7 @@ struct {
const char *path;
int (* test)(int argc, char *argv[]);
} sensors[] = {
{"bma180", "/dev/bma180", bma180},
{"mpu6000", "/dev/accel", mpu6000},
{"l3gd20", "/dev/l3gd20", l3gd20},
{"hmc5883l", "/dev/hmc5883l", hmc5883l},
{"ms5611", "/dev/ms5611", ms5611},
// {"lis331", "/dev/lis331", lis331},
{NULL, NULL, NULL}
};
@@ -107,226 +94,6 @@ struct {
* Private Functions
****************************************************************************/
//static int
//lis331(int argc, char *argv[])
//{
// int fd;
// int16_t buf[3];
// int ret;
//
// fd = open("/dev/lis331", O_RDONLY);
// if (fd < 0) {
// printf("\tlis331: not present on PX4FMU v1.5 and later\n");
// return ERROR;
// }
//
// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
//
// printf("LIS331: ioctl fail\n");
// return ERROR;
// }
//
// /* wait at least 100ms, sensor should have data after no more than 20ms */
// usleep(100000);
//
// /* read data - expect samples */
// ret = read(fd, buf, sizeof(buf));
// if (ret != sizeof(buf)) {
// printf("LIS331: read1 fail (%d)\n", ret);
// return ERROR;
// }
//
// /* read data - expect no samples (should not be ready again yet) */
// ret = read(fd, buf, sizeof(buf));
// if (ret != 0) {
// printf("LIS331: read2 fail (%d)\n", ret);
// return ERROR;
// }
//
// /* XXX more tests here */
//
// return 0;
//}
static int
l3gd20(int argc, char *argv[])
{
printf("\tL3GD20: test start\n");
fflush(stdout);
int fd;
int16_t buf[3] = {0, 0, 0};
int ret;
fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK);
if (fd < 0) {
printf("L3GD20: open fail\n");
return ERROR;
}
// if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) ||
// ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
//
// printf("L3GD20: ioctl fail\n");
// return ERROR;
// } else {
// printf("\tconfigured..\n");
// }
//
// /* wait at least 100ms, sensor should have data after no more than 2ms */
// usleep(100000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf));
//return ERROR;
} else {
printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* wait at least 2 ms, sensor should have data after no more than 1.5ms */
usleep(2000);
/* read data - expect no samples (should not be ready again yet) */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tL3GD20: read2 fail (%d)\n", ret);
close(fd);
return ERROR;
} else {
printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* empty sensor buffer */
ret = 0;
while (ret != sizeof(buf)) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
}
/* test if FIFO is operational */
usleep(14800); // Expecting 10 measurements
ret = 0;
int count = 0;
bool dataready = true;
while (dataready) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
dataready = false;
} else {
count++;
}
}
printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count);
/* read data - expect no samples (should not be ready again yet) */
ret = read(fd, buf, sizeof(buf));
if (ret != 0) {
printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret);
// return ERROR;
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: L3GD20 passed all tests successfully\n");
return OK;
}
static int
bma180(int argc, char *argv[])
{
// XXX THIS SENSOR IS OBSOLETE
// TEST REMAINS, BUT ALWAYS RETURNS OK
printf("\tBMA180: test start\n");
fflush(stdout);
int fd;
int16_t buf[3] = {0, 0, 0};
int ret;
fd = open("/dev/bma180", O_RDONLY);
if (fd < 0) {
printf("\tBMA180: open fail\n");
return OK;
}
// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
//
// printf("BMA180: ioctl fail\n");
// return ERROR;
// }
//
/* wait at least 100ms, sensor should have data after no more than 20ms */
usleep(100000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tBMA180: read1 fail (%d)\n", ret);
close(fd);
return OK;
} else {
printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* wait at least 10ms, sensor should have data after no more than 2ms */
usleep(100000);
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tBMA180: read2 fail (%d)\n", ret);
close(fd);
return OK;
} else {
printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* empty sensor buffer */
ret = 0;
while (ret != sizeof(buf)) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
}
ret = read(fd, buf, sizeof(buf));
if (ret != 0) {
printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret);
}
/* Let user know everything is ok */
printf("\tOK: BMA180 passed all tests successfully\n");
close(fd);
return OK;
}
static int
mpu6000(int argc, char *argv[])
{
@@ -379,103 +146,6 @@ mpu6000(int argc, char *argv[])
return OK;
}
static int
ms5611(int argc, char *argv[])
{
printf("\tMS5611: test start\n");
fflush(stdout);
int fd;
float buf[3] = {0.0f, 0.0f, 0.0f};
int ret;
fd = open("/dev/ms5611", O_RDONLY);
if (fd < 0) {
printf("\tMS5611: open fail\n");
return ERROR;
}
for (int i = 0; i < 5; i++) {
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
/* waiting for device to become ready, this is not an error */
} else {
printf("\tMS5611: read fail (%d)\n", ret);
close(fd);
return ERROR;
}
} else {
/* hack for float printing */
int32_t pressure_int = buf[0];
int32_t altitude_int = buf[1];
int32_t temperature_int = buf[2];
printf("\tMS5611: pressure:%d.%03d mbar - altitude: %d.%02d meters - temp:%d.%02d deg celcius\n", pressure_int, (int)(buf[0] * 1000 - pressure_int * 1000), altitude_int, (int)(buf[1] * 100 - altitude_int * 100), temperature_int, (int)(buf[2] * 100 - temperature_int * 100));
}
/* wait at least 10ms, sensor should have data after no more than 6.5ms */
usleep(10000);
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: MS5611 passed all tests successfully\n");
return OK;
}
static int
hmc5883l(int argc, char *argv[])
{
printf("\tHMC5883L: test start\n");
fflush(stdout);
int fd;
int16_t buf[7] = {0, 0, 0};
int ret;
fd = open("/dev/hmc5883l", O_RDONLY);
if (fd < 0) {
printf("\tHMC5883L: open fail\n");
return ERROR;
}
int i;
for (i = 0; i < 5; i++) {
/* wait at least 7ms, sensor should have data after no more than 6.5ms */
usleep(7000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]);
close(fd);
return ERROR;
} else {
printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: HMC5883L passed all tests successfully\n");
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
apps/px4io/protocol.h
+2
View File
@@ -39,6 +39,8 @@
* messages and the corresponding complexity involved.
*/
#pragma once
/*
* XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
* TREES ARE MERGED.
apps/system/Kconfig
+18 -2
View File
@@ -3,7 +3,7 @@
# see misc/tools/kconfig-language.txt.
#
menu "Custom free memory command"
menu "Custom Free Memory Command"
source "$APPSDIR/system/free/Kconfig"
endmenu
@@ -15,6 +15,22 @@ menu "FLASH Program Installation"
source "$APPSDIR/system/install/Kconfig"
endmenu
menu "readline() support"
menu "readline()"
source "$APPSDIR/system/readline/Kconfig"
endmenu
menu "Power Off"
source "$APPSDIR/system/poweroff/Kconfig"
endmenu
menu "RAMTRON"
source "$APPSDIR/system/ramtron/Kconfig"
endmenu
menu "SD Card"
source "$APPSDIR/system/sdcard/Kconfig"
endmenu
menu "Sysinfo"
source "$APPSDIR/system/sysinfo/Kconfig"
endmenu
apps/system/Make.defs
+17
View File
@@ -49,3 +49,20 @@ endif
ifeq ($(CONFIG_SYSTEM_READLINE),y)
CONFIGURED_APPS += system/readline
endif
ifeq ($(CONFIG_SYSTEM_POWEROFF),y)
CONFIGURED_APPS += system/poweroff
endif
ifeq ($(CONFIG_SYSTEM_RAMTRON),y)
CONFIGURED_APPS += system/ramtron
endif
ifeq ($(CONFIG_SYSTEM_SDCARD),y)
CONFIGURED_APPS += system/sdcard
endif
ifeq ($(CONFIG_SYSTEM_SYSINFO),y)
CONFIGURED_APPS += system/sysinfo
endif
apps/system/Makefile
+1 -1
View File
@@ -37,7 +37,7 @@
# Sub-directories containing system task
SUBDIRS = free i2c install readline
SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
# Create the list of installed runtime modules (INSTALLED_DIRS)
apps/system/free/free.c
+45 -37
View File
@@ -33,57 +33,65 @@
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/progmem.h>
#include <stdio.h>
#include <stdlib.h>
/****************************************************************************
* Private Functions
****************************************************************************/
/* \todo Max block size only works on uniform prog mem */
void free_getprogmeminfo(struct mallinfo * mem)
{
uint16_t page = 0, stpage = 0xFFFF;
uint16_t pagesize = 0;
int status;
mem->arena = 0;
mem->fordblks = 0;
mem->uordblks = 0;
mem->mxordblk = 0;
for (status=0, page=0; status >= 0; page++) {
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
mem->arena += pagesize;
/* Is this beginning of new free space section */
if (status == 0) {
if (stpage == 0xFFFF) stpage = page;
mem->fordblks += pagesize;
}
else if (status != 0) {
mem->uordblks += pagesize;
if (stpage != 0xFFFF && up_progmem_isuniform()) {
stpage = page - stpage;
if (stpage > mem->mxordblk)
mem->mxordblk = stpage;
stpage = 0xFFFF;
/* TODO Max block size only works on uniform prog mem */
static void free_getprogmeminfo(struct mallinfo * mem)
{
uint16_t page = 0, stpage = 0xFFFF;
uint16_t pagesize = 0;
int status;
mem->arena = 0;
mem->fordblks = 0;
mem->uordblks = 0;
mem->mxordblk = 0;
for (status=0, page=0; status >= 0; page++)
{
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
mem->arena += pagesize;
/* Is this beginning of new free space section */
if (status == 0)
{
if (stpage == 0xFFFF) stpage = page;
mem->fordblks += pagesize;
}
else if (status != 0)
{
mem->uordblks += pagesize;
if (stpage != 0xFFFF && up_progmem_isuniform())
{
stpage = page - stpage;
if (stpage > mem->mxordblk)
{
mem->mxordblk = stpage;
}
stpage = 0xFFFF;
}
}
}
mem->mxordblk *= pagesize;
}
mem->mxordblk *= pagesize;
}
/****************************************************************************
* Public Functions
apps/system/i2c/Makefile
+1 -1
View File
@@ -1,5 +1,5 @@
############################################################################
# apps/system/i2c
# apps/system/i2c/Makefile
#
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
apps/system/install/install.c
+342 -284
View File
@@ -33,6 +33,10 @@
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/progmem.h>
#include <sys/stat.h>
@@ -43,9 +47,8 @@
#include <string.h>
#include <errno.h>
/****************************************************************************
* Definitions
* Pre-processor Definitions
****************************************************************************/
#define ACTION_INSTALL 0x01
@@ -55,12 +58,11 @@
#define INSTALL_PROGRAMBLOCKSIZE 1024
/****************************************************************************
* Private data
****************************************************************************/
const char *install_help =
static const char *install_help =
"Installs XIP program into flash and creates a start-up script in the\n"
"destination directory.\n\n"
"Usage:\t%s [options] source-file.xip destination-directory\n\n"
@@ -72,341 +74,397 @@ const char *install_help =
"\t--force\t\t\tReplaces existing installation\n"
"\t--start <page>\t\tInstalls application at or after <page>\n"
"\t--margin <pages>\tLeave some free space after the kernel (default 16)\n";
const char *install_script_text =
static const char *install_script_text =
"# XIP stacksize=%x priority=%x size=%x\n";
const char *install_script_exec =
static const char *install_script_exec =
"exec 0x%x\n";
/****************************************************************************
* Private functions
****************************************************************************/
int install_getstartpage(int startpage, int pagemargin, int desiredsize)
static int install_getstartpage(int startpage, int pagemargin, int desiredsize)
{
uint16_t page = 0, stpage = 0xFFFF;
uint16_t pagesize = 0;
int maxlen = -1;
int maxlen_start = 0xFFFF;
int status;
for (status=0, page=0; status >= 0; page++) {
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
/* Is this beginning of new free space section */
if (status == 0) {
if (stpage == 0xFFFF) stpage = page;
uint16_t page = 0, stpage = 0xffff;
uint16_t pagesize = 0;
int maxlen = -1;
int maxlen_start = 0xffff;
int status;
for (status=0, page=0; status >= 0; page++)
{
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
/* Is this beginning of new free space section */
if (status == 0)
{
if (stpage == 0xffff) stpage = page;
}
else if (status != 0) {
else if (status != 0)
{
if (stpage != 0xffff)
{
if ((page - stpage) > maxlen)
{
if (maxlen==-1)
{
/* First time found sth? */
if (stpage != 0xFFFF) {
if ( (page - stpage) > maxlen) {
stpage += pagemargin;
maxlen = 0;
}
if (maxlen==-1) { /* First time found sth? */
stpage += pagemargin;
maxlen = 0;
if(stpage < startpage)
{
stpage = startpage;
}
if(stpage < startpage)
stpage = startpage;
if (page > stpage) {
maxlen = page - stpage;
maxlen_start = stpage;
if (page > stpage)
{
maxlen = page - stpage;
maxlen_start = stpage;
}
if (maxlen*pagesize >= desiredsize) {
/* printf("Found page at %d ... %d\n", stpage, page); */
return maxlen_start*pagesize;
if (maxlen*pagesize >= desiredsize)
{
/* printf("Found page at %d ... %d\n", stpage, page); */
return maxlen_start*pagesize;
}
}
stpage = 0xFFFF;
stpage = 0xffff;
}
}
}
/* Requested space is not available */
return -1;
/* Requested space is not available */
return -1;
}
int install_programflash(int startaddr, const char *source)
static int install_programflash(int startaddr, const char *source)
{
int status;
int count;
int totalsize = 0;
char *buf;
FILE *fp;
if ( (buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL )
return -errno;
if ( (fp=fopen(source, "r")) ) {
do {
count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
if ( (status = up_progmem_write(startaddr, buf, count)) < 0) {
totalsize = status;
break;
}
startaddr += count;
totalsize += count;
}
while(count);
int status;
int count;
int totalsize = 0;
char *buf;
FILE *fp;
if ((buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL)
{
return -ENOMEM;
}
else totalsize = -errno;
fclose(fp);
free(buf);
return totalsize;
if ((fp = fopen(source, "r")))
{
do
{
count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
if ((status = up_progmem_write(startaddr, buf, count)) < 0)
{
totalsize = status;
break;
}
startaddr += count;
totalsize += count;
}
while(count);
}
else
{
totalsize = -errno;
}
fclose(fp);
free(buf);
return totalsize;
}
void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
static void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
{
const char * progonly;
const char * progonly;
/* I.e. as /usr/bin */
strcpy(scriptname, destdir);
/* extract from i.e. /sdcard/demo -> /demo, together with / */
progonly = strrchr(progname, '/');
strcat(scriptname, progonly);
/* I.e. as /usr/bin */
strcpy(scriptname, destdir);
/* extract from i.e. /sdcard/demo -> /demo, together with / */
progonly = strrchr(progname, '/');
strcat(scriptname, progonly);
}
int install_getprogsize(const char *progname)
static int install_getprogsize(const char *progname)
{
struct stat fileinfo;
if ( stat(progname, &fileinfo) < 0 )
return -1;
return fileinfo.st_size;
struct stat fileinfo;
if (stat(progname, &fileinfo) < 0)
{
return -1;
}
return fileinfo.st_size;
}
int install_alreadyexists(const char *scriptname)
static int install_alreadyexists(const char *scriptname)
{
FILE *fp;
if ( (fp=fopen(scriptname, "r"))==NULL )
return 0;
fclose(fp);
FILE *fp;
if ((fp = fopen(scriptname, "r")) == NULL)
{
return 0;
}
fclose(fp);
return 1;
}
int install_createscript(int addr, int stacksize, int progsize,
int priority, const char *scriptname)
static int install_createscript(int addr, int stacksize, int progsize,
int priority, const char *scriptname)
{
FILE *fp;
if ( (fp=fopen(scriptname, "w+"))==NULL )
return -errno;
fprintf(fp, install_script_text, stacksize, priority, progsize);
fprintf(fp, install_script_exec, addr);
fflush(fp);
fclose(fp);
FILE *fp;
return 0;
if ((fp = fopen(scriptname, "w+")) == NULL)
{
return -errno;
}
fprintf(fp, install_script_text, stacksize, priority, progsize);
fprintf(fp, install_script_exec, addr);
fflush(fp);
fclose(fp);
return 0;
}
int install_getlasthexvalue(FILE *fp, char delimiter)
static int install_getlasthexvalue(FILE *fp, char delimiter)
{
char buf[128];
char *p;
if (fgets(buf, 127, fp)) {
if ( (p = strrchr(buf, delimiter)) ) {
return strtol(p+1, NULL, 16);
char buf[128];
char *p;
if (fgets(buf, 127, fp))
{
if ((p = strrchr(buf, delimiter)))
{
return strtol(p+1, NULL, 16);
}
}
return -1;
return -1;
}
int install_remove(const char *scriptname)
static int install_remove(const char *scriptname)
{
FILE *fp;
int progsize, addr, freedsize;
uint16_t page;
int status = 0;
/* Parse script */
if ( (fp=fopen(scriptname, "r")) ) {
progsize = install_getlasthexvalue(fp,'=');
addr = install_getlasthexvalue(fp,' ');
freedsize = progsize;
FILE *fp;
int progsize, addr, freedsize;
uint16_t page;
int status = 0;
/* Parse script */
if ((fp = fopen(scriptname, "r")))
{
progsize = install_getlasthexvalue(fp,'=');
addr = install_getlasthexvalue(fp,' ');
freedsize = progsize;
}
else return -errno;
fclose(fp);
/* Remove pages */
if (progsize <= 0 || addr <= 0)
return -EIO;
do {
if ((page = up_progmem_getpage(addr)) < 0) {
status = -page;
break;
else
{
return -errno;
}
fclose(fp);
/* Remove pages */
if (progsize <= 0 || addr <= 0)
{
return -EIO;
}
do
{
if ((page = up_progmem_getpage(addr)) < 0)
{
status = -page;
break;
}
if ( up_progmem_erasepage(page) < 0) {
status = -page;
break;
if (up_progmem_erasepage(page) < 0)
{
status = -page;
break;
}
addr += up_progmem_pagesize(page);
progsize -= up_progmem_pagesize(page);
} while(progsize > 0);
if (status < 0) return status;
/* Remove script file */
if (unlink(scriptname) < 0) return -errno;
return freedsize;
addr += up_progmem_pagesize(page);
progsize -= up_progmem_pagesize(page);
}
while(progsize > 0);
if (status < 0)
{
return status;
}
/* Remove script file */
if (unlink(scriptname) < 0)
{
return -errno;
}
return freedsize;
}
/****************************************************************************
* Start
* Public Functions
****************************************************************************/
int install_main(int argc, char *argv[])
{
int i;
int progsize;
int scrsta;
int stacksize = 4096;
int priority = SCHED_PRIORITY_DEFAULT;
int pagemargin = 16;
int startpage = 0;
int startaddr = 0;
int action = ACTION_INSTALL;
char scriptname[128];
/* Supported? */
if ( !up_progmem_isuniform() ) {
fprintf(stderr, "Error: install supports uniform organization only.\n");
return -1;
}
/* Parse arguments */
for (i=1; i<argc; i++) {
if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc) {
if (strcmp(argv[i]+2, "stack")==0) {
stacksize = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "priority")==0) {
priority = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "start")==0) {
startpage = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "margin")==0) {
pagemargin = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "remove")==0) {
action = ACTION_REMOVE;
}
else if (strcmp(argv[i]+2, "force")==0) {
action = ACTION_REINSTALL;
}
else fprintf(stderr, "Unknown option: %s\n", argv[i]);
}
else break;
}
/* Do the job */
switch(action & 1) {
case ACTION_REMOVE:
if (i > argc-1) {
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
if ( (scrsta=install_remove(argv[i])) < 0) {
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
return -1;
}
printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
return 0;
case ACTION_INSTALL:
if (i > argc-2) {
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
install_getscriptname(scriptname, argv[i], argv[i+1]);
// script-exists?
if (install_alreadyexists(scriptname)==1) {
if (action != ACTION_REINSTALL) {
fprintf(stderr, "Program with that name already exists.\n");
return -EEXIST;
}
if ( (scrsta=install_remove(scriptname)) < 0) {
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
return -1;
}
printf("Replacing %s\n", scriptname);
}
startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]) );
if (startpage < 0) {
fprintf(stderr, "Not enough memory\n");
return -ENOMEM;
}
if ( (progsize = install_programflash(startaddr, argv[i])) <= 0) {
fprintf(stderr, "Error writing program memory: %s\n"
"Note: Flash pages are not released, so you may try again and program will be\n"
" written in other pages.\n", strerror(-progsize) );
return -EIO;
}
if ( (scrsta = install_createscript(startaddr, stacksize, progsize,
priority, scriptname)) < 0) {
fprintf(stderr, "Error writing program script at %s: %s\n",
argv[i+1], strerror(-scrsta) );
return -EIO;
}
printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
progsize, startaddr, startaddr + progsize);
int i;
int progsize;
int scrsta;
int stacksize = 4096;
int priority = SCHED_PRIORITY_DEFAULT;
int pagemargin = 16;
int startpage = 0;
int startaddr = 0;
int action = ACTION_INSTALL;
char scriptname[128];
return 0;
/* Supported? */
if (!up_progmem_isuniform())
{
fprintf(stderr, "Error: install supports uniform organization only.\n");
return -1;
}
fprintf(stderr, install_help, argv[0], argv[0]);
return -1;
/* Parse arguments */
for (i=1; i<argc; i++)
{
if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc)
{
if (strcmp(argv[i]+2, "stack")==0)
{
stacksize = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "priority")==0)
{
priority = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "start")==0)
{
startpage = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "margin")==0)
{
pagemargin = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "remove")==0)
{
action = ACTION_REMOVE;
}
else if (strcmp(argv[i]+2, "force")==0)
{
action = ACTION_REINSTALL;
}
else fprintf(stderr, "Unknown option: %s\n", argv[i]);
}
else
{
break;
}
}
/* Do the job */
switch(action & 1)
{
case ACTION_REMOVE:
if (i > argc-1)
{
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
if ((scrsta=install_remove(argv[i])) < 0)
{
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
return -1;
}
printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
return 0;
case ACTION_INSTALL:
if (i > argc-2)
{
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
install_getscriptname(scriptname, argv[i], argv[i+1]);
/* script-exists? */
if (install_alreadyexists(scriptname) == 1)
{
if (action != ACTION_REINSTALL)
{
fprintf(stderr, "Program with that name already exists.\n");
return -EEXIST;
}
if ((scrsta = install_remove(scriptname)) < 0)
{
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta));
return -1;
}
printf("Replacing %s\n", scriptname);
}
startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]));
if (startpage < 0)
{
fprintf(stderr, "Not enough memory\n");
return -ENOMEM;
}
if ((progsize = install_programflash(startaddr, argv[i])) <= 0)
{
fprintf(stderr, "Error writing program memory: %s\n"
"Note: Flash pages are not released, so you may try again and program will be\n"
" written in other pages.\n", strerror(-progsize));
return -EIO;
}
if ((scrsta = install_createscript(startaddr, stacksize, progsize,
priority, scriptname)) < 0)
{
fprintf(stderr, "Error writing program script at %s: %s\n",
argv[i+1], strerror(-scrsta));
return -EIO;
}
printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
progsize, startaddr, startaddr + progsize);
return 0;
}
fprintf(stderr, install_help, argv[0], argv[0]);
return -1;
}
apps/system/readline/readline.c
+1 -1
View File
@@ -1,5 +1,5 @@
/****************************************************************************
* lib/stdio/lib_fgets.c
* apps/system/readline/readline.c
*
* Copyright (C) 2007-2008, 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
apps/systemcmds/top/top.c
+22 -3
View File
@@ -135,9 +135,9 @@ int top_main(int argc, char *argv[])
memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
#if CONFIG_RR_INTERVAL > 0
printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
#else
printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces);
printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces);
#endif
} else {
@@ -190,7 +190,26 @@ int top_main(int argc, char *argv[])
runtime_spaces = "";
}
printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]);
unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
unsigned stack_free = 0;
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
while (stack_free < stack_size) {
if (*stack_sweeper++ != 0xff)
break;
stack_free++;
}
printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 4u / % 4u",
(int)system_load.tasks[i].tcb->pid,
system_load.tasks[i].tcb->name,
spaces,
(system_load.tasks[i].total_runtime / 1000),
runtime_spaces,
(int)(curr_loads[i] * 100),
(int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100),
stack_size - stack_free,
stack_size);
/* Print scheduling info with RR time slice */
#if CONFIG_RR_INTERVAL > 0
printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
nuttx/ChangeLog
+65 -14
View File
@@ -3177,7 +3177,7 @@
* arch/arm/src/stm32/stm32_otgfshost.c: This driver now appears to be
functional (although more testing is necesary).
6.22 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
6.22 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
* include/semaphore.h, sched/sem_holders.c, and lib/semaphore/sem_init.c:
Fix some strange (and probably wrong) list handling when
@@ -3193,7 +3193,7 @@
speed/duplex. This does not work for certain PHYs. Still some unresolved
issues (also from Kate).
* tools/Config.mk, Makefile, configs/*/Make.defs: Add a new Makefile
fragement to de-quoate certain strings from the Kconfig logic that
fragment to de-quote certain strings from the Kconfig logic that
need to be used at path segments (Richard Cochran).
* arch/arm/src/stm32/stm32_usbotghost.c: The STM32 USB host driver only
works with debug turned on. The problem appears to be that with debug
@@ -3201,7 +3201,7 @@
reveals a variety of errors. This check in improves NAK robustness
for control transfers but does not resolve all of the issues.
* configs/stm3220g-eval/*/defconfig: Calibrated delay loop. It had
never been calibrated was was way off.
never been calibrated was way off.
* sched/sem_holder.c: Add logic to handler some priority inheritance
cases when sem_post() is called from an interrupt handler. The
logic is clearly wrong, but it is not known if this is the
@@ -3212,13 +3212,13 @@
CONFIG_LIBC_STRERROR_SHORT that can be used to output shortened
strings by strerror().
* arch/arm/src/stm32/stm32_usbotghost.c: Finally... the USB OTG FS
appears to handle NAKing correctly is complete.
appears to handle NAKing correctly.
* configs/stm32f4discovery/*: Added and verifed support for USB OTG FS
host on the STM32F4Discovery board.
* configs/*/defconfig: Remove configuration documentation from config
files. It is redundant, error-prone, and difficult to maintain.
Configuration documentation is available in configs/README.txt for
common configurations and in configs/*/README.txt for board and MCU_
common configurations and in configs/*/README.txt for board and MCU-
specific configurations.
* configs/stm3240g-eval: Add USB host support.
* sched/os_bring.c, configs/*/defconfig, tools/mkconfig.c, and others: Added
@@ -3226,7 +3226,7 @@
the default entry from user_start to some other symbol. Contributed by
Kate. NOTE: This change does introduce a minor backward incompatibility.
For example, if your application uses NSH as its start-up program, then your
code will not fail because it will be unable to find "user_start". The fix
build will now fail because it will be unable to find "user_start". The fix
for this link failure is to add the following to your configuration file:
CONFIG_USER_ENTRYPOINT="nsh_main".
* libs/stdio/lib_libfread.c and lib_*flush*.c: Correct a couple of
@@ -3269,7 +3269,7 @@
CONFIG_HEAP2_SIZE (decimal) instead of CONFIG_HEAP2_END (hex).
* tools/configure.sh: Don't append the apps directory path setting
if the correct setting is already in defined in the defconfig file.
* fs/fat/fs_utils.c: Improper constructed bool expression. This
* fs/fat/fs_utils.c: Improperly constructed bool expression. This
would cause many unnecessary writes to FLASH (Thanks Ronen Vainish).
* Kconfig: Verify configuration settings for the LPC43xx. This includes
some corrections to configuration variable names and defconfig settings.
@@ -3319,13 +3319,13 @@
in all places.
* drivers/enc28j60.c, include/nuttx/net/enc28j60.h, and
olimex-strp711/src/up_enc28j60.c: No longer passes IRQ number
as a parameters. Instead now passes a call table to manage
as a parameter. Instead now passes a call table to manage
ENC28J60 GPIO interrupts. That is because GPIO interrupts are
handled in different ways by different MCUs and some do not
support IRQ numbers for GPIO interrupts.
* mm/mm_gran* and include/nuttx/gran.h: Add a simple granule-
based allocator. The intent of this allocator is to support
simple allocation of DMA I/O buffers. The initiali check-in
simple allocation of DMA I/O buffers. The initial check-in
is code complete but untested (not event built into the
mm/Makefile yet.
* confgs/fire-stm32v2: The board port is basically functional.
@@ -3352,7 +3352,7 @@
* arch/arm/include/armv7-m/irq.h: Fix a critical bug in irqsave().
It looks like sometimes the compile will re-order some instructions
inapproapriately. This end result is that interrupts will get
stuff off.
stuck off.
* drivers/mtd/w25.c: Beginning of a driver for the Windbond SPI
FLASH family (W25x16, W25x32, and W25x64). The initial check-in
is basically just the SST25 driver with some name changes.
@@ -3372,7 +3372,7 @@
I2C reset logic to recover from locked devices on the bus.
* configs/*/*/Make.defs, tools/Config.mk, Makefile: Refactor all
common make definitions from the various Make.defs files into
the common tools/Make.mk. Add support for a verbosity options:
the common tools/Config.mk. Add support for a verbosity options:
Specify V=1 on the make command line in order to see the exact
commands used in the build (Contributed by Richard Cochran).
* drivers/net/enc28j60.c: The ENC28J60 Ethernet driver is
@@ -3400,17 +3400,17 @@
* configs/shenzhou/src/up_lcd.c: Oops. Shenzhou LCD does not
have an SSD1289 controller. Its an ILI93xx. Ported the
STM3240G-EVAL ILI93xx driver to work on the Shenzhou board.
* configs/shenzhou/nxwm: Added an NxWM configuratino for the
* configs/shenzhou/nxwm: Added an NxWM configuration for the
Shenzhou board. This is untested on initial check-in. It will
be used to verify the Shenzhou LCD driver (and eventually the
touchscreen driver).
* configs/shenzhou/src/up_touchscreen.c: Add ADS7843E touchscreen
support for the Shenzhou board. The initial check-in is untested
and basically a clone of the the touchscreen support fro the SAM-3U.
and basically a clone of the the touchscreen support for the SAM-3U.
* tools/cfgparser.c: There are some NxWidget configuration
settings that must be de-quoted.
* arch/arm/src/stm32/Kconfig: There is no SPI4. Some platforms
SPI3 and some do not (still not clear).
support SPI3 and some do not (still not clear).
* nuttx/configs/shenzhou: Various fixes to build new NxWM
configuration.
* configs/shenzhou: Oops. The Shenzhou LCD is and SSD1289,
@@ -3419,4 +3419,55 @@
on the Shenzhou board.
* graphics/nxmu: Correct some bad parameter checking that caused
failures when DEBUG was enabled.
* arch/arm/src/armv7-m/nvic.h: Add bit definitions for the AIRCR
register.
* drivers/input/ads7843.c: Need semaphore protection in logic
that samples the position.
* drivers/lcd/ssd1289.c: On some platforms we are unable to
read the device ID -- reason unknown; workaround in place.
* drivers/input/ads7843.c: Add thresholding options and an
option to swap X and Y positions. Fix some logic errors in
the SPI locking/selecting logic.
* arch/arm/src/armv7-m/up_systemreset.c: Add logic to reset
the Cortex-Mx using the AIRCR register. Contributed by Darcy
Gong.
* arch/arm/src/stm32/up_eth.c: Add logic specifically for the
DM9161 PHY. If the DM9161 failed to initialize, then use the
up_sysemreset() logic to reset the MCU. Contributed by Darcy
Gong.
* arch/arm/src/stm32/stm32_gpio.c: Add missing logic to set bit
for SPI3 remap. This fixes the XPT2046 touchscreen driver using
drivers/input/ads7843.c
* configs/shenzhou/src/up_ssd1289.c: Fix naming error in
conditional compilation.
* configs/shenzhou/nxwm/defconfig: Disable reading from the LCD.
This does not work. The hardware and the driver support the
capability, but there is some bug that causes memory corruption.
The work around for now: Just disable reading from the LCD.
* drivers/lcd/ssd1289.c: Add some logic to reduce the amount of
output when CONFIG_DEBUG_LCD is enabled.
* configs/shenzhou/nxwm/defconfig: Bug found and fixed... The
original configuration had too much stuff turned on. Reducing
stack sizes, some features, and buffer sizes made the
configuration reliable (Reading from the LCD is still disabled).
* net/uip/uip_icmpping.c: Fix problem that prevented ping from
going outside of local network. Submitted by Darcy Gong
6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
Implementation of /dev/random using the STM32 Random Number
Generator (RNG).
* board.h file for shenzhou, fire-stm32v2, and olimex-stm32-p107:
Add frequencies for HSE, HSI, LSE, and LSI. These are needed
by the STM32 watchdog driver.
* CONFIG_EXAMPLES_*: To make things consistent, changed all occurrences
of CONFIG_EXAMPLE_* to CONFIG_EXAMPLES_*.
* drivers/mtd/w25.c and configs/*/src/up_w25.c: Several fixes for the
W25 SPI FLASH.
* configs/*/Make.defs: All buildroot tools now use the extension
xxx-nuttx-elf- vs. xxx-elf-
* configs/shenzhou/*/Make.defs: Now uses the new buildroot 4.6.3
EABI toolchain.
* lib/stdio/lib_libdtoa.c: Another dtoa() fix from Mike Smith.
nuttx/README.txt
+2 -3
View File
@@ -853,9 +853,8 @@ apps
|- system/
| |- i2c/README.txt
| |- free/README.txt
| `- install
| `- README.txt
|- vsn/
| |- install
| | `- README.txt
| |- poweroff
| | `- README.txt
| |- ramtron
nuttx/ReleaseNotes
+108
View File
@@ -1606,6 +1606,8 @@ The 61st release of NuttX, NuttX-5.14, was made on November 27,
2010. This release includes multiple, important bugfixes as well
as a new driver for the NXP LPC1766.
This release corresponds with SVN release number: r3137
Important bugfixes include:
* Cortex-M3 Hard Fault. Fixed a hard fault problem that can occur
@@ -2052,6 +2054,8 @@ interest expressed by members of the forum and because of the
availability of newer, larger capacity AVR parts (that I don't have
yet).
This release corresponds with SVN release number: r3730
This release includes support for the following AVR boards. As
with any initial support for new architectures, there are some
incomplete areas and a few caveats that need to be stated. Here
@@ -3063,3 +3067,107 @@ Bugfixes (see the change log for details) :
for C++
As well as other, less critical bugs (see the ChangeLog for details)
NuttX-6.22
^^^^^^^^^^
The 89th release of NuttX, Version 6.22, was made on September 29, 2012,
and is available for download from the SourceForge website. Note
that release consists of two tarballs: nuttx-6.22.tar.gz and
apps-6.22.tar.gz. Both may be needed (see the top-level nuttx/README.txt
file for build information).
This release corresponds with SVN release number: r5206
Note that all SVN information has been stripped from the tarballs. If you
need the SVN configuration, you should check out directly from SVN. Revision
r5206 should equivalent to release 6.22 of NuttX 6.22:
svn checkout -r5206 svn://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Or
svn checkout -r5206 http://svn.code.sf.net/p/nuttx/code/trunk nuttx-code
Additional new features and extended functionality:
* RTOS: Application entry point is no longer user_start, but can be
configured using CONFIG_USER_ENTRYPOINT. NuttX now supports two work
queues: A lower priority work queue (for extended processing) and a
higher priority work queue (for quick, high priority operations).
* Memory Management: Added a new granule-based allocated that can be
used to manage, aligned and quantized DMA memory.
* File System: Add hooks to allocate I/O memory with and external
allocated (need if required by DMA).
* Networking: ENC28J60 driver is (finally) verified.
* Drivers: Add hooks USB device drivers to allocate I/O memory with and
external allocated (need if required by DMA). Driver for the Windbond
SPI FLASH family (W25x16, W25x32, W25x64, and others). ADS7843E driver
extended for TSC2046 and XPT2046 and verified.
* ARMv7-M: Added logic to reset the MCU using the NVIC.
* STM32: Add support for STM32F103VET6.
* STM32 Drivers: Add logic to re-initialize UARTs a second time to
enable DMA (Mike Smith). I2C driver error recovery (Mike Smith).
* STM32 boards: Support for USB host added add to several configurations
(or at least explained in README files). Support for the Shenzhou
STM32F107 board (see www.armjishu.com). Support for M3 Wildfire
STM32F103 board (v2 and v3).
* Build System: Kconfig string de-quoting logic. Remove comments from
defconfig files (Kate). Add tool to create NuttX-style symbol tables.
Numerous changes to configuration logic as needed for the new mconf-based
configuration (much of this from Richard Cochran). Refactor common
Make.defs logic into tools/Config.mk (Richard Cochran).
* Library: Configurable terse output from strerror(). Added perror() (Kate).
Add %n format to sscanf() (Kate).
* Applications: Numerous changes and extensions to the old uIP web server
(from Kate and Max Holtzberg, see the ChangeLog for specific extensions).
UDP network discovery utility (Max Holtzberg). Embeddable Lightweight
XML-RPC Server (http://www.drdobbs.com/web-development/an-embeddable-lightweight-xml-rpc-server/184405364, Max Holtzberg).
Bugfixes (see the change log for details). Some of these are very important
(marked *critical*):
* RTOS: Fixes to priority inheritance logic (*critical*). waitpid()
critical section. Assertion in work_cancel() (Mike Smith). mmap() (Kate).
* FAT File System: Improper Boolean expression caused un-necessary writes
and performance issues (*critical*, Ronen Vainish).
* Networking: Remove an un-necessary delay from recvfrom(). This greatly
improves network performance (*critical*, Max Holtzberg).
* Graphics: NX parameter checking errors.
* Drivers: Fix double release of memory in SDIO-based, MMC/SD driver
(Ronen Vainish).
* LPC17xx: Ethernet driver fixes needed for certain PHYs (Kate).
* AVR: Fix build error (Richard Cochran).
* STM32: USB OTG FS host driver NAKing an retries. Power management
compilation errors (Diego Sanchez). Missing SPI3 remap logic.
* STM32 Drivers: Fix for Ethernet errata for STM32F107 (*critical*).
Ethernet buffer alignment check. Add "kludge" to Ethernet driver to
handle DM9161 PHY which (at least on the Shenzhou board), sometimes
does not come up correctly.
* Applications: THTTPD (Kate). NSH ping when IP address is on a different
network (Darcy Gong).
* Library: fread(), fflush(), fdopen(): Fix error handling logic (Ronen
Vainish). Fix some field-width handling issues in sscanf()
As well as other, less critical bugs (see the ChangeLog for details)
nuttx/TODO
+46 -4
View File
@@ -12,7 +12,7 @@ nuttx/
(2) Signals (sched/, arch/)
(2) pthreads (sched/)
(2) C++ Support
(5) Binary loaders (binfmt/)
(6) Binary loaders (binfmt/)
(17) Network (net/, drivers/net)
(3) USB (drivers/usbdev, drivers/usbhost)
(11) Libraries (lib/)
@@ -376,15 +376,15 @@ o Binary loaders (binfmt/)
Description: Windows build issue. Some of the configurations that use NXFLAT have
the linker script specified like this:
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
That will not work for windows-based tools because they require Windows
style paths. The solution is to do something like this:
if ($(WINTOOL)y)
NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld}
NXFLATLDSCRIPT=${cygpath -w $(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld}
else
NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld
NXFLATLDSCRIPT=$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld
endif
Then use
@@ -395,6 +395,48 @@ o Binary loaders (binfmt/)
Priority: There are too many references like the above. They will have
to get fixed as needed for Windows native tool builds.
Title: TOOLCHAIN COMPATIBILITY PROBLEM
Descripton: The older 4.3.3 compiler generates GOTOFF relocations to the constant
strings, like:
.L3:
.word .LC0(GOTOFF)
.word .LC1(GOTOFF)
.word .LC2(GOTOFF)
.word .LC3(GOTOFF)
.word .LC4(GOTOFF)
Where .LC0, LC1, LC2, LC3, and .LC4 are the labels correponding to strings in
the .rodata.str1.1 section. One consequence of this is that .rodata must reside
in D-Space since it will addressed relative to the GOT (see the section entitled
"Read-Only Data in RAM" at
http://nuttx.org/Documentation/NuttXNxFlat.html#limitations).
The newer 4.6.3compiler generated PC relative relocations to the strings:
.L2:
.word .LC0-(.LPIC0+4)
.word .LC1-(.LPIC1+4)
.word .LC2-(.LPIC2+4)
.word .LC3-(.LPIC4+4)
.word .LC4-(.LPIC5+4)
This is good and bad. This is good because it means that .rodata.str1.1 can not
reside in FLASH with .text and can be accessed using PC-relative addressing.
That can be accomplished by simply moving the .rodata from the .data section to
the .text section in the linker script. (The NXFLAT linker script is located at
nuttx/binfmt/libnxflat/gnu-nxflat.ld).
This is bad because a lot of stuff may get broken an a lot of test will need to
be done. One question that I have is does this apply to all kinds of .rodata?
Or just to .rodata.str1.1?
Status: Open. Many of the required changes are in place but, unfortunately, not enough
go be fully functional. I think all of the I-Space-to-I-Space fixes are in place.
However, the generated code also includes PC-relative references to .bss which
just cannot be done.
Priority: Medium. The workaround for now is to use the older, 4.3.3 OABI compiler.
o Network (net/, drivers/net)
^^^^^^^^^^^^^^^^^^^^^^^^^^^
nuttx/arch/arm/src/armv7-m/nvic.h
+16 -2
View File
@@ -175,7 +175,7 @@
#define NVIC_CPUID_BASE_OFFSET 0x0d00 /* CPUID base register */
#define NVIC_INTCTRL_OFFSET 0x0d04 /* Interrupt control state register */
#define NVIC_VECTAB_OFFSET 0x0d08 /* Vector table offset register */
#define NVIC_AIRC_OFFSET 0x0d0c /* Application interrupt/reset contol registr */
#define NVIC_AIRCR_OFFSET 0x0d0c /* Application interrupt/reset contol registr */
#define NVIC_SYSCON_OFFSET 0x0d10 /* System control register */
#define NVIC_CFGCON_OFFSET 0x0d14 /* Configuration control register */
#define NVIC_SYSH_PRIORITY_OFFSET(n) (0x0d14 + 4*((n) >> 2))
@@ -348,7 +348,7 @@
#define NVIC_CPUID_BASE (ARMV7M_NVIC_BASE + NVIC_CPUID_BASE_OFFSET)
#define NVIC_INTCTRL (ARMV7M_NVIC_BASE + NVIC_INTCTRL_OFFSET)
#define NVIC_VECTAB (ARMV7M_NVIC_BASE + NVIC_VECTAB_OFFSET)
#define NVIC_AIRC (ARMV7M_NVIC_BASE + NVIC_AIRC_OFFSET)
#define NVIC_AIRCR (ARMV7M_NVIC_BASE + NVIC_AIRCR_OFFSET)
#define NVIC_SYSCON (ARMV7M_NVIC_BASE + NVIC_SYSCON_OFFSET)
#define NVIC_CFGCON (ARMV7M_NVIC_BASE + NVIC_CFGCON_OFFSET)
#define NVIC_SYSH_PRIORITY(n) (ARMV7M_NVIC_BASE + NVIC_SYSH_PRIORITY_OFFSET(n))
@@ -500,6 +500,20 @@
#define NVIC_SYSHCON_BUSFAULTENA (1 << 17) /* Bit 17: BusFault enabled */
#define NVIC_SYSHCON_USGFAULTENA (1 << 18) /* Bit 18: UsageFault enabled */
/* Application Interrupt and Reset Control Register (AIRCR) */
#define NVIC_AIRCR_VECTRESET (1 << 0) /* Bit 0: VECTRESET */
#define NVIC_AIRCR_VECTCLRACTIVE (1 << 1) /* Bit 1: Reserved for debug use */
#define NVIC_AIRCR_SYSRESETREQ (1 << 2) /* Bit 2: System reset */
/* Bits 2-7: Reserved */
#define NVIC_AIRCR_PRIGROUP_SHIFT (8) /* Bits 8-14: PRIGROUP */
#define NVIC_AIRCR_PRIGROUP_MASK (7 << NVIC_AIRCR_PRIGROUP_SHIFT)
#define NVIC_AIRCR_ENDIANNESS (1 << 15) /* Bit 15: 1=Big endian */
#define NVIC_AIRCR_VECTKEY_SHIFT (16) /* Bits 16-31: VECTKEY */
#define NVIC_AIRCR_VECTKEY_MASK (0xffff << NVIC_AIRCR_VECTKEY_SHIFT)
#define NVIC_AIRCR_VECTKEYSTAT_SHIFT (16) /* Bits 16-31: VECTKEYSTAT */
#define NVIC_AIRCR_VECTKEYSTAT_MASK (0xffff << NVIC_AIRCR_VECTKEYSTAT_SHIFT)
/* Debug Exception and Monitor Control Register (DEMCR) */
#define NVIC_DEMCR_VCCORERESET (1 << 0) /* Bit 0: Reset Vector Catch */
nuttx/configs/px4fmu/include/drv_lis331.h → nuttx/arch/arm/src/armv7-m/up_systemreset.c
+39 -43
View File
@@ -1,6 +1,9 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_systemreset.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Darcy Gong
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -12,7 +15,7 @@
* 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
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
@@ -31,53 +34,46 @@
*
****************************************************************************/
/*
* Driver for the ST LIS331 MEMS accelerometer
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <sys/ioctl.h>
#include <nuttx/config.h>
#define _LIS331BASE 0x6900
#define LIS331C(_x) _IOC(_LIS331BASE, _x)
#include <stdint.h>
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define LIS331_SETRATE LIS331C(1)
#include "up_arch.h"
#include "nvic.h"
#define LIS331_RATE_50Hz (0<<3)
#define LIS331_RATE_100Hz (1<<3)
#define LIS331_RATE_400Hz (2<<3)
#define LIS331_RATE_1000Hz (3<<3)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/*
* Sets the sensor internal range.
*/
#define LIS331_SETRANGE LIS331C(2)
/****************************************************************************
* Public Types
****************************************************************************/
#define LIS331_RANGE_2G (0<<4)
#define LIS331_RANGE_4G (1<<4)
#define LIS331_RANGE_8G (3<<4)
/****************************************************************************
* Public functions
****************************************************************************/
/*
* Sets the address of a shared lis331_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define LIS331_SETBUFFER LIS331C(3)
void up_systemreset(void)
{
uint32_t regval;
struct lis331_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} samples[];
};
/* Set up for the system reset, retaining the priority group from the
* the AIRCR register.
*/
extern int lis331_attach(struct spi_dev_s *spi, int spi_id);
regval = getreg32(NVIC_AIRCR) & NVIC_AIRCR_PRIGROUP_MASK;
regval |= ((0x5fa << NVIC_AIRCR_VECTKEY_SHIFT) | NVIC_AIRCR_SYSRESETREQ);
putreg32(regval, NVIC_AIRCR);
/* Ensure completion of memory accesses */
__asm volatile ("dsb");
/* Wait for the reset */
for (;;);
}
nuttx/arch/arm/src/common/up_initialize.c
+6
View File
@@ -171,6 +171,12 @@ void up_initialize(void)
ramlog_consoleinit();
#endif
/* Initialize the Random Number Generator (RNG) */
#ifdef CONFIG_DEV_RANDOM
up_rnginitialize();
#endif
/* Initialize the system logging device */
#ifdef CONFIG_SYSLOG_CHAR
nuttx/arch/arm/src/common/up_internal.h
+10
View File
@@ -241,6 +241,10 @@ extern void up_pminitialize(void);
# define up_pminitialize()
#endif
#if defined(CONFIG_ARCH_CORTEXM3) || defined(CONFIG_ARCH_CORTEXM4)
extern void up_systemreset(void) noreturn_function;
#endif
/* Interrupt handling *******************************************************/
extern void up_irqinitialize(void);
@@ -369,6 +373,12 @@ extern void up_usbuninitialize(void);
# define up_usbuninitialize()
#endif
/* Random Number Generator (RNG) ********************************************/
#ifdef CONFIG_DEV_RANDOM
extern void up_rnginitialize(void);
#endif
/****************************************************************************
* Name: up_check_stack
*
nuttx/arch/arm/src/stm32/Kconfig
+2
View File
@@ -269,6 +269,7 @@ config STM32_ETHMAC
bool "Ethernet MAC"
default n
depends on STM32_CONNECTIVITYLINE || STM32_STM32F20XX || STM32_STM32F40XX
select ARCH_HAVE_PHY
config STM32_FSMC
bool "FSMC"
@@ -319,6 +320,7 @@ config STM32_RNG
bool "RNG"
default n
depends on STM32_STM32F20XX || STM32_STM32F40XX
select ARCH_HAVE_RNG
config STM32_SDIO
bool "SDIO"
nuttx/arch/arm/src/stm32/Make.defs
+7 -3
View File
@@ -45,8 +45,8 @@ CMN_CSRCS = up_assert.c up_blocktask.c up_copystate.c \
up_initialize.c up_initialstate.c up_interruptcontext.c \
up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
up_releasepending.c up_releasestack.c up_reprioritizertr.c \
up_schedulesigaction.c up_sigdeliver.c up_unblocktask.c \
up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
up_stackcheck.c
ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
@@ -83,7 +83,7 @@ endif
ifeq ($(CONFIG_USBHOST),y)
ifeq ($(CONFIG_STM32_OTGFS),y)
CMN_CSRCS += stm32_otgfshost.c
CMN_CSRCS += stm32_otgfshost.c
endif
endif
@@ -124,6 +124,10 @@ ifeq ($(CONFIG_DAC),y)
CHIP_CSRCS += stm32_dac.c
endif
ifeq ($(CONFIG_DEV_RANDOM),y)
CHIP_CSRCS += stm32_rng.c
endif
ifeq ($(CONFIG_PWM),y)
CHIP_CSRCS += stm32_pwm.c
endif
nuttx/arch/arm/src/stm32/chip/stm32_rng.h
+77
View File
@@ -0,0 +1,77 @@
/************************************************************************************
* arch/arm/src/stm32/chip/stm32_rng.h
*
* Copyright (C) 2012 Max Holtzberg. All rights reserved.
* Author: Max Holtzberg <mh@uvc.de>
*
* 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 NuttX 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.
*
************************************************************************************/
#ifndef __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
#define __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Register Offsets *****************************************************************/
#define STM32_RNG_CR_OFFSET 0x0000 /* RNG Control Register */
#define STM32_RNG_SR_OFFSET 0x0004 /* RNG Status Register */
#define STM32_RNG_DR_OFFSET 0x0008 /* RNG Data Register */
/* Register Addresses ***************************************************************/
#define STM32_RNG_CR (STM32_RNG_BASE+STM32_RNG_CR_OFFSET)
#define STM32_RNG_SR (STM32_RNG_BASE+STM32_RNG_SR_OFFSET)
#define STM32_RNG_DR (STM32_RNG_BASE+STM32_RNG_DR_OFFSET)
/* Register Bitfield Definitions ****************************************************/
/* RNG Control Register */
#define RNG_CR_RNGEN (1 << 2) /* Bit 2: RNG enable */
#define RNG_CR_IE (1 << 3) /* Bit 3: Interrupt enable */
/* RNG Status Register */
#define RNG_SR_DRDY (1 << 0) /* Bit 0: Data ready */
#define RNG_SR_CECS (1 << 1) /* Bit 1: Clock error current status */
#define RNG_SR_SECS (1 << 2) /* Bit 2: Seed error current status */
#define RNG_SR_CEIS (1 << 5) /* Bit 5: Clock error interrupt status */
#define RNG_SR_SEIS (1 << 6) /* Bit 6: Seed error interrupt status */
#endif /* __ARCH_ARM_STC_STM32_CHIP_STM32_RNG_H */
nuttx/arch/arm/src/stm32/stm32_eth.c
+81 -1
View File
@@ -664,6 +664,9 @@ static void stm32_rxdescinit(FAR struct stm32_ethmac_s *priv);
static int stm32_phyread(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t *value);
static int stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t value);
#ifdef CONFIG_PHY_DM9161
static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv);
#endif
static int stm32_phyinit(FAR struct stm32_ethmac_s *priv);
/* MAC/DMA Initialization */
@@ -1653,6 +1656,7 @@ static void stm32_receive(FAR struct stm32_ethmac_s *priv)
stm32_freebuffer(priv, dev->d_buf);
dev->d_buf = NULL;
dev->d_len = 0;
}
}
}
@@ -1953,7 +1957,7 @@ static void stm32_polltimer(int argc, uint32_t arg, ...)
/* Check if the next TX descriptor is owned by the Ethernet DMA or CPU. We
* cannot perform the timer poll if we are unable to accept another packet
* for transmission. Hmmm.. might be bug here. Does this mean if there is
* a transmit in progress, we will missing TCP time state updates?
* a transmit in progress, we will miss TCP time state updates?
*
* In a race condition, ETH_TDES0_OWN may be cleared BUT still not available
* because stm32_freeframe() has not yet run. If stm32_freeframe() has run,
@@ -2479,6 +2483,72 @@ static int stm32_phywrite(uint16_t phydevaddr, uint16_t phyregaddr, uint16_t val
return -ETIMEDOUT;
}
/****************************************************************************
* Function: stm32_dm9161
*
* Description:
* Special workaround for the Davicom DM9161 PHY is required. On power,
* up, the PHY is not usually configured correctly but will work after
* a powered-up reset. This is really a workaround for some more
* fundamental issue with the PHY clocking initialization, but the
* root cause has not been studied (nor will it be with this workaround).
*
* Parameters:
* priv - A reference to the private driver state structure
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_PHY_DM9161
static inline int stm32_dm9161(FAR struct stm32_ethmac_s *priv)
{
uint16_t phyval;
int ret;
/* Read the PHYID1 register; A failure to read the PHY ID is one
* indication that check if the DM9161 PHY CHIP is not ready.
*/
ret = stm32_phyread(CONFIG_STM32_PHYADDR, MII_PHYID1, &phyval);
if (ret < 0)
{
ndbg("Failed to read the PHY ID1: %d\n", ret);
return ret;
}
/* If we failed to read the PHY ID1 register, the reset the MCU to recover */
else if (phyval == 0xffff)
{
up_systemreset();
}
nvdbg("PHY ID1: 0x%04X\n", phyval);
/* Now check the "DAVICOM Specified Configuration Register (DSCR)", Register 16 */
ret = stm32_phyread(CONFIG_STM32_PHYADDR, 16, &phyval);
if (ret < 0)
{
ndbg("Failed to read the PHY Register 0x10: %d\n", ret);
return ret;
}
/* Bit 8 of the DSCR register is zero, the the DM9161 has not selected RMII.
* If RMII is not selected, then reset the MCU to recover.
*/
else if ((phyval & (1 << 8)) == 0)
{
up_systemreset();
}
return OK;
}
#endif
/****************************************************************************
* Function: stm32_phyinit
*
@@ -2524,6 +2594,16 @@ static int stm32_phyinit(FAR struct stm32_ethmac_s *priv)
}
up_mdelay(PHY_RESET_DELAY);
/* Special workaround for the Davicom DM9161 PHY is required. */
#ifdef CONFIG_PHY_DM9161
ret = stm32_dm9161(priv);
if (ret < 0)
{
return ret;
}
#endif
/* Perform auto-negotion if so configured */
#ifdef CONFIG_STM32_AUTONEG
nuttx/arch/arm/src/stm32/stm32_gpio.c
+1
View File
@@ -128,6 +128,7 @@ static inline void stm32_gpioremap(void)
val |= AFIO_MAPR_SPI1_REMAP;
#endif
#ifdef CONFIG_STM32_SPI3_REMAP
val |= AFIO_MAPR_SPI3_REMAP;
#endif
#ifdef CONFIG_STM32_I2C1_REMAP
nuttx/arch/arm/src/stm32/stm32_rng.c
+264
View File
@@ -0,0 +1,264 @@
/****************************************************************************
* arch/arm/src/stm32/stm32_rng.c
*
* Copyright (C) 2012 Max Holtzberg. All rights reserved.
* Author: Max Holtzberg <mh@uvc.de>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include "up_arch.h"
#include "chip/stm32_rng.h"
#include "up_internal.h"
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int stm32_rnginitialize(void);
static int stm32_interrupt(int irq, void *context);
static void stm32_enable(void);
static void stm32_disable(void);
static ssize_t stm32_read(struct file *filep, char *buffer, size_t);
/****************************************************************************
* Private Types
****************************************************************************/
struct rng_dev_s
{
sem_t rd_devsem; /* Threads can only exclusively access the RNG */
sem_t rd_readsem; /* To block until the buffer is filled */
char *rd_buf;
size_t rd_buflen;
uint32_t rd_lastval;
bool rd_first;
};
/****************************************************************************
* Private Data
****************************************************************************/
static struct rng_dev_s g_rngdev;
static const struct file_operations g_rngops =
{
0, /* open */
0, /* close */
stm32_read, /* read */
0, /* write */
0, /* seek */
0 /* ioctl */
#ifndef CONFIG_DISABLE_POLL
,0 /* poll */
#endif
};
/****************************************************************************
* Private functions
****************************************************************************/
static int stm32_rnginitialize()
{
uint32_t regval;
vdbg("Initializing RNG\n");
memset(&g_rngdev, 0, sizeof(struct rng_dev_s));
sem_init(&g_rngdev.rd_devsem, 0, 1);
if (irq_attach(STM32_IRQ_RNG, stm32_interrupt))
{
/* We could not attach the ISR to the interrupt */
vdbg("Could not attach IRQ.\n");
return -EAGAIN;
}
/* Enable interrupts */
regval = getreg32(STM32_RNG_CR);
regval |= RNG_CR_IE;
putreg32(regval, STM32_RNG_CR);
up_enable_irq(STM32_IRQ_RNG);
return OK;
}
static void stm32_enable()
{
uint32_t regval;
g_rngdev.rd_first = true;
regval = getreg32(STM32_RNG_CR);
regval |= RNG_CR_RNGEN;
putreg32(regval, STM32_RNG_CR);
}
static void stm32_disable()
{
uint32_t regval;
regval = getreg32(STM32_RNG_CR);
regval &= ~RNG_CR_RNGEN;
putreg32(regval, STM32_RNG_CR);
}
static int stm32_interrupt(int irq, void *context)
{
uint32_t rngsr;
uint32_t data;
rngsr = getreg32(STM32_RNG_SR);
if ((rngsr & (RNG_SR_SEIS | RNG_SR_CEIS)) /* Check for error bits */
|| !(rngsr & RNG_SR_DRDY)) /* Data ready must be set */
{
/* This random value is not valid, we will try again. */
return OK;
}
data = getreg32(STM32_RNG_DR);
/* As required by the FIPS PUB (Federal Information Processing Standard
* Publication) 140-2, the first random number generated after setting the
* RNGEN bit should not be used, but saved for comparison with the next
* generated random number. Each subsequent generated random number has to be
* compared with the previously generated number. The test fails if any two
* compared numbers are equal (continuous random number generator test).
*/
if (g_rngdev.rd_first)
{
g_rngdev.rd_first = false;
g_rngdev.rd_lastval = data;
return OK;
}
if (g_rngdev.rd_lastval == data)
{
/* Two subsequent same numbers, we will try again. */
return OK;
}
/* If we get here, the random number is valid. */
g_rngdev.rd_lastval = data;
if (g_rngdev.rd_buflen >= 4)
{
g_rngdev.rd_buflen -= 4;
*(uint32_t*)&g_rngdev.rd_buf[g_rngdev.rd_buflen] = data;
}
else
{
while (g_rngdev.rd_buflen > 0)
{
g_rngdev.rd_buf[--g_rngdev.rd_buflen] = (char)data;
data >>= 8;
}
}
if (g_rngdev.rd_buflen == 0)
{
/* Buffer filled, stop further interrupts. */
stm32_disable();
sem_post(&g_rngdev.rd_readsem);
}
return OK;
}
/****************************************************************************
* Name: stm32_read
****************************************************************************/
static ssize_t stm32_read(struct file *filep, char *buffer, size_t buflen)
{
if (sem_wait(&g_rngdev.rd_devsem) != OK)
{
return -errno;
}
else
{
/* We've got the semaphore. */
/* Initialize semaphore with 0 for blocking until the buffer is filled from
* interrupts.
*/
sem_init(&g_rngdev.rd_readsem, 0, 1);
g_rngdev.rd_buflen = buflen;
g_rngdev.rd_buf = buffer;
/* Enable RNG with interrupts */
stm32_enable();
/* Wait until the buffer is filled */
sem_wait(&g_rngdev.rd_readsem);
/* Free RNG for next use */
sem_post(&g_rngdev.rd_devsem);
return buflen;
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
void up_rnginitialize()
{
stm32_rnginitialize();
register_driver("/dev/random", &g_rngops, 0444, NULL);
}
nuttx/binfmt/libnxflat/gnu-nxflat.ld → nuttx/binfmt/libnxflat/gnu-nxflat-gotoff.ld
+18 -3
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* examples/nxflat/nxflat.ld
* examples/nxflat/gnu-nxflat-gotoff.ld
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -48,7 +48,17 @@ MEMORY
* (2) DSpace (Data Space). This is the segment that contains both
* read-write data (.data, .bss) as well as read-only data (.rodata).
* Everything in this segment should be access-able with machine
* with machine load and store instructions.
* PIC load and store instructions.
*
* Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
* addressing to access RO data. In that case, read-only data (.rodata) must
* reside in D-Space and this linker script should be used.
*
* Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
* addressing to access RO data. In that case, read-only data (.rodata) must
* reside in I-Space and this linker script should NOT be used with those
* newer tools.
*
****************************************************************************/
SECTIONS
@@ -97,11 +107,16 @@ SECTIONS
.data 0x00000000 :
{
/* In this model, .rodata is access using PC-relative addressing
* and, hence, must also reside in the .text section.
*/
__data_start = . ;
*(.rodata)
*(.rodata1)
*(.rodata.*)
*(.gnu.linkonce.r*)
*(.data)
*(.data1)
*(.data.*)
nuttx/binfmt/libnxflat/gnu-nxflat-pcrel.ld
+187
View File
@@ -0,0 +1,187 @@
/****************************************************************************
* examples/nxflat/gnu-nxflat-pcrel.ld
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
MEMORY
{
ISPACE : ORIGIN = 0x0, LENGTH = 2097152
DSPACE : ORIGIN = 0x0, LENGTH = 2097152
}
/****************************************************************************
* The XFLAT program image is divided into two segments:
*
* (1) ISpace (Instruction Space). This is the segment that contains
* code (.text) as well as read-only data (.rodata). Everything in the
* segment should be fetch-able machine PC instructions (jump, branch,
* call, etc.) or PC-relative loads.
* (2) DSpace (Data Space). This is the segment that contains read-write
* data (.data, .bss). Everything in this segment should be access-able
* with machine PIC load and store instructions.
*
* Older versions of GCC (at least up to GCC 4.3.3), use GOT-relative
* addressing to access RO data. In that case, read-only data (.rodata) must
* reside in D-Space and this linker script should NOT be used with those
* older tools.
*
* Newer versions of GCC (at least as of GCC 4.6.3), use PC-relative
* addressing to access RO data. In that case, read-only data (.rodata) must
* reside in I-Space and this linker script should be used.
*
****************************************************************************/
SECTIONS
{
.text 0x00000000 :
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/* ISpace is located at address 0. Every (unrelocated) ISpace
* address is an offset from the begining of this segment.
*/
text_start = . ;
*(.text)
*(.text.*)
*(.gnu.warning)
*(.stub)
*(.glue_7)
*(.glue_7t)
*(.jcr)
/* C++ support: The .init and .fini sections contain XFLAT-
* specific logic to manage static constructors and destructors.
*/
*(.gnu.linkonce.t.*)
*(.init)
*(.fini)
/* This is special code area at the end of the normal
text section. It contains a small lookup table at
the start followed by the code pointed to by entries
in the lookup table. */
. = ALIGN (4) ;
PROVIDE(__ctbp = .);
*(.call_table_data)
*(.call_table_text)
/* In this model, .rodata is access using PC-relative addressing
* and, hence, must also reside in the .text section.
*/
*(.rodata)
*(.rodata1)
*(.rodata.*)
*(.gnu.linkonce.r*)
_etext = . ;
} > ISPACE
/* DSpace is also located at address 0. Every (unrelocated) DSpace
* address is an offset from the begining of this segment.
*/
.data 0x00000000 :
{
__data_start = . ;
*(.data)
*(.data1)
*(.data.*)
*(.gnu.linkonce.d*)
*(.data1)
*(.eh_frame)
*(.gcc_except_table)
*(.gnu.linkonce.s.*)
*(__libc_atexit)
*(__libc_subinit)
*(__libc_subfreeres)
*(.note.ABI-tag)
/* C++ support. For each global and static local C++ object,
* GCC creates a small subroutine to construct the object. Pointers
* to these routines (not the routines themselves) are stored as
* simple, linear arrays in the .ctors section of the object file.
* Similarly, pointers to global/static destructor routines are
* stored in .dtors.
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*(.gnu.linkonce.d.*)
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.bss :
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*(.gnu.linkonce.b*)
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end = ALIGN( 0x10 ) ;
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.got 0 : { *(.got.plt) *(.got) }
.junk 0 : { *(.rel*) *(.rela*) }
/* Stabs debugging sections. */
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nuttx/configs/Kconfig
+1
View File
@@ -23,6 +23,7 @@ config ARCH_BOARD_PX4IO
depends on ARCH_CHIP_STM32F100C8
---help---
PX4 system I/O expansion board
endchoice
config ARCH_BOARD
nuttx/configs/README.txt
+12 -12
View File
@@ -1524,7 +1524,7 @@ configs/c5471evm
This is a port to the Spectrum Digital C5471 evaluation board. The
TMS320C5471 is a dual core processor from TI with an ARM7TDMI general
purpose processor and a c54 DSP. It is also known as TMS320DA180 or just DA180.
NuttX runs on the ARM core and is built with a GNU arm-elf toolchain*.
NuttX runs on the ARM core and is built with a GNU arm-nuttx-elf toolchain*.
This port is complete and verified.
configs/compal_e88 and compal_e99
@@ -1540,19 +1540,19 @@ configs/demo9s12ne64
configs/ea3131
Embedded Artists EA3131 Development board. This board is based on the
an NXP LPC3131 MCU. This OS is built with the arm-elf toolchain*.
an NXP LPC3131 MCU. This OS is built with the arm-nuttx-elf toolchain*.
STATUS: This port is complete and mature.
configs/ea3152
Embedded Artists EA3152 Development board. This board is based on the
an NXP LPC3152 MCU. This OS is built with the arm-elf toolchain*.
an NXP LPC3152 MCU. This OS is built with the arm-nuttx-elf toolchain*.
STATUS: This port is has not be exercised well, but since it is
a simple derivative of the ea3131, it should be fully functional.
configs/eagle100
Micromint Eagle-100 Development board. This board is based on the
an ARM Cortex-M3 MCU, the Luminary LM3S6918. This OS is built with the
arm-elf toolchain*. STATUS: This port is complete and mature.
arm-nuttx-elf toolchain*. STATUS: This port is complete and mature.
configs/ekk-lm3s9b96
TI/Stellaris EKK-LM3S9B96 board. This board is based on the
@@ -1591,7 +1591,7 @@ configs/lm3s6432-s2e
configs/lm3s6965-ek
Stellaris LM3S6965 Evaluation Kit. This board is based on the
an ARM Cortex-M3 MCU, the Luminary/TI LM3S6965. This OS is built with the
arm-elf toolchain*. STATUS: This port is complete and mature.
arm-nuttx-elf toolchain*. STATUS: This port is complete and mature.
configs/lm3s8962-ek
Stellaris LMS38962 Evaluation Kit.
@@ -1607,17 +1607,17 @@ configs/lpc4330-xplorer
configs/m68322evb
This is a work in progress for the venerable m68322evb board from
Motorola. This OS is also built with the arm-elf toolchain*. STATUS:
Motorola. This OS is also built with the arm-nuttx-elf toolchain*. STATUS:
This port was never completed.
configs/mbed
The configurations in this directory support the mbed board (http://mbed.org)
that features the NXP LPC1768 microcontroller. This OS is also built
with the arm-elf toolchain*. STATUS: Contributed.
with the arm-nuttx-elf toolchain*. STATUS: Contributed.
configs/mcu123-lpc214x
This port is for the NXP LPC2148 as provided on the mcu123.com
lpc214x development board. This OS is also built with the arm-elf
lpc214x development board. This OS is also built with the arm-nuttx-elf
toolchain*. The port supports serial, timer0, spi, and usb.
configs/micropendous3
@@ -1642,7 +1642,7 @@ configs/ne64badge
not yet been fully tested.
configs/ntosd-dm320
This port uses the Neuros OSD v1.0 Dev Board with a GNU arm-elf
This port uses the Neuros OSD v1.0 Dev Board with a GNU arm-nuttx-elf
toolchain*: see
http://wiki.neurostechnology.com/index.php/OSD_1.0_Developer_Home
@@ -1666,18 +1666,18 @@ configs/olimex-lpc1766stk
Linux or Cygwin. STATUS: Complete and mature.
configs/olimex-lpc2378
This port uses the Olimex-lpc2378 board and a GNU arm-elf toolchain* under
This port uses the Olimex-lpc2378 board and a GNU arm-nuttx-elf toolchain* under
Linux or Cygwin. STATUS: ostest and NSH configurations available.
This port for the NXP LPC2378 was contributed by Rommel Marcelo.
configs/olimex-stm32-p107
This port uses the Olimex STM32-P107 board (STM32F107VC) and a GNU arm-elf
This port uses the Olimex STM32-P107 board (STM32F107VC) and a GNU arm-nuttx-elf
toolchain* under Linux or Cygwin. See the https://www.olimex.com/dev/stm32-p107.html
for further information. Contributed by Max Holtzberg. STATUS: Configurations
for the basic OS test and NSH are available and verified.
configs/olimex-strp711
This port uses the Olimex STR-P711 board and a GNU arm-elf toolchain* under
This port uses the Olimex STR-P711 board and a GNU arm-nuttx-elf toolchain* under
Linux or Cygwin. See the http://www.olimex.com/dev/str-p711.html" for
further information. STATUS: Configurations for the basic OS test and NSH
are complete and verified.
nuttx/configs/px4fmu/common/Make.defs
+5 -13
View File
@@ -55,7 +55,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -Os
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
@@ -116,7 +116,6 @@ ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
ARCHSCRIPT += -g
endif
ARCHCFLAGS = -std=gnu99
@@ -149,7 +148,7 @@ ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
ARCHSCRIPT += --warn-common \
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
@@ -167,13 +166,6 @@ OBJEXT = .o
LIBEXT = .a
EXEEXT =
# If VERBOSE is set, don't hide the compiler invocations.
ifeq ($(VERBOSE),YES)
_v =
else
_v = @
endif
define PREPROCESS
@echo "CPP: $1->$2"
@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
@@ -181,17 +173,17 @@ endef
define COMPILE
@echo "CC: $1"
$(_v)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
$(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
endef
define COMPILEXX
@echo "CXX: $1"
$(_v)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
$(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
endef
define ASSEMBLE
@echo "AS: $1"
$(_v)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
$(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
endef
# produce partially-linked $1 from files in $2
nuttx/configs/px4fmu/include/drv_bma180.h
-99
View File
@@ -1,99 +0,0 @@
/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
*/
/*
* Driver for the BOSCH BMA180 MEMS accelerometer
*/
/* IMPORTANT NOTES:
*
* SPI max. clock frequency: 25 Mhz
* CS has to be high before transfer,
* go low right before transfer and
* go high again right after transfer
*
*/
#include <sys/ioctl.h>
#define _BMA180BASE 0x6300
#define BMA180C(_x) _IOC(_BMA180BASE, _x)
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define BMA180_SETRATE BMA180C(1)
#define BMA180_RATE_LP_10HZ (0<<4)
#define BMA180_RATE_LP_20HZ (1<<4)
#define BMA180_RATE_LP_40HZ (2<<4)
#define BMA180_RATE_LP_75HZ (3<<4)
#define BMA180_RATE_LP_150HZ (4<<4)
#define BMA180_RATE_LP_300HZ (5<<4)
#define BMA180_RATE_LP_600HZ (6<<4)
#define BMA180_RATE_LP_1200HZ (7<<4)
/*
* Sets the sensor internal range.
*/
#define BMA180_SETRANGE BMA180C(2)
#define BMA180_RANGE_1G (0<<1)
#define BMA180_RANGE_1_5G (1<<1)
#define BMA180_RANGE_2G (2<<1)
#define BMA180_RANGE_3G (3<<1)
#define BMA180_RANGE_4G (4<<1)
#define BMA180_RANGE_8G (5<<1)
#define BMA180_RANGE_16G (6<<1)
/*
* Sets the address of a shared BMA180_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define BMA180_SETBUFFER BMA180C(3)
struct bma180_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
uint16_t x;
uint16_t y;
uint16_t z;
uint8_t temp;
} samples[];
};
extern int bma180_attach(struct spi_dev_s *spi, int spi_id);
nuttx/configs/px4fmu/include/drv_hmc5883l.h
-100
View File
@@ -1,100 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/*
* Driver for the ST HMC5883L gyroscope
*/
#include <sys/ioctl.h>
#define _HMC5883LBASE 0x6100
#define HMC5883LC(_x) _IOC(_HMC5883LBASE, _x)
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define HMC5883L_SETRATE HMC5883LC(1)
/* set rate (configuration A register */
#define HMC5883L_RATE_0_75HZ (0 << 2) /* 0.75 Hz */
#define HMC5883L_RATE_1_50HZ (1 << 2) /* 1.5 Hz */
#define HMC5883L_RATE_3_00HZ (2 << 2) /* 3 Hz */
#define HMC5883L_RATE_7_50HZ (3 << 2) /* 7.5 Hz */
#define HMC5883L_RATE_15HZ (4 << 2) /* 15 Hz (default) */
#define HMC5883L_RATE_30HZ (5 << 2) /* 30 Hz */
#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */
/*
* Sets the sensor internal range.
*/
#define HMC5883L_SETRANGE HMC5883LC(2)
#define HMC5883L_RANGE_0_88GA (0 << 5)
#define HMC5883L_RANGE_1_33GA (1 << 5)
#define HMC5883L_RANGE_1_90GA (2 << 5)
#define HMC5883L_RANGE_2_50GA (3 << 5)
#define HMC5883L_RANGE_4_00GA (4 << 5)
/*
* Set the sensor measurement mode.
*/
#define HMC5883L_MODE_NORMAL (0 << 0)
#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0)
#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1)
/*
* Sets the address of a shared HMC5883L_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define HMC5883L_SETBUFFER HMC5883LC(3)
struct hmc5883l_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
int16_t x;
int16_t y;
int16_t z;
} samples[];
};
#define HMC5883L_RESET HMC5883LC(4)
#define HMC5883L_CALIBRATION_ON HMC5883LC(5)
#define HMC5883L_CALIBRATION_OFF HMC5883LC(6)
extern int hmc5883l_attach(struct i2c_dev_s *i2c);
nuttx/configs/px4fmu/include/drv_l3gd20.h
-108
View File
@@ -1,108 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/*
* Driver for the ST L3GD20 gyroscope
*/
/* IMPORTANT NOTES:
*
* SPI max. clock frequency: 10 Mhz
* CS has to be high before transfer,
* go low right before transfer and
* go high again right after transfer
*
*/
#include <sys/ioctl.h>
#define _L3GD20BASE 0x6200
#define L3GD20C(_x) _IOC(_L3GD20BASE, _x)
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define L3GD20_SETRATE L3GD20C(1)
#define L3GD20_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4))
#define L3GD20_RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define L3GD20_RATE_190HZ_LP_12_5HZ ((0<<7) | (1<<6) | (0<<5) | (0<<4))
#define L3GD20_RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
#define L3GD20_RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))
#define L3GD20_RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
#define L3GD20_RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (0<<5) | (0<<4))
#define L3GD20_RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))
#define L3GD20_RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define L3GD20_RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
#define L3GD20_RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
#define L3GD20_RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))
#define L3GD20_RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))
#define L3GD20_RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
/*
* Sets the sensor internal range.
*/
#define L3GD20_SETRANGE L3GD20C(2)
#define L3GD20_RANGE_250DPS (0<<4)
#define L3GD20_RANGE_500DPS (1<<4)
#define L3GD20_RANGE_2000DPS (3<<4)
#define L3GD20_RATE_95HZ ((0<<6) | (0<<4))
#define L3GD20_RATE_190HZ ((1<<6) | (0<<4))
#define L3GD20_RATE_380HZ ((2<<6) | (1<<4))
#define L3GD20_RATE_760HZ ((3<<6) | (2<<4))
/*
* Sets the address of a shared l3gd20_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define L3GD20_SETBUFFER L3GD20C(3)
struct l3gd20_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
int16_t x;
int16_t y;
int16_t z;
} samples[];
};
extern int l3gd20_attach(struct spi_dev_s *spi, int spi_id);
nuttx/configs/px4fmu/include/drv_ms5611.h
-76
View File
@@ -1,76 +0,0 @@
/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
*/
/*
* Driver for the Meas Spec MS5611 barometric pressure sensor
*/
#include <sys/ioctl.h>
#define _MS5611BASE 0x6A00
#define MS5611C(_x) _IOC(_MS5611BASE, _x)
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define MS5611_SETRATE MS5611C(1)
/* set rate (configuration A register */
#define MS5611_RATE_0_75HZ (0 << 2) /* 0.75 Hz */
/*
* Sets the sensor internal range.
*/
#define MS5611_SETRANGE MS5611C(2)
#define MS5611_RANGE_0_88GA (0 << 5)
/*
* Sets the address of a shared MS5611_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define MS5611_SETBUFFER MS5611C(3)
struct ms5611_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
uint32_t pressure;
uint16_t temperature;
} samples[];
};
extern int ms5611_attach(struct i2c_dev_s *i2c);
nuttx/configs/px4fmu/src/Makefile
+1 -1
View File
@@ -41,7 +41,7 @@ ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_boot.c up_leds.c up_spi.c up_hrt.c \
drv_gpio.c drv_bma180.c drv_l3gd20.c \
drv_gpio.c \
drv_led.c drv_eeprom.c \
drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
up_cpuload.c
nuttx/configs/px4fmu/src/drv_bma180.c
-341
View File
@@ -1,341 +0,0 @@
/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
*/
/*
* Driver for the Bosch BMA 180 MEMS accelerometer
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi.h>
#include <nuttx/arch.h>
#include <arch/board/board.h>
#include <stdio.h>
#include "chip.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_bma180.h>
/*
* BMA180 registers
*/
/* Important Notes:
*
* - MAX SPI clock: 25 MHz
* - Readout time: 0.417 ms in high accuracy mode
* - Boot / ready time: 1.27 ms
*
*/
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define ADDR_CHIP_ID 0x00
#define CHIP_ID 0x03
#define ADDR_VERSION 0x01
#define ADDR_CTRL_REG0 0x0D
#define ADDR_CTRL_REG1 0x0E
#define ADDR_CTRL_REG2 0x0F
#define ADDR_BWTCS 0x20
#define ADDR_CTRL_REG3 0x21
#define ADDR_CTRL_REG4 0x22
#define ADDR_OLSB1 0x35
#define ADDR_ACC_X_LSB 0x02
#define ADDR_ACC_Z_MSB 0x07
#define ADDR_TEMPERATURE 0x08
#define ADDR_STATUS_REG1 0x09
#define ADDR_STATUS_REG2 0x0A
#define ADDR_STATUS_REG3 0x0B
#define ADDR_STATUS_REG4 0x0C
#define ADDR_RESET 0x10
#define SOFT_RESET 0xB6
#define ADDR_DIS_I2C 0x27
#define REG0_WRITE_ENABLE 0x10
#define RANGEMASK 0x0E
#define BWMASK 0xF0
static ssize_t bma180_read(struct file *filp, FAR char *buffer, size_t buflen);
static int bma180_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations bma180_fops = {
.read = bma180_read,
.ioctl = bma180_ioctl,
};
struct bma180_dev_s
{
struct spi_dev_s *spi;
int spi_id;
uint8_t rate;
struct bma180_buffer *buffer;
};
static struct bma180_dev_s bma180_dev;
static void bma180_write_reg(uint8_t address, uint8_t data);
static uint8_t bma180_read_reg(uint8_t address);
static bool read_fifo(uint16_t *data);
static int bma180_set_range(uint8_t range);
static int bma180_set_rate(uint8_t rate);
static void
bma180_write_reg(uint8_t address, uint8_t data)
{
uint8_t cmd[2] = { address | DIR_WRITE, data };
SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
SPI_SNDBLOCK(bma180_dev.spi, &cmd, sizeof(cmd));
SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
}
static uint8_t
bma180_read_reg(uint8_t address)
{
uint8_t cmd[2] = {address | DIR_READ, 0};
uint8_t data[2];
SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
SPI_EXCHANGE(bma180_dev.spi, cmd, data, sizeof(cmd));
SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
return data[1];
}
static bool
read_fifo(uint16_t *data)
{
struct { /* status register and data as read back from the device */
uint8_t cmd;
int16_t x;
int16_t y;
int16_t z;
uint8_t temp;
} __attribute__((packed)) report;
report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
SPI_LOCK(bma180_dev.spi, true);
report.x = bma180_read_reg(ADDR_ACC_X_LSB);
report.x |= (bma180_read_reg(ADDR_ACC_X_LSB+1) << 8);
report.y = bma180_read_reg(ADDR_ACC_X_LSB+2);
report.y |= (bma180_read_reg(ADDR_ACC_X_LSB+3) << 8);
report.z = bma180_read_reg(ADDR_ACC_X_LSB+4);
report.z |= (bma180_read_reg(ADDR_ACC_X_LSB+5) << 8);
report.temp = bma180_read_reg(ADDR_ACC_X_LSB+6);
SPI_LOCK(bma180_dev.spi, false);
/* Collect status and remove two top bits */
uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01);
report.x = (report.x >> 2);
report.y = (report.y >> 2);
report.z = (report.z >> 2);
data[0] = report.x;
data[1] = report.y;
data[2] = report.z;
/* return 1 for all three axes new */
return (new_data > 0); // bit funky, depends on timing
}
static int
bma180_set_range(uint8_t range)
{
/* enable writing to chip config */
uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 |= REG0_WRITE_ENABLE;
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
/* set range */
uint8_t olsb1 = bma180_read_reg(ADDR_OLSB1);
olsb1 &= (~RANGEMASK);
olsb1 |= (range);// & RANGEMASK);
bma180_write_reg(ADDR_OLSB1, olsb1);
// up_udelay(500);
/* block writing to chip config */
ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 &= (~REG0_WRITE_ENABLE);
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
uint8_t new_olsb1 = bma180_read_reg(ADDR_OLSB1);
/* return 0 on success, 1 on failure */
return !(olsb1 == new_olsb1);
}
static int
bma180_set_rate(uint8_t rate)
{
/* enable writing to chip config */
uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 |= REG0_WRITE_ENABLE;
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
/* set rate / bandwidth */
uint8_t bwtcs = bma180_read_reg(ADDR_BWTCS);
bwtcs &= (~BWMASK);
bwtcs |= (rate);// & BWMASK);
bma180_write_reg(ADDR_BWTCS, bwtcs);
// up_udelay(500);
/* block writing to chip config */
ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 &= (~REG0_WRITE_ENABLE);
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
uint8_t new_bwtcs = bma180_read_reg(ADDR_BWTCS);
/* return 0 on success, 1 on failure */
return !(bwtcs == new_bwtcs);
}
static ssize_t
bma180_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 6) {
if (read_fifo((uint16_t *)buffer))
return 6;
/* no data */
return 0;
}
/* buffer too small */
errno = ENOSPC;
return ERROR;
}
static int
bma180_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case BMA180_SETRATE:
result = bma180_set_rate(arg);
break;
case BMA180_SETRANGE:
result = bma180_set_range(arg);
break;
case BMA180_SETBUFFER:
bma180_dev.buffer = (struct bma180_buffer *)arg;
result = 0;
break;
}
if (result)
errno = EINVAL;
return result;
}
int
bma180_attach(struct spi_dev_s *spi, int spi_id)
{
int result = ERROR;
bma180_dev.spi = spi;
bma180_dev.spi_id = spi_id;
SPI_LOCK(bma180_dev.spi, true);
/* verify that the device is attached and functioning */
if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) {
bma180_write_reg(ADDR_RESET, SOFT_RESET); // page 48
up_udelay(13000); // wait 12 ms, see page 49
/* Configuring the BMA180 */
/* enable writing to chip config */
uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 |= REG0_WRITE_ENABLE;
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
/* disable I2C interface, datasheet page 31 */
uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C);
disi2c |= 0x01;
bma180_write_reg(ADDR_DIS_I2C, disi2c);
/* block writing to chip config */
ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 &= (~REG0_WRITE_ENABLE);
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
// up_udelay(500);
/* set rate */
result = bma180_set_rate(BMA180_RATE_LP_600HZ);
// up_udelay(500);
/* set range */
result += bma180_set_range(BMA180_RANGE_4G);
// up_udelay(500);
if (result == 0) {
/* make ourselves available */
register_driver("/dev/bma180", &bma180_fops, 0666, NULL);
}
} else {
errno = EIO;
}
SPI_LOCK(bma180_dev.spi, false);
return result;
}
nuttx/configs/px4fmu/src/drv_hmc5833l.c
-386
View File
@@ -1,386 +0,0 @@
/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file drv_hmc5883l.c
* Driver for the Honeywell/ST HMC5883L MEMS magnetometer
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/i2c.h>
#include <arch/board/board.h>
#include "chip.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_hmc5883l.h>
#define ADDR_CONF_A 0x00
#define ADDR_CONF_B 0x01
#define ADDR_MODE 0x02
#define ADDR_DATA_OUT_X_MSB 0x03
#define ADDR_DATA_OUT_X_LSB 0x04
#define ADDR_DATA_OUT_Z_MSB 0x05
#define ADDR_DATA_OUT_Z_LSB 0x06
#define ADDR_DATA_OUT_Y_MSB 0x07
#define ADDR_DATA_OUT_Y_LSB 0x08
#define ADDR_STATUS 0x09
#define ADDR_ID_A 0x10
#define ADDR_ID_B 0x11
#define ADDR_ID_C 0x12
#define HMC5883L_ADDRESS 0x1E
/* modes not changeable outside of driver */
#define HMC5883L_MODE_NORMAL (0 << 0) /* default */
#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0) /* positive bias */
#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1) /* negative bias */
#define HMC5883L_AVERAGING_1 (0 << 5) /* conf a register */
#define HMC5883L_AVERAGING_2 (1 << 5)
#define HMC5883L_AVERAGING_4 (2 << 5)
#define HMC5883L_AVERAGING_8 (3 << 5)
#define MODE_REG_CONTINOUS_MODE (0 << 0)
#define MODE_REG_SINGLE_MODE (1 << 0) /* default */
#define STATUS_REG_DATA_OUT_LOCK (1 << 1) /* page 16: set if data is only partially read, read device to reset */
#define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */
#define ID_A_WHO_AM_I 'H'
#define ID_B_WHO_AM_I '4'
#define ID_C_WHO_AM_I '3'
static FAR struct hmc5883l_dev_s hmc5883l_dev;
static ssize_t hmc5883l_read(struct file *filp, FAR char *buffer, size_t buflen);
static int hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations hmc5883l_fops = {
.open = 0,
.close = 0,
.read = hmc5883l_read,
.write = 0,
.seek = 0,
.ioctl = hmc5883l_ioctl,
#ifndef CONFIG_DISABLE_POLL
.poll = 0
#endif
};
struct hmc5883l_dev_s
{
struct i2c_dev_s *i2c;
uint8_t rate;
struct hmc5883l_buffer *buffer;
};
static bool hmc5883l_calibration_enabled = false;
static int hmc5883l_write_reg(uint8_t address, uint8_t data);
static int hmc5883l_read_reg(uint8_t address);
static int hmc5883l_reset(void);
static int
hmc5883l_write_reg(uint8_t address, uint8_t data)
{
uint8_t cmd[] = {address, data};
return I2C_WRITE(hmc5883l_dev.i2c, cmd, 2);
}
static int
hmc5883l_read_reg(uint8_t address)
{
uint8_t cmd = address;
uint8_t data;
int ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, &data, 1);
/* return data on success, error code on failure */
if (ret == OK) {
ret = data;
}
return ret;
}
static int
hmc5883l_set_range(uint8_t range)
{
I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
/* mask out illegal bit positions */
uint8_t write_range = range; //& REG4_RANGE_MASK;
/* immediately return if user supplied invalid value */
if (write_range != range) return EINVAL;
/* set remaining bits to a sane value */
// write_range |= REG4_BDU;
/* write to device */
hmc5883l_write_reg(ADDR_CONF_B, write_range);
/* return 0 if register value is now written value, 1 if unchanged */
return !(hmc5883l_read_reg(ADDR_CONF_B) == write_range);
}
static int
hmc5883l_set_rate(uint8_t rate)
{
I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
/* mask out illegal bit positions */
uint8_t write_rate = rate;// & REG1_RATE_LP_MASK;
/* immediately return if user supplied invalid value */
if (write_rate != rate) return EINVAL;
/* set remaining bits to a sane value */
// write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
write_rate |= HMC5883L_AVERAGING_8;
/* write to device */
hmc5883l_write_reg(ADDR_CONF_A, write_rate);
/* return 0 if register value is now written value, 1 if unchanged */
return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate);
}
static int
hmc5883l_set_mode(uint8_t mode)
{
// I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
// /* mask out illegal bit positions */
// uint8_t write_mode = mode & 0x03;
// /* immediately return if user supplied invalid value */
// if (write_mode != mode) return EINVAL;
// /* set mode */
// write_mode |= hmc5883l_read_reg(ADDR_CONF_A);
// /* set remaining bits to a sane value */
// write_mode |= HMC5883L_AVERAGING_8;
// /* write to device */
// hmc5883l_write_reg(ADDR_CONF_A, write_mode);
// /* return 0 if register value is now written value, 1 if unchanged */
// return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode);
}
static bool
read_values(int16_t *data)
{
struct { /* status register and data as read back from the device */
int16_t x;
int16_t z;
int16_t y;
uint8_t status;
} __attribute__((packed)) hmc_report;
hmc_report.status = 0;
static int read_err_count = 0;
/* exchange the report structure with the device */
uint8_t cmd = ADDR_DATA_OUT_X_MSB;
int ret = 0;
I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
/* set device into single mode, trigger next measurement */
ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
/* Only execute consecutive steps on success */
if (ret == OK)
{
cmd = ADDR_DATA_OUT_X_MSB;
ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, (uint8_t*)&hmc_report, 6);
if (ret == OK)
{
/* Six bytes to read, stop if timed out */
int hmc_status = hmc5883l_read_reg(ADDR_STATUS);
if (hmc_status < 0)
{
//if (hmc_status == ETIMEDOUT)
hmc5883l_reset();
ret = hmc_status;
}
else
{
hmc_report.status = hmc_status;
ret = OK;
}
}
else
{
if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
}
}
else
{
if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
}
if (ret != OK)
{
read_err_count++;
/* If the last reads failed as well, reset the bus and chip */
if (read_err_count > 3) hmc5883l_reset();
*get_errno_ptr() = -ret;
} else {
read_err_count = 0;
/* write values, and exchange the two 8bit blocks (big endian to little endian) */
data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8);
data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8);
data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8);
// XXX TODO
// write mode, range and lp-frequency enum values into data[3]-[6]
if ((hmc_report.status & STATUS_REG_DATA_READY) > 0)
{
ret = 14;
} else {
ret = -EAGAIN;
}
}
/* return len if new data is available, error else. hmc_report.status is 0 on errors */
return ret;
}
static ssize_t
hmc5883l_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 14) {
return read_values((int16_t *)buffer);
}
/* buffer too small */
*get_errno_ptr() = ENOSPC;
return -ERROR;
}
static int
hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case HMC5883L_SETRATE:
result = hmc5883l_set_rate(arg);
break;
case HMC5883L_SETRANGE:
result = hmc5883l_set_range(arg);
break;
case HMC5883L_CALIBRATION_ON:
hmc5883l_calibration_enabled = true;
result = OK;
break;
case HMC5883L_CALIBRATION_OFF:
hmc5883l_calibration_enabled = false;
result = OK;
break;
//
// case HMC5883L_SETBUFFER:
// hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg;
// result = 0;
// break;
case HMC5883L_RESET:
result = hmc5883l_reset();
break;
}
if (result)
errno = EINVAL;
return result;
}
extern int up_i2creset(FAR struct i2c_dev_s * dev);
int hmc5883l_reset()
{
int ret;
#if 1
ret = up_i2creset(hmc5883l_dev.i2c);
printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK");
#else
printf("[hmc5883l drv] Resettet I2C2 BUS\n");
up_i2cuninitialize(hmc5883l_dev.i2c);
hmc5883l_dev.i2c = up_i2cinitialize(2);
I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
#endif
return ret;
}
int
hmc5883l_attach(struct i2c_dev_s *i2c)
{
int result = ERROR;
hmc5883l_dev.i2c = i2c;
// I2C_LOCK(hmc5883l_dev.i2c, true);
I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
uint8_t cmd = ADDR_STATUS;
uint8_t status_id[4] = {0, 0, 0, 0};
int ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
/* verify that the device is attached and functioning */
if ((ret >= 0) && (status_id[1] == ID_A_WHO_AM_I) && (status_id[2] == ID_B_WHO_AM_I) && (status_id[3] == ID_C_WHO_AM_I)) {
/* set update rate to 75 Hz */
/* set 0.88 Ga range */
if ((ret != 0) || (hmc5883l_set_range(HMC5883L_RANGE_0_88GA) != 0) ||
(hmc5883l_set_rate(HMC5883L_RATE_75HZ) != 0))
{
errno = EIO;
} else {
/* set device into single mode, start measurement */
ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
/* make ourselves available */
register_driver("/dev/hmc5883l", &hmc5883l_fops, 0666, NULL);
result = 0;
}
} else {
errno = EIO;
}
return result;
}
nuttx/configs/px4fmu/src/drv_l3gd20.c
-364
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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.
*
****************************************************************************/
/*
* Driver for the ST L3GD20 MEMS gyroscope
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include <nuttx/arch.h>
#include <arch/board/drv_l3gd20.h>
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM 0xD4
#define ADDR_CTRL_REG1 0x20
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define ADDR_CTRL_REG5 0x24
#define ADDR_REFERENCE 0x25
#define ADDR_OUT_TEMP 0x26
#define ADDR_STATUS_REG 0x27
#define ADDR_OUT_X_L 0x28
#define ADDR_OUT_X_H 0x29
#define ADDR_OUT_Y_L 0x2A
#define ADDR_OUT_Y_H 0x2B
#define ADDR_OUT_Z_L 0x2C
#define ADDR_OUT_Z_H 0x2D
#define ADDR_FIFO_CTRL_REG 0x2E
#define ADDR_FIFO_SRC_REG 0x2F
#define ADDR_INT1_CFG 0x30
#define ADDR_INT1_SRC 0x31
#define ADDR_INT1_TSH_XH 0x32
#define ADDR_INT1_TSH_XL 0x33
#define ADDR_INT1_TSH_YH 0x34
#define ADDR_INT1_TSH_YL 0x35
#define ADDR_INT1_TSH_ZH 0x36
#define ADDR_INT1_TSH_ZL 0x37
#define ADDR_INT1_DURATION 0x38
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */
/* Internal configuration values */
#define REG1_POWER_NORMAL (1<<3)
#define REG1_Z_ENABLE (1<<2)
#define REG1_Y_ENABLE (1<<1)
#define REG1_X_ENABLE (1<<0)
#define REG4_BDU (1<<7)
#define REG4_BLE (1<<6)
//#define REG4_SPI_3WIRE (1<<0)
#define REG5_FIFO_ENABLE (1<<6)
#define REG5_REBOOT_MEMORY (1<<7)
#define STATUS_ZYXOR (1<<7)
#define STATUS_ZOR (1<<6)
#define STATUS_YOR (1<<5)
#define STATUS_XOR (1<<4)
#define STATUS_ZYXDA (1<<3)
#define STATUS_ZDA (1<<2)
#define STATUS_YDA (1<<1)
#define STATUS_XDA (1<<0)
#define FIFO_CTRL_BYPASS_MODE (0<<5)
#define FIFO_CTRL_FIFO_MODE (1<<5)
#define FIFO_CTRL_STREAM_MODE (1<<6)
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
static FAR struct l3gd20_dev_s l3gd20_dev;
static ssize_t l3gd20_read(struct file *filp, FAR char *buffer, size_t buflen);
static int l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations l3gd20_fops = {
.open = 0,
.close = 0,
.read = l3gd20_read,
.write = 0,
.seek = 0,
.ioctl = l3gd20_ioctl,
#ifndef CONFIG_DISABLE_POLL
.poll = 0
#endif
};
struct l3gd20_dev_s
{
struct spi_dev_s *spi;
int spi_id;
uint8_t rate;
struct l3gd20_buffer *buffer;
};
static void l3gd20_write_reg(uint8_t address, uint8_t data);
static uint8_t l3gd20_read_reg(uint8_t address);
static void
l3gd20_write_reg(uint8_t address, uint8_t data)
{
uint8_t cmd[2] = { address | DIR_WRITE, data };
SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
SPI_SNDBLOCK(l3gd20_dev.spi, &cmd, sizeof(cmd));
SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
}
static uint8_t
l3gd20_read_reg(uint8_t address)
{
uint8_t cmd[2] = {address | DIR_READ, 0};
uint8_t data[2];
SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
SPI_EXCHANGE(l3gd20_dev.spi, cmd, data, sizeof(cmd));
SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
return data[1];
}
static int
set_range(uint8_t range)
{
/* mask out illegal bit positions */
uint8_t write_range = range & REG4_RANGE_MASK;
/* immediately return if user supplied invalid value */
if (write_range != range) return EINVAL;
/* set remaining bits to a sane value */
write_range |= REG4_BDU;
/* write to device */
l3gd20_write_reg(ADDR_CTRL_REG4, write_range);
/* return 0 if register value is now written value, 1 if unchanged */
return !(l3gd20_read_reg(ADDR_CTRL_REG4) == write_range);
}
static int
set_rate(uint8_t rate)
{
/* mask out illegal bit positions */
uint8_t write_rate = rate & REG1_RATE_LP_MASK;
/* immediately return if user supplied invalid value */
if (write_rate != rate) return EINVAL;
/* set remaining bits to a sane value */
write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
/* write to device */
l3gd20_write_reg(ADDR_CTRL_REG1, write_rate);
/* return 0 if register value is now written value, 1 if unchanged */
return !(l3gd20_read_reg(ADDR_CTRL_REG1) == write_rate);
}
static int
read_fifo(int16_t *data)
{
struct { /* status register and data as read back from the device */
uint8_t cmd;
uint8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} __attribute__((packed)) report = {.status = 11};
report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
SPI_LOCK(l3gd20_dev.spi, true);
SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, true);
SPI_SETFREQUENCY(l3gd20_dev.spi, 25000000);
SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
/* XXX if the status value is unchanged, attempt a second exchange */
if (report.status == 11) SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
/* XXX set magic error value if this still didn't succeed */
if (report.status == 11) report.status = 12;
SPI_SETFREQUENCY(l3gd20_dev.spi, 10000000);
SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, false);
SPI_LOCK(l3gd20_dev.spi, false);
data[0] = report.x;
data[1] = report.y;
data[2] = report.z;
/* if all axes are valid, return buflen (6), else return negative status */
int ret = -((int)report.status);
if (STATUS_ZYXDA == (report.status & STATUS_ZYXDA) || STATUS_ZYXOR == (report.status & STATUS_ZYXOR))
{
ret = 6;
}
return ret;
}
static ssize_t
l3gd20_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 6) {
/* return buflen or a negative value */
int ret = read_fifo((int16_t *)buffer);
if (ret != 6) *get_errno_ptr() = EAGAIN;
return ret;
}
/* buffer too small */
*get_errno_ptr() = ENOSPC;
return ERROR;
}
static int
l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case L3GD20_SETRATE:
if ((arg & REG1_RATE_LP_MASK) == arg) {
SPI_LOCK(l3gd20_dev.spi, true);
set_rate(arg);
SPI_LOCK(l3gd20_dev.spi, false);
result = 0;
l3gd20_dev.rate = arg;
}
break;
case L3GD20_SETRANGE:
if ((arg & REG4_RANGE_MASK) == arg) {
SPI_LOCK(l3gd20_dev.spi, true);
set_range(arg);
SPI_LOCK(l3gd20_dev.spi, false);
result = 0;
}
break;
case L3GD20_SETBUFFER:
l3gd20_dev.buffer = (struct l3gd20_buffer *)arg;
result = 0;
break;
}
if (result)
errno = EINVAL;
return result;
}
int
l3gd20_attach(struct spi_dev_s *spi, int spi_id)
{
int result = ERROR;
l3gd20_dev.spi = spi;
l3gd20_dev.spi_id = spi_id;
SPI_LOCK(l3gd20_dev.spi, true);
/* read dummy value to void to clear SPI statemachine on sensor */
(void)l3gd20_read_reg(ADDR_WHO_AM_I);
/* verify that the device is attached and functioning */
if (l3gd20_read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
/* reset device memory */
//l3gd20_write_reg(ADDR_CTRL_REG5, REG5_REBOOT_MEMORY);
//up_udelay(1000);
/* set default configuration */
l3gd20_write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
l3gd20_write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
l3gd20_write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
l3gd20_write_reg(ADDR_CTRL_REG4, 0x10);
l3gd20_write_reg(ADDR_CTRL_REG5, 0);
l3gd20_write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
l3gd20_write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
if ((set_range(L3GD20_RANGE_500DPS) != 0) ||
(set_rate(L3GD20_RATE_760HZ_LP_100HZ) != 0)) /* takes device out of low-power mode */
{
errno = EIO;
} else {
/* Read out the first few funky values */
struct { /* status register and data as read back from the device */
uint8_t cmd;
uint8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} __attribute__((packed)) report;
report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
SPI_EXCHANGE(spi, &report, &report, sizeof(report));
SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
up_udelay(500);
/* And read another set */
SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
SPI_EXCHANGE(spi, &report, &report, sizeof(report));
SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
/* make ourselves available */
register_driver("/dev/l3gd20", &l3gd20_fops, 0666, NULL);
result = 0;
}
} else {
errno = EIO;
}
SPI_LOCK(l3gd20_dev.spi, false);
return result;
}
nuttx/configs/px4fmu/src/drv_lis331.c
-272
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@@ -1,272 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/*
* Driver for the ST LIS331 MEMS accelerometer
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_lis331.h>
/*
* LIS331 registers
*/
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define ADDR_WHO_AM_I 0x0f
#define WHO_I_AM 0x32
#define ADDR_CTRL_REG1 0x20 /* sample rate constants are in the public header */
#define REG1_POWER_NORMAL (1<<5)
#define REG1_RATE_MASK (3<<3)
#define REG1_Z_ENABLE (1<<2)
#define REG1_Y_ENABLE (1<<1)
#define REG1_X_ENABLE (1<<0)
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define REG4_BDU (1<<7)
#define REG4_BIG_ENDIAN (1<<6)
#define REG4_RANGE_MASK (3<<4)
#define REG4_SPI_3WIRE (1<<0)
#define ADDR_CTRL_REG5 0x24
#define ADDR_HP_FILTER_RESET 0x25
#define ADDR_REFERENCE 0x26
#define ADDR_STATUS_REG 0x27
#define STATUS_ZYXOR (1<<7)
#define STATUS_ZOR (1<<6)
#define STATUS_YOR (1<<5)
#define STATUS_XOR (1<<4)
#define STATUS_ZYXDA (1<<3)
#define STATUS_ZDA (1<<2)
#define STATUS_YDA (1<<1)
#define STATUS_XDA (1<<0)
#define ADDR_OUT_X 0x28 /* 16 bits */
#define ADDR_OUT_Y 0x2A /* 16 bits */
#define ADDR_OUT_Z 0x2C /* 16 bits */
static ssize_t lis331_read(struct file *filp, FAR char *buffer, size_t buflen);
static int lis331_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations lis331_fops = {
.read = lis331_read,
.ioctl = lis331_ioctl,
};
struct lis331_dev_s
{
struct spi_dev_s *spi;
int spi_id;
uint8_t rate;
struct lis331_buffer *buffer;
};
static struct lis331_dev_s lis331_dev;
static void write_reg(uint8_t address, uint8_t data);
static uint8_t read_reg(uint8_t address);
static bool read_fifo(uint16_t *data);
static void set_range(uint8_t range);
static void set_rate(uint8_t rate);
static void
write_reg(uint8_t address, uint8_t data)
{
uint8_t cmd[2] = { address | DIR_WRITE, data };
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
SPI_SNDBLOCK(lis331_dev.spi, &cmd, sizeof(cmd));
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
}
static uint8_t
read_reg(uint8_t address)
{
uint8_t cmd[2] = {address | DIR_READ, 0};
uint8_t data[2];
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
SPI_EXCHANGE(lis331_dev.spi, cmd, data, sizeof(cmd));
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
return data[1];
}
static bool
read_fifo(uint16_t *data)
{
struct { /* status register and data as read back from the device */
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} __attribute__((packed)) report;
report.cmd = ADDR_STATUS_REG | DIR_READ | ADDR_INCREMENT;
/* exchange the report structure with the device */
SPI_LOCK(lis331_dev.spi, true);
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
SPI_EXCHANGE(lis331_dev.spi, &report, &report, sizeof(report));
SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
SPI_LOCK(lis331_dev.spi, false);
data[0] = report.x;
data[1] = report.y;
data[2] = report.z;
return report.status & STATUS_ZYXDA;
}
static void
set_range(uint8_t range)
{
range &= REG4_RANGE_MASK;
write_reg(ADDR_CTRL_REG4, range | REG4_BDU);
}
static void
set_rate(uint8_t rate)
{
rate &= REG1_RATE_MASK;
write_reg(ADDR_CTRL_REG1, rate | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
}
static ssize_t
lis331_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 12) {
if (read_fifo((uint16_t *)buffer))
return 12;
/* no data */
return 0;
}
/* buffer too small */
errno = ENOSPC;
return ERROR;
}
static int
lis331_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case LIS331_SETRATE:
if ((arg & REG1_RATE_MASK) == arg) {
set_rate(arg);
result = 0;
lis331_dev.rate = arg;
}
break;
case LIS331_SETRANGE:
if ((arg & REG4_RANGE_MASK) == arg) {
set_range(arg);
result = 0;
}
break;
case LIS331_SETBUFFER:
lis331_dev.buffer = (struct lis331_buffer *)arg;
result = 0;
break;
}
if (result)
errno = EINVAL;
return result;
}
int
lis331_attach(struct spi_dev_s *spi, int spi_id)
{
int result = ERROR;
lis331_dev.spi = spi;
SPI_LOCK(lis331_dev.spi, true);
/* verify that the device is attached and functioning */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
/* set default configuration */
write_reg(ADDR_CTRL_REG2, 0); /* disable interrupt-generating high-pass filters */
write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
write_reg(ADDR_CTRL_REG5, 0); /* disable wake-on-interrupt */
set_range(LIS331_RANGE_4G);
set_rate(LIS331_RATE_400Hz); /* takes device out of low-power mode */
/* make ourselves available */
register_driver("/dev/lis331", &lis331_fops, 0666, NULL);
result = 0;
} else {
errno = EIO;
}
SPI_LOCK(lis331_dev.spi, false);
return result;
}
nuttx/configs/px4fmu/src/drv_ms5611.c
-504
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@@ -1,504 +0,0 @@
/*
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
*/
/*
* Driver for the Measurement Specialties MS5611 barometric pressure sensor
*/
#include <nuttx/config.h>
#include <nuttx/i2c.h>
#include <nuttx/arch.h>
#include <arch/board/board.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include "chip.h"
#include "px4fmu-internal.h"
#include <arch/board/up_hrt.h>
#include <arch/board/drv_ms5611.h>
/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
#define MS5611_MIN_INTER_MEASUREMENT_INTERVAL 9200
#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
#define ADDR_RESET_CMD 0x1E /* read from this address to reset chip (0b0011110 on bus) */
#define ADDR_CMD_CONVERT_D1 0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
#define ADDR_CMD_CONVERT_D2 0x58 /* 4096 samples */
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
static FAR struct ms5611_dev_s ms5611_dev;
static ssize_t ms5611_read(struct file *filp, FAR char *buffer, size_t buflen);
static int ms5611_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations ms5611_fops = {
.read = ms5611_read,
.ioctl = ms5611_ioctl,
};
struct ms5611_prom_s
{
uint16_t factory_setup;
uint16_t c1_pressure_sens;
uint16_t c2_pressure_offset;
uint16_t c3_temp_coeff_pres_sens;
uint16_t c4_temp_coeff_pres_offset;
uint16_t c5_reference_temp;
uint16_t c6_temp_coeff_temp;
uint16_t serial_and_crc;
} __attribute__((packed));
union ms5611_prom_u
{
uint16_t c[8];
struct ms5611_prom_s s;
} __attribute__((packed));
struct ms5611_dev_s
{
union ms5611_prom_u prom;
struct i2c_dev_s *i2c;
struct ms5611_buffer *buffer;
} __attribute__((packed));
static FAR uint8_t MS5611_ADDRESS;
static FAR struct {
/* status register and data as read back from the device */
float pressure;
float altitude;
float temperature;
uint32_t d1_raw;
uint32_t d2_raw;
uint32_t measurements_count;
uint8_t last_state;
uint64_t last_read;
} ms5611_report = {
.pressure = 0.0f,
.altitude = 0.0f,
.temperature = 0.0f,
.last_state = 0,
/* make sure the first readout can be performed */
.last_read = 0,
};
static int ms5611_read_prom(void);
int ms5611_reset()
{
int ret;
printf("[ms5611 drv] Resettet I2C2 BUS\n");
up_i2cuninitialize(ms5611_dev.i2c);
ms5611_dev.i2c = up_i2cinitialize(2);
I2C_SETFREQUENCY(ms5611_dev.i2c, 400000);
return ret;
}
static bool
read_values(float *data)
{
int ret;
uint8_t cmd_data[3];
/* check validity of pointer */
if (data == NULL)
{
*get_errno_ptr() = EINVAL;
return -EINVAL;
}
/* only start reading when data is available */
if (ms5611_report.measurements_count > 0)
{
/* do not read more often than at minimum 9.17 ms intervals */
if ((hrt_absolute_time() - ms5611_report.last_read) < MS5611_MIN_INTER_MEASUREMENT_INTERVAL)
{
/* set errno to 'come back later' */
ret = -EAGAIN;
goto handle_return;
}
else
{
/* set new value */
ms5611_report.last_read = hrt_absolute_time();
}
/* Read out last measurement */
cmd_data[0] = 0x00;
struct i2c_msg_s msgv[2] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = cmd_data,
.length = 1
},
{
.addr = MS5611_ADDRESS,
.flags = I2C_M_READ,
.buffer = cmd_data,
.length = 3
}
};
ret = I2C_TRANSFER(ms5611_dev.i2c, msgv, 2);
if (ret != OK) goto handle_return;
/* at value 1 the last reading was temperature */
if (ms5611_report.last_state == 1)
{
/* put temperature into the raw set */
ms5611_report.d2_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
}
else
{
/* put altitude into the raw set */
ms5611_report.d1_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
}
}
ms5611_report.measurements_count++;
/*
* this block reads four pressure values and one temp value,
* resulting in 80 Hz pressure update and 20 Hz temperature updates
* at 100 Hz continuous operation.
*/
if (ms5611_report.last_state == 0)
{
/* request first a temperature reading */
cmd_data[0] = ADDR_CMD_CONVERT_D2;
}
else
{
/* request pressure reading */
cmd_data[0] = ADDR_CMD_CONVERT_D1;
}
if (ms5611_report.last_state == 3)
{
ms5611_report.last_state = 0;
}
else
{
ms5611_report.last_state++;
}
/* write measurement command */
struct i2c_msg_s conv_cmd[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = cmd_data,
.length = 1
},
};
ret = I2C_TRANSFER(ms5611_dev.i2c, conv_cmd, 1);
if (ret != OK) goto handle_return;
/* only write back values after first complete set */
if (ms5611_report.measurements_count > 2)
{
/* Calculate results */
/* temperature calculation */
int32_t dT = ms5611_report.d2_raw - (((int32_t)ms5611_dev.prom.s.c5_reference_temp)*256);
int64_t temp_int64 = 2000 + (((int64_t)dT)*ms5611_dev.prom.s.c6_temp_coeff_temp)/8388608;
/* pressure calculation */
int64_t offset = (int64_t)ms5611_dev.prom.s.c2_pressure_offset * 65536 + ((int64_t)dT*ms5611_dev.prom.s.c4_temp_coeff_pres_offset)/128;
int64_t sens = (int64_t)ms5611_dev.prom.s.c1_pressure_sens * 32768 + ((int64_t)dT*ms5611_dev.prom.s.c3_temp_coeff_pres_sens)/256;
/* it's pretty cold, second order temperature compensation needed */
if (temp_int64 < 2000)
{
/* second order temperature compensation */
int64_t temp2 = (((int64_t)dT)*dT) >> 31;
int64_t tmp_64 = (temp_int64-2000)*(temp_int64-2000);
int64_t offset2 = (5*tmp_64)>>1;
int64_t sens2 = (5*tmp_64)>>2;
temp_int64 = temp_int64 - temp2;
offset = offset - offset2;
sens = sens - sens2;
}
int64_t press_int64 = (((ms5611_report.d1_raw*sens)/2097152-offset)/32768);
ms5611_report.temperature = temp_int64 / 100.0f;
ms5611_report.pressure = press_int64 / 100.0f;
/* convert as double for max. precision, store as float (more than enough precision) */
ms5611_report.altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
/* Write back float values */
data[0] = ms5611_report.pressure;
data[1] = ms5611_report.altitude;
data[2] = ms5611_report.temperature;
}
else
{
/* not ready, try again */
ret = -EINPROGRESS;
}
/* return 1 if new data is available, 0 else */
handle_return:
if (ret == OK)
{
return (sizeof(ms5611_report.d1_raw) + sizeof(ms5611_report.altitude) + sizeof(ms5611_report.d2_raw));
}
else
{
errno = -ret;
if (errno == ETIMEDOUT || ret == ETIMEDOUT) ms5611_reset();
return ret;
}
}
static ssize_t
ms5611_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 12) {
return read_values((float *)buffer);
}
/* buffer too small */
errno = ENOSPC;
return -ENOSPC;
}
static int
ms5611_ioctl(struct file *filp, int cmd, unsigned long arg)
{
return -ENOSYS;
// switch (cmd) {
// case MS5611_SETRATE:
// if ((arg & REG1_RATE_LP_MASK) == arg) {
// set_rate(arg);
// result = 0;
// dev.rate = arg;
// }
// break;
//
// case MS5611_SETBUFFER:
// dev.buffer = (struct ms5611_buffer *)arg;
// result = 0;
// break;
// }
//
// if (result)
// errno = EINVAL;
// return result;
}
int ms5611_crc4(uint16_t n_prom[])
{
/* routine ported from MS5611 application note */
int16_t cnt;
uint16_t n_rem;
uint16_t crc_read;
uint8_t n_bit;
n_rem = 0x00;
/* save the read crc */
crc_read = n_prom[7];
/* remove CRC byte */
n_prom[7] = (0xFF00 & (n_prom[7]));
for (cnt = 0; cnt < 16; cnt++)
{
/* uneven bytes */
if (cnt & 1)
{
n_rem ^= (uint8_t) ((n_prom[cnt>>1]) & 0x00FF);
}
else
{
n_rem ^= (uint8_t) (n_prom[cnt>>1] >> 8);
}
for (n_bit = 8; n_bit > 0; n_bit--)
{
if (n_rem & 0x8000)
{
n_rem = (n_rem << 1) ^ 0x3000;
}
else
{
n_rem = (n_rem << 1);
}
}
}
/* final 4 bit remainder is CRC value */
n_rem = (0x000F & (n_rem >> 12));
n_prom[7] = crc_read;
/* return 0 == OK if CRCs match, 1 else */
return !((0x000F & crc_read) == (n_rem ^ 0x00));
}
int ms5611_read_prom()
{
/* read PROM data */
uint8_t prom_buf[2] = {255,255};
int retval = 0;
for (int i = 0; i < 8; i++)
{
uint8_t cmd = {ADDR_PROM_SETUP + (i*2)};
I2C_SETADDRESS(ms5611_dev.i2c, MS5611_ADDRESS, 7);
retval = I2C_WRITEREAD(ms5611_dev.i2c, &cmd, 1, prom_buf, 2);
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
ms5611_dev.prom.c[i] = (((uint16_t)prom_buf[0])<<8) | ((uint16_t)prom_buf[1]);
if (retval != OK)
{
break;
}
}
/* calculate CRC and return error if mismatch */
return ms5611_crc4(ms5611_dev.prom.c);
}
int
ms5611_attach(struct i2c_dev_s *i2c)
{
int result = ERROR;
ms5611_dev.i2c = i2c;
MS5611_ADDRESS = MS5611_ADDRESS_1;
/* write reset command */
uint8_t cmd_data = ADDR_RESET_CMD;
struct i2c_msg_s reset_cmd[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = &cmd_data,
.length = 1
},
};
int ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd, 1);
if (ret == OK)
{
/* wait for PROM contents to be in the device (2.8 ms) */
up_udelay(3000);
/* read PROM */
ret = ms5611_read_prom();
}
/* check if the address was wrong */
if (ret != OK)
{
/* try second address */
MS5611_ADDRESS = MS5611_ADDRESS_2;
/* write reset command */
cmd_data = ADDR_RESET_CMD;
struct i2c_msg_s reset_cmd_2[1] = {
{
.addr = MS5611_ADDRESS,
.flags = 0,
.buffer = &cmd_data,
.length = 1
},
};
ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd_2, 1);
/* wait for PROM contents to be in the device (2.8 ms) */
up_udelay(3000);
/* read PROM */
ret = ms5611_read_prom();
}
if (ret < 0) return -EIO;
/* verify that the device is attached and functioning */
if (ret == OK) {
if (MS5611_ADDRESS == MS5611_ADDRESS_1)
{
printf("[ms5611 driver] Attached MS5611 at addr #1 (0x76)\n");
}
else
{
printf("[ms5611 driver] Attached MS5611 at addr #2 (0x77)\n");
}
/* trigger temperature read */
(void)read_values(NULL);
/* wait for conversion to complete */
up_udelay(9200);
/* trigger pressure read */
(void)read_values(NULL);
/* wait for conversion to complete */
up_udelay(9200);
/* now a read_values call would obtain valid results */
/* make ourselves available */
register_driver("/dev/ms5611", &ms5611_fops, 0666, NULL);
result = OK;
} else {
errno = EIO;
}
return result;
}
nuttx/configs/px4fmu/src/up_nsh.c
+1 -30
View File
@@ -61,8 +61,6 @@
#include <arch/board/drv_tone_alarm.h>
#include <arch/board/up_adc.h>
#include <arch/board/board.h>
#include <arch/board/drv_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <arch/board/drv_led.h>
#include <arch/board/drv_eeprom.h>
@@ -181,7 +179,7 @@ int nsh_archinitialize(void)
return -ENODEV;
}
// Setup 10 MHz clock (maximum rate the BMA180 can sustain)
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
@@ -192,33 +190,6 @@ int nsh_archinitialize(void)
message("[boot] Successfully initialized SPI port 1\r\n");
/* initialize SPI peripherals redundantly */
int gyro_attempts = 0;
int gyro_fail = 0;
while (gyro_attempts < 5)
{
gyro_fail = l3gd20_attach(spi1, PX4_SPIDEV_GYRO);
gyro_attempts++;
if (gyro_fail == 0) break;
up_udelay(1000);
}
if (!gyro_fail) message("[boot] Found L3GD20 gyro\n");
int acc_attempts = 0;
int acc_fail = 0;
while (acc_attempts < 5)
{
acc_fail = bma180_attach(spi1, PX4_SPIDEV_ACCEL);
acc_attempts++;
if (acc_fail == 0) break;
up_udelay(1000);
}
if (!acc_fail) message("[boot] Found BMA180 accelerometer\n");
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
nuttx/configs/px4io/common/setenv.sh
+1 -1
View File
@@ -41,7 +41,7 @@ if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
WD=`pwd`
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"
nuttx/configs/px4io/io/setenv.sh
+1 -1
View File
@@ -41,7 +41,7 @@ if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
WD=`pwd`
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"
nuttx/drivers/Kconfig
+8
View File
@@ -11,6 +11,14 @@ config DEV_ZERO
bool "Enable /dev/zero"
default n
config ARCH_HAVE_RNG
bool
config DEV_RANDOM
bool "Enable /dev/random"
default n
depends on ARCH_HAVE_RNG
config LOOP
bool "Enable loop device"
default n
nuttx/drivers/input/Kconfig
+190 -1
View File
@@ -2,6 +2,7 @@
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
config INPUT_TSC2007
bool "TI TSC2007 touchscreen controller"
default n
@@ -9,7 +10,29 @@ config INPUT_TSC2007
---help---
Enable support for the TI TSC2007 touchscreen controller
if INPUT_TSC2007
config TSC2007_8BIT
bool "8-bit Conversions"
default n
---help---
Use faster, but less accurate, 8-bit conversions. Default: 12-bit conversions.
config TSC2007_MULTIPLE
bool "Multiple TSC2007 Devices"
default n
---help---
Can be defined to support multiple TSC2007 devices on board.
config TSC2007_NPOLLWAITERS
int "Number poll waiters"
default 4
depends on !DISABLE_POLL
---help---
Maximum number of threads that can be waiting on poll()
endif
config INPUT_ADS7843E
bool "TI ADS7843/TSC2046 touchscreen controller"
default n
@@ -18,3 +41,169 @@ config INPUT_ADS7843E
Enable support for the TI/Burr-Brown ADS7842 touchscreen controller. I believe
that driver should be compatibile with the TI/Burr-Brown TSC2046 and XPT2046
touchscreen controllers as well.
if INPUT_ADS7843E
config ADS7843E_MULTIPLE
bool "Multiple ADS7843E Devices"
default n
---help---
Can be defined to support multiple ADS7843E devices on board.
config ADS7843E_NPOLLWAITERS
int "Number poll waiters"
default 4
depends on !DISABLE_POLL
---help---
Maximum number of threads that can be waiting on poll()
config ADS7843E_SPIMODE
int "SPI mode"
default 0
range 0,3
---help---
Controls the SPI mode. The device should work in mode 0, but sometimes
you need to experiment.
config ADS7843E_FREQUENCY
int "SPI frequency"
default 100000
---help---
Define to use a different SPI bus frequency.
config ADS7843E_SWAPXY
bool "Swap X/Y"
default n
---help---
Reverse the meaning of X and Y to handle different LCD orientations.
config ADS7843E_THRESHX
int "X threshold"
default 12
---help---
New touch positions will only be reported when the X or Y data changes by these
thresholds. This trades reduces data rate for some loss in dragging accuracy. For
12-bit values so the raw ranges are 0-4095. So for example, if your display is
320x240, then THRESHX=13 and THRESHY=17 would correspond to one pixel. Default: 12
config ADS7843E_THRESHY
int "Y threshold"
default 12
---help---
New touch positions will only be reported when the X or Y data changes by these
thresholds. This trades reduces data rate for some loss in dragging accuracy. For
12-bit values so the raw ranges are 0-4095. So for example, if your display is
320x240, then THRESHX=13 and THRESHY=17 would correspond to one pixel. Default: 12
endif
config INPUT_STMPE811
bool "STMicro STMPE811 Driver"
default n
---help---
Enables support for the STMPE811 driver
if INPUT_STMPE811
choice
prompt "STMPE Interface"
default STMPE811_I2C
config STMPE811_SPI
bool "SPI Interface"
select SPI
---help---
Enables support for the SPI interface (not currently supported)
config STMPE811_I2C
bool "STMPE811 I2C Interface"
select I2C
---help---
Enables support for the I2C interface
endchoice
config STMPE811_MULTIPLE
bool "Multiple STMPE811 Devices"
default n
---help---
Can be defined to support multiple STMPE811 devices on board.
config STMPE811_NPOLLWAITERS
int "Number poll waiters"
default 4
depends on !DISABLE_POLL
---help---
Maximum number of threads that can be waiting on poll()
config STMPE811_TSC_DISABLE
bool "Disable STMPE811 Touchscreen Support"
default n
---help---
Disable driver touchscreen functionality.
config STMPE811_SWAPXY
bool "Swap X/Y"
default n
depends on !STMPE811_TSC_DISABLE
---help---
Reverse the meaning of X and Y to handle different LCD orientations.
config STMPE811_THRESHX
int "X threshold"
default 12
depends on !STMPE811_TSC_DISABLE
---help---
STMPE811 touchscreen data comes in a a very high rate. New touch positions
will only be reported when the X or Y data changes by these thresholds.
This trades reduces data rate for some loss in dragging accuracy. The
STMPE811 is configure for 12-bit values so the raw ranges are 0-4095. So
for example, if your display is 320x240, then THRESHX=13 and THRESHY=17
would correspond to one pixel. Default: 12
config STMPE811_THRESHY
int "Y threshold"
default 12
depends on !STMPE811_TSC_DISABLE
---help---
STMPE811 touchscreen data comes in a a very high rate. New touch positions
will only be reported when the X or Y data changes by these thresholds.
This trades reduces data rate for some loss in dragging accuracy. The
STMPE811 is configure for 12-bit values so the raw ranges are 0-4095. So
for example, if your display is 320x240, then THRESHX=13 and THRESHY=17
would correspond to one pixel. Default: 12
config STMPE811_ADC_DISABLE
bool "Disable STMPE811 ADC Support"
default y
---help---
Disable driver ADC functionality.
config STMPE811_GPIO_DISABLE
bool "Disable STMPE811 GPIO Support"
default y
---help---
Disable driver GPIO functionality.
config STMPE811_GPIOINT_DISABLE
bool "Disable STMPE811 GPIO Interrupt Support"
default y
depends on !STMPE811_GPIO_DISABLE
---help---
Disable driver GPIO interrupt functionlality (ignored if GPIO functionality is
disabled).
config STMPE811_TEMP_DISABLE
bool "Disable STMPE811 Temperature Sensor Support"
default y
---help---
Disable driver temperature sensor functionality.
config STMPE811_REGDEBUG
bool "Enable Register-Level STMPE811 Debug"
default n
depends on DEBUG
---help---
Enable very low register-level debug output.
endif
nuttx/drivers/input/ads7843e.c
+151 -73
View File
@@ -79,6 +79,12 @@
* Pre-processor Definitions
****************************************************************************/
/* This is a value for the threshold that guantees a big difference on the
* first pendown (but can't overflow).
*/
#define INVALID_THRESHOLD 0x1000
/****************************************************************************
* Private Types
****************************************************************************/
@@ -88,13 +94,14 @@
****************************************************************************/
/* Low-level SPI helpers */
static inline void ads7843e_configspi(FAR struct spi_dev_s *spi);
#ifdef CONFIG_SPI_OWNBUS
static inline void ads7843e_select(FAR struct spi_dev_s *spi);
static inline void ads7843e_deselect(FAR struct spi_dev_s *spi);
static inline void ads7843e_configspi(FAR struct spi_dev_s *spi);
# define ads7843e_lock(spi)
# define ads7843e_unlock(spi)
#else
static void ads7843e_select(FAR struct spi_dev_s *spi);
static void ads7843e_deselect(FAR struct spi_dev_s *spi);
# define ads7843e_configspi(spi);
static void ads7843e_lock(FAR struct spi_dev_s *spi);
static void ads7843e_unlock(FAR struct spi_dev_s *spi);
#endif
static inline void ads7843e_waitbusy(FAR struct ads7843e_dev_s *priv);
@@ -157,13 +164,12 @@ static struct ads7843e_dev_s *g_ads7843elist;
****************************************************************************/
/****************************************************************************
* Function: ads7843e_select
* Function: ads7843e_lock
*
* Description:
* Select the SPI, locking and re-configuring if necessary. This function
* must be called before initiating any sequence of SPI operations. If we
* are sharing the SPI bus with other devices (CONFIG_SPI_OWNBUS undefined)
* then we need to lock and configure the SPI bus for each transfer.
* Lock the SPI bus and re-configure as necessary. This function must be
* to assure: (1) exclusive access to the SPI bus, and (2) to assure that
* the shared bus is properly configured for the touchscreen controller.
*
* Parameters:
* spi - Reference to the SPI driver structure
@@ -175,42 +181,35 @@ static struct ads7843e_dev_s *g_ads7843elist;
*
****************************************************************************/
#ifdef CONFIG_SPI_OWNBUS
static inline void ads7843e_select(FAR struct spi_dev_s *spi)
#ifndef CONFIG_SPI_OWNBUS
static void ads7843e_lock(FAR struct spi_dev_s *spi)
{
/* We own the SPI bus, so just select the chip */
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
}
#else
static void ads7843e_select(FAR struct spi_dev_s *spi)
{
/* Select ADS7843 chip (locking the SPI bus in case there are multiple
* devices competing for the SPI bus
/* Lock the SPI bus because there are multiple devices competing for the
* SPI bus
*/
(void)SPI_LOCK(spi, true);
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
/* Now make sure that the SPI bus is configured for the ADS7843 (it
* might have gotten configured for a different device while unlocked)
/* We have the lock. Now make sure that the SPI bus is configured for the
* ADS7843 (it might have gotten configured for a different device while
* unlocked)
*/
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
SPI_SETMODE(spi, CONFIG_ADS7843E_SPIMODE);
SPI_SETBITS(spi, 8);
SPI_SETFREQUENCY(spi, CONFIG_ADS7843E_FREQUENCY);
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
}
#endif
/****************************************************************************
* Function: ads7843e_deselect
* Function: ads7843e_unlock
*
* Description:
* De-select the SPI, unlocking as necessary. This function must be
* after completing a sequence of SPI operations. If we are sharing the SPI
* bus with other devices (CONFIG_SPI_OWNBUS undefined) then we need to
* un-lock the SPI bus for each transfer, possibly losing the current
* configuration.
* If we are sharing the SPI bus with other devices (CONFIG_SPI_OWNBUS
* undefined) then we need to un-lock the SPI bus for each transfer,
* possibly losing the current configuration.
*
* Parameters:
* spi - Reference to the SPI driver structure
@@ -222,19 +221,11 @@ static void ads7843e_select(FAR struct spi_dev_s *spi)
*
****************************************************************************/
#ifdef CONFIG_SPI_OWNBUS
static inline void ads7843e_deselect(FAR struct spi_dev_s *spi)
#ifndef CONFIG_SPI_OWNBUS
static void ads7843e_unlock(FAR struct spi_dev_s *spi)
{
/* We own the SPI bus, so just de-select the chip */
/* Relinquish the SPI bus. */
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
}
#else
static void ads7843e_deselect(FAR struct spi_dev_s *spi)
{
/* De-select ADS7843 chip and relinquish the SPI bus. */
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
(void)SPI_LOCK(spi, false);
}
#endif
@@ -258,23 +249,20 @@ static void ads7843e_deselect(FAR struct spi_dev_s *spi)
*
****************************************************************************/
#ifdef CONFIG_SPI_OWNBUS
static inline void ads7843e_configspi(FAR struct spi_dev_s *spi)
{
idbg("Mode: %d Bits: 8 Frequency: %d\n",
CONFIG_ADS7843E_SPIMODE, CONFIG_ADS7843E_FREQUENCY);
/* Configure SPI for the ADS7843. But only if we own the SPI bus. Otherwise, don't
* bother because it might change.
*/
#ifdef CONFIG_SPI_OWNBUS
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, true);
SPI_SETMODE(spi, CONFIG_ADS7843E_SPIMODE);
SPI_SETBITS(spi, 8);
SPI_SETFREQUENCY(spi, CONFIG_ADS7843E_FREQUENCY);
SPI_SELECT(spi, SPIDEV_TOUCHSCREEN, false);
#endif
}
#endif
/****************************************************************************
* Name: ads7843e_waitbusy
@@ -296,7 +284,7 @@ static uint16_t ads7843e_sendcmd(FAR struct ads7843e_dev_s *priv, uint8_t cmd)
/* Select the ADS7843E */
ads7843e_select(priv->spi);
SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, true);
/* Send the command */
@@ -306,7 +294,7 @@ static uint16_t ads7843e_sendcmd(FAR struct ads7843e_dev_s *priv, uint8_t cmd)
/* Read the data */
SPI_RECVBLOCK(priv->spi, buffer, 2);
ads7843e_deselect(priv->spi);
SPI_SELECT(priv->spi, SPIDEV_TOUCHSCREEN, false);
result = ((uint16_t)buffer[0] << 8) | (uint16_t)buffer[1];
result = result >> 4;
@@ -554,7 +542,12 @@ static void ads7843e_worker(FAR void *arg)
{
FAR struct ads7843e_dev_s *priv = (FAR struct ads7843e_dev_s *)arg;
FAR struct ads7843e_config_s *config;
uint16_t x;
uint16_t y;
uint16_t xdiff;
uint16_t ydiff;
bool pendown;
int ret;
ASSERT(priv != NULL);
@@ -565,10 +558,30 @@ static void ads7843e_worker(FAR void *arg)
config = priv->config;
DEBUGASSERT(config != NULL);
/* Disable the watchdog timer */
/* Disable the watchdog timer. This is safe because it is started only
* by this function and this function is serialized on the worker thread.
*/
wd_cancel(priv->wdog);
/* Lock the SPI bus so that we have exclusive access */
ads7843e_lock(priv->spi);
/* Get exclusive access to the driver data structure */
do
{
ret = sem_wait(&priv->devsem);
/* This should only fail if the wait was canceled by an signal
* (and the worker thread will receive a lot of signals).
*/
DEBUGASSERT(ret == OK || errno == EINTR);
}
while (ret < 0);
/* Check for pen up or down by reading the PENIRQ GPIO. */
pendown = config->pendown(config);
@@ -577,13 +590,20 @@ static void ads7843e_worker(FAR void *arg)
if (!pendown)
{
/* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up and
* already reported. CONTACT_UP == pen up, but not reported)
/* The pen is up.. reset thresholding variables. */
priv->threshx = INVALID_THRESHOLD;
priv->threshy = INVALID_THRESHOLD;
/* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up
* and already reported; CONTACT_UP == pen up, but not reported)
*/
if (priv->sample.contact == CONTACT_NONE)
if (priv->sample.contact == CONTACT_NONE ||
priv->sample.contact == CONTACT_UP)
{
goto errout;
goto ignored;
}
/* The pen is up. NOTE: We know from a previous test, that this is a
@@ -601,14 +621,57 @@ static void ads7843e_worker(FAR void *arg)
else if (priv->sample.contact == CONTACT_UP)
{
goto errout;
/* If we have not yet processed the last pen up event, then we
* cannot handle this pen down event. We will have to discard it. That
* should be okay because we will set the timer to to sample again
* later.
*/
wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
goto ignored;
}
else
{
/* Handle pen down events. First, sample positional values. */
priv->sample.x = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
priv->sample.y = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
#ifdef CONFIG_ADS7843E_SWAPXY
x = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
y = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
#else
x = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
y = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
#endif
/* Perform a thresholding operation so that the results will be more stable.
* If the difference from the last sample is small, then ignore the event.
* REVISIT: Should a large change in pressure also generate a event?
*/
xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
/* Continue to sample the position while the pen is down */
wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
/* Check the thresholds. Bail if there is no significant difference */
if (xdiff < CONFIG_ADS7843E_THRESHX && ydiff < CONFIG_ADS7843E_THRESHY)
{
/* Little or no change in either direction ... don't report anything. */
goto ignored;
}
/* When we see a big difference, snap to the new x/y thresholds */
priv->threshx = x;
priv->threshy = y;
/* Update the x/y position in the sample data */
priv->sample.x = priv->threshx;
priv->sample.y = priv->threshy;
/* The X/Y positional data is now valid */
@@ -625,10 +688,6 @@ static void ads7843e_worker(FAR void *arg)
priv->sample.contact = CONTACT_DOWN;
}
/* Continue to sample the position while the pen is down */
wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
}
/* Indicate the availability of new sample data for this ID */
@@ -642,9 +701,15 @@ static void ads7843e_worker(FAR void *arg)
/* Exit, re-enabling ADS7843E interrupts */
errout:
ignored:
(void)ads7843e_sendcmd(priv, ADS7843_CMD_ENABPINIRQ);
config->enable(config, true);
/* Release our lock on the state structure and unlock the SPI bus */
sem_post(&priv->devsem);
ads7843e_unlock(priv->spi);
}
/****************************************************************************
@@ -871,7 +936,7 @@ static ssize_t ads7843e_read(FAR struct file *filep, FAR char *buffer, size_t le
report = (FAR struct touch_sample_s *)buffer;
memset(report, 0, SIZEOF_TOUCH_SAMPLE_S(1));
report->npoints = 1;
report->point[0].id = priv->id;
report->point[0].id = sample.id;
report->point[0].x = sample.x;
report->point[0].y = sample.y;
@@ -886,8 +951,7 @@ static ssize_t ads7843e_read(FAR struct file *filep, FAR char *buffer, size_t le
if (sample.valid)
{
report->point[0].flags = TOUCH_UP | TOUCH_ID_VALID |
TOUCH_POS_VALID | TOUCH_PRESSURE_VALID;
report->point[0].flags = TOUCH_UP | TOUCH_ID_VALID | TOUCH_POS_VALID;
}
else
{
@@ -1098,7 +1162,7 @@ errout:
*
****************************************************************************/
int ads7843e_register(FAR struct spi_dev_s *dev,
int ads7843e_register(FAR struct spi_dev_s *spi,
FAR struct ads7843e_config_s *config, int minor)
{
FAR struct ads7843e_dev_s *priv;
@@ -1108,11 +1172,11 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
#endif
int ret;
ivdbg("dev: %p minor: %d\n", dev, minor);
ivdbg("spi: %p minor: %d\n", spi, minor);
/* Debug-only sanity checks */
DEBUGASSERT(dev != NULL && config != NULL && minor >= 0 && minor < 100);
DEBUGASSERT(spi != NULL && config != NULL && minor >= 0 && minor < 100);
/* Create and initialize a ADS7843E device driver instance */
@@ -1130,11 +1194,14 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
/* Initialize the ADS7843E device driver instance */
memset(priv, 0, sizeof(struct ads7843e_dev_s));
priv->spi = dev; /* Save the SPI device handle */
priv->config = config; /* Save the board configuration */
priv->wdog = wd_create(); /* Create a watchdog timer */
sem_init(&priv->devsem, 0, 1); /* Initialize device structure semaphore */
sem_init(&priv->waitsem, 0, 0); /* Initialize pen event wait semaphore */
priv->spi = spi; /* Save the SPI device handle */
priv->config = config; /* Save the board configuration */
priv->wdog = wd_create(); /* Create a watchdog timer */
priv->threshx = INVALID_THRESHOLD; /* Initialize thresholding logic */
priv->threshy = INVALID_THRESHOLD; /* Initialize thresholding logic */
sem_init(&priv->devsem, 0, 1); /* Initialize device structure semaphore */
sem_init(&priv->waitsem, 0, 0); /* Initialize pen event wait semaphore */
/* Make sure that interrupts are disabled */
@@ -1150,14 +1217,25 @@ int ads7843e_register(FAR struct spi_dev_s *dev,
goto errout_with_priv;
}
idbg("Mode: %d Bits: 8 Frequency: %d\n",
CONFIG_ADS7843E_SPIMODE, CONFIG_ADS7843E_FREQUENCY);
/* Lock the SPI bus so that we have exclusive access */
ads7843e_lock(spi);
/* Configure the SPI interface */
ads7843e_configspi(dev);
ads7843e_configspi(spi);
/* Enable the PEN IRQ */
ads7843e_sendcmd(priv, ADS7843_CMD_ENABPINIRQ);
/* Unlock the bus */
ads7843e_unlock(spi);
/* Register the device as an input device */
(void)snprintf(devname, DEV_NAMELEN, DEV_FORMAT, minor);
nuttx/drivers/input/ads7843e.h
+2
View File
@@ -139,6 +139,8 @@ struct ads7843e_dev_s
uint8_t nwaiters; /* Number of threads waiting for ADS7843E data */
uint8_t id; /* Current touch point ID */
volatile bool penchange; /* An unreported event is buffered */
uint16_t threshx; /* Thresholding X value */
uint16_t threshy; /* Thresholding Y value */
sem_t devsem; /* Manages exclusive access to this structure */
sem_t waitsem; /* Used to wait for the availability of data */
nuttx/drivers/lcd/ssd1289.c
+111 -12
View File
@@ -229,8 +229,8 @@
/* Debug ******************************************************************************/
#ifdef CONFIG_DEBUG_LCD
# define lcddbg dbg
# define lcdvdbg vdbg
# define lcddbg dbg
# define lcdvdbg vdbg
#else
# define lcddbg(x...)
# define lcdvdbg(x...)
@@ -253,6 +253,16 @@ struct ssd1289_dev_s
FAR struct ssd1289_lcd_s *lcd; /* The contained platform-specific, LCD interface */
uint8_t power; /* Current power setting */
/* These fields simplify and reduce debug output */
#ifdef CONFIG_DEBUG_LCD
bool put; /* Last raster operation was a putrun */
fb_coord_t firstrow; /* First row of the run */
fb_coord_t lastrow; /* Last row of the run */
fb_coord_t col; /* Column of the run */
size_t npixels; /* Length of the run */
#endif
/* This is working memory allocated by the LCD driver for each LCD device
* and for each color plane. This memory will hold one raster line of data.
* The size of the allocated run buffer must therefore be at least
@@ -287,6 +297,19 @@ static void ssd1289_setcursor(FAR struct ssd1289_lcd_s *lcd, uint16_t column,
/* LCD Data Transfer Methods */
#if 0 /* Sometimes useful */
static void ssd1289_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixels);
#else
# define ssd1289_dumprun(m,r,n)
#endif
#ifdef CONFIG_DEBUG_LCD
static void ssd1289_showrun(FAR struct ssd1289_dev_s *priv, fb_coord_t row,
fb_coord_t col, size_t npixels, bool put);
#else
# define ssd1289_showrun(p,r,c,n,b)
#endif
static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buffer,
size_t npixels);
static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
@@ -488,6 +511,64 @@ static void ssd1289_dumprun(FAR const char *msg, FAR uint16_t *run, size_t npixe
}
#endif
/**************************************************************************************
* Name: ssd1289_showrun
*
* Description:
* When LCD debug is enabled, try to reduce then amount of ouptut data generated by
* ssd1289_putrun and ssd1289_getrun
*
**************************************************************************************/
#ifdef CONFIG_DEBUG_LCD
static void ssd1289_showrun(FAR struct ssd1289_dev_s *priv, fb_coord_t row,
fb_coord_t col, size_t npixels, bool put)
{
fb_coord_t nextrow = priv->lastrow + 1;
/* Has anything changed (other than the row is the next row in the sequence)? */
if (put == priv->put && row == nextrow && col == priv->col &&
npixels == priv->npixels)
{
/* No, just update the last row */
priv->lastrow = nextrow;
}
else
{
/* Yes... then this is the end of the preceding sequence. Output the last run
* (if there were more than one run in the sequence).
*/
if (priv->firstrow != priv->lastrow)
{
lcddbg("...\n");
lcddbg("%s row: %d col: %d npixels: %d\n",
priv->put ? "PUT" : "GET",
priv->lastrow, priv->col, priv->npixels);
}
/* And we are starting a new sequence. Output the first run of the
* new sequence
*/
lcddbg("%s row: %d col: %d npixels: %d\n",
put ? "PUT" : "GET", row, col, npixels);
/* And save information about the run so that we can detect continuations
* of the sequence.
*/
priv->put = put;
priv->firstrow = row;
priv->lastrow = row;
priv->col = col;
priv->npixels = npixels;
}
}
#endif
/**************************************************************************************
* Name: ssd1289_putrun
*
@@ -512,7 +593,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
/* Buffer must be provided and aligned to a 16-bit address boundary */
lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
ssd1289_showrun(priv, row, col, npixels, true);
DEBUGASSERT(buffer && ((uintptr_t)buffer & 1) == 0);
/* Select the LCD */
@@ -536,7 +617,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
ssd1289_gramselect(lcd);
ssd1289_gramwrite(lcd, *src);
/* Increment to next column */
/* Increment to the next column */
src++;
col++;
@@ -581,7 +662,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
ssd1289_gramselect(lcd);
ssd1289_gramwrite(lcd, *src);
/* Increment to next column */
/* Increment to the next column */
src++;
col--;
@@ -604,7 +685,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
ssd1289_gramselect(lcd);
ssd1289_gramwrite(lcd, *src);
/* Decrement to next column */
/* Decrement to the next column */
src++;
col++;
@@ -632,7 +713,7 @@ static int ssd1289_putrun(fb_coord_t row, fb_coord_t col, FAR const uint8_t *buf
**************************************************************************************/
static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
size_t npixels)
size_t npixels)
{
#ifndef CONFIG_LCD_NOGETRUN
FAR struct ssd1289_dev_s *priv = &g_lcddev;
@@ -643,7 +724,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
/* Buffer must be provided and aligned to a 16-bit address boundary */
lcdvdbg("row: %d col: %d npixels: %d\n", row, col, npixels);
ssd1289_showrun(priv, row, col, npixels, false);
DEBUGASSERT(buffer && ((uintptr_t)buffer & 1) == 0);
/* Select the LCD */
@@ -666,7 +747,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
ssd1289_readsetup(lcd, &accum);
*dest++ = ssd1289_gramread(lcd, &accum);
/* Increment to next column */
/* Increment to the next column */
col++;
}
@@ -715,7 +796,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
ssd1289_readsetup(lcd, &accum);
*dest++ = ssd1289_gramread(lcd, &accum);
/* Increment to next column */
/* Increment to the next column */
col--;
}
@@ -738,7 +819,7 @@ static int ssd1289_getrun(fb_coord_t row, fb_coord_t col, FAR uint8_t *buffer,
ssd1289_readsetup(lcd, &accum);
*dest++ = ssd1289_gramread(lcd, &accum);
/* Decrement to next column */
/* Decrement to the next column */
col++;
}
@@ -931,9 +1012,27 @@ static inline int ssd1289_hwinitialize(FAR struct ssd1289_dev_s *priv)
lcd->select(lcd);
/* Read the device ID. Skip verification of the device ID is the LCD is
* write-only. What choice do we have?
*/
#ifndef CONFIG_LCD_NOGETRUN
id = ssd1289_readreg(lcd, SSD1289_DEVCODE);
lcddbg("LCD ID: %04x\n", id);
if (id != 0)
{
lcddbg("LCD ID: %04x\n", id);
}
/* If we could not get the ID, then let's just assume that this is an SSD1289.
* Perhaps we have some early register access issues. This seems to happen.
* But then perhaps we should not even bother to read the device ID at all?
*/
else
{
lcddbg("No LCD ID, assuming SSD1289\n");
id = SSD1289_DEVCODE_VALUE;
}
/* Check if the ID is for the SSD1289 */
nuttx/drivers/mtd/ramtron.c
+115 -103
View File
@@ -98,7 +98,7 @@
#define RAMTRON_WRITE 0x02 /* 1 Write A 0 1-256 */
#define RAMTRON_SLEEP 0xb9 // TODO:
#define RAMTRON_RDID 0x9f /* 1 Read Identification 0 0 1-3 */
#define RAMTRON_SN 0xc3 // TODO:
#define RAMTRON_SN 0xc3 // TODO:
/* Status register bit definitions */
@@ -125,12 +125,12 @@
struct ramtron_parts_s
{
const char *name;
uint8_t id1;
uint8_t id2;
uint32_t size;
uint8_t addr_len;
uint32_t speed;
const char *name;
uint8_t id1;
uint8_t id2;
uint32_t size;
uint8_t addr_len;
uint32_t speed;
};
/* This type represents the state of the MTD device. The struct mtd_dev_s
@@ -146,84 +146,86 @@ struct ramtron_dev_s
uint8_t pageshift;
uint16_t nsectors;
uint32_t npages;
const struct ramtron_parts_s *part; /* part instance */
const struct ramtron_parts_s *part; /* part instance */
};
/************************************************************************************
* Supported Part Lists
************************************************************************************/
// Defines the initial speed compatible with all devices. In case of RAMTRON
// the defined devices within the part list have all the same speed.
#define RAMTRON_INIT_CLK_MAX 40000000UL
/* Defines the initial speed compatible with all devices. In case of RAMTRON
* the defined devices within the part list have all the same speed.
*/
#define RAMTRON_INIT_CLK_MAX 40000000UL
static struct ramtron_parts_s ramtron_parts[] =
{
{
"FM25V02", /* name */
0x22, /* id1 */
0x00, /* id2 */
32L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25VN02", /* name */
0x22, /* id1 */
0x01, /* id2 */
32L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25V05", /* name */
0x23, /* id1 */
0x00, /* id2 */
64L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25VN05", /* name */
0x23, /* id1 */
0x01, /* id2 */
64L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25V10", /* name */
0x24, /* id1 */
0x00, /* id2 */
128L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
{
"FM25VN10", /* name */
0x24, /* id1 */
0x01, /* id2 */
128L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
{
"FM25V02", /* name */
0x22, /* id1 */
0x00, /* id2 */
32L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25VN02", /* name */
0x22, /* id1 */
0x01, /* id2 */
32L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25V05", /* name */
0x23, /* id1 */
0x00, /* id2 */
64L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25VN05", /* name */
0x23, /* id1 */
0x01, /* id2 */
64L*1024L, /* size */
2, /* addr_len */
40000000 /* speed */
},
{
"FM25V10", /* name */
0x24, /* id1 */
0x00, /* id2 */
128L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
{
"FM25VN10", /* name */
0x24, /* id1 */
0x01, /* id2 */
128L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
#ifdef CONFIG_RAMTRON_FRAM_NON_JEDEC
{
"FM25H20", /* name */
0xff, /* id1 */
0xff, /* id2 */
256L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
{
NULL, /* name */
0, /* id1 */
0, /* id2 */
0, /* size */
0, /* addr_len */
0 /* speed */
}
{
"FM25H20", /* name */
0xff, /* id1 */
0xff, /* id2 */
256L*1024L, /* size */
3, /* addr_len */
40000000 /* speed */
},
{
NULL, /* name */
0, /* id1 */
0, /* id2 */
0, /* size */
0, /* addr_len */
0 /* speed */
}
#endif
};
@@ -240,17 +242,17 @@ static inline int ramtron_readid(struct ramtron_dev_s *priv);
static void ramtron_waitwritecomplete(struct ramtron_dev_s *priv);
static void ramtron_writeenable(struct ramtron_dev_s *priv);
static inline void ramtron_pagewrite(struct ramtron_dev_s *priv, FAR const uint8_t *buffer,
off_t offset);
off_t offset);
/* MTD driver methods */
static int ramtron_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR uint8_t *buf);
size_t nblocks, FAR uint8_t *buf);
static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR const uint8_t *buf);
size_t nblocks, FAR const uint8_t *buf);
static ssize_t ramtron_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
FAR uint8_t *buffer);
FAR uint8_t *buffer);
static int ramtron_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
/************************************************************************************
@@ -317,31 +319,37 @@ static inline int ramtron_readid(struct ramtron_dev_s *priv)
/* Send the "Read ID (RDID)" command and read the first three ID bytes */
(void)SPI_SEND(priv->dev, RAMTRON_RDID);
for (i=0; i<6; i++) manufacturer = SPI_SEND(priv->dev, RAMTRON_DUMMY);
memory = SPI_SEND(priv->dev, RAMTRON_DUMMY);
capacity = SPI_SEND(priv->dev, RAMTRON_DUMMY); // fram.id1
part = SPI_SEND(priv->dev, RAMTRON_DUMMY); // fram.id2
for (i = 0; i < 6; i++)
{
manufacturer = SPI_SEND(priv->dev, RAMTRON_DUMMY);
}
memory = SPI_SEND(priv->dev, RAMTRON_DUMMY);
capacity = SPI_SEND(priv->dev, RAMTRON_DUMMY); // fram.id1
part = SPI_SEND(priv->dev, RAMTRON_DUMMY); // fram.id2
/* Deselect the FLASH and unlock the bus */
SPI_SELECT(priv->dev, SPIDEV_FLASH, false);
ramtron_unlock(priv->dev);
// Select part from the part list
/* Select part from the part list */
for (priv->part = ramtron_parts;
priv->part->name != NULL && !(priv->part->id1 == capacity && priv->part->id2 == part);
priv->part++);
if (priv->part->name) {
fvdbg("RAMTRON %s of size %d bytes (mf:%02x mem:%02x cap:%02x part:%02x)\n",
priv->part->name, priv->part->size, manufacturer, memory, capacity, part);
priv->part->name != NULL && !(priv->part->id1 == capacity && priv->part->id2 == part);
priv->part++);
if (priv->part->name)
{
fvdbg("RAMTRON %s of size %d bytes (mf:%02x mem:%02x cap:%02x part:%02x)\n",
priv->part->name, priv->part->size, manufacturer, memory, capacity, part);
priv->sectorshift = RAMTRON_EMULATE_SECTOR_SHIFT;
priv->nsectors = priv->part->size / (1 << RAMTRON_EMULATE_SECTOR_SHIFT);
priv->pageshift = RAMTRON_EMULATE_PAGE_SHIFT;
priv->npages = priv->part->size / (1 << RAMTRON_EMULATE_PAGE_SHIFT);
return OK;
}
priv->sectorshift = RAMTRON_EMULATE_SECTOR_SHIFT;
priv->nsectors = priv->part->size / (1 << RAMTRON_EMULATE_SECTOR_SHIFT);
priv->pageshift = RAMTRON_EMULATE_PAGE_SHIFT;
priv->npages = priv->part->size / (1 << RAMTRON_EMULATE_PAGE_SHIFT);
return OK;
}
fvdbg("RAMTRON device not found\n");
return -ENODEV;
@@ -408,8 +416,10 @@ static inline void ramtron_sendaddr(const struct ramtron_dev_s *priv, uint32_t a
DEBUGASSERT(priv->part->addr_len == 3 || priv->part->addr_len == 2);
if (priv->part->addr_len == 3)
(void)SPI_SEND(priv->dev, (addr >> 16) & 0xff);
{
(void)SPI_SEND(priv->dev, (addr >> 16) & 0xff);
}
(void)SPI_SEND(priv->dev, (addr >> 8) & 0xff);
(void)SPI_SEND(priv->dev, addr & 0xff);
}
@@ -419,7 +429,7 @@ static inline void ramtron_sendaddr(const struct ramtron_dev_s *priv, uint32_t a
************************************************************************************/
static inline void ramtron_pagewrite(struct ramtron_dev_s *priv, FAR const uint8_t *buffer,
off_t page)
off_t page)
{
off_t offset = page << priv->pageshift;
@@ -475,7 +485,7 @@ static int ramtron_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbl
************************************************************************************/
static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
FAR uint8_t *buffer)
FAR uint8_t *buffer)
{
FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
ssize_t nbytes;
@@ -489,6 +499,7 @@ static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t
{
return nbytes >> priv->pageshift;
}
return (int)nbytes;
}
@@ -497,7 +508,7 @@ static ssize_t ramtron_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t
************************************************************************************/
static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
FAR const uint8_t *buffer)
FAR const uint8_t *buffer)
{
FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
size_t blocksleft = nblocks;
@@ -512,8 +523,8 @@ static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_
ramtron_pagewrite(priv, buffer, startblock);
startblock++;
}
ramtron_unlock(priv->dev);
ramtron_unlock(priv->dev);
return nblocks;
}
@@ -522,7 +533,7 @@ static ssize_t ramtron_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_
************************************************************************************/
static ssize_t ramtron_read(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes,
FAR uint8_t *buffer)
FAR uint8_t *buffer)
{
FAR struct ramtron_dev_s *priv = (FAR struct ramtron_dev_s *)dev;
@@ -662,6 +673,7 @@ FAR struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev)
if (ramtron_readid(priv) != OK)
{
/* Unrecognized! Discard all of that work we just did and return NULL */
kfree(priv);
priv = NULL;
}
nuttx/drivers/mtd/w25.c
+6 -15
View File
@@ -693,7 +693,7 @@ static void w25_pagewrite(struct w25_dev_s *priv, FAR const uint8_t *buffer,
uint8_t status;
fvdbg("address: %08lx nwords: %d\n", (long)address, (int)nbytes);
DEBUGASSERT(priv && buffer && ((uintptr_t)buffer & 0xff) == 0 &&
DEBUGASSERT(priv && buffer && (address & 0xff) == 0 &&
(nbytes & 0xff) == 0);
for (; nbytes > 0; nbytes -= W25_PAGE_SIZE)
@@ -955,36 +955,27 @@ static int w25_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks
static ssize_t w25_bread(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
FAR uint8_t *buffer)
{
#ifdef CONFIG_W25_SECTOR512
ssize_t nbytes;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
/* On this device, we can handle the block read just like the byte-oriented read */
#ifdef CONFIG_W25_SECTOR512
nbytes = w25_read(dev, startblock << W25_SECTOR512_SHIFT, nblocks << W25_SECTOR512_SHIFT, buffer);
if (nbytes > 0)
{
return nbytes >> W25_SECTOR512_SHIFT;
nbytes >>= W25_SECTOR512_SHIFT;
}
return (int)nbytes;
#else
FAR struct w25_dev_s *priv = (FAR struct w25_dev_s *)dev;
ssize_t nbytes;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
/* On this device, we can handle the block read just like the byte-oriented read */
nbytes = w25_read(dev, startblock << W25_SECTOR_SHIFT, nblocks << W25_SECTOR_SHIFT, buffer);
if (nbytes > 0)
{
return nbytes >> W25_SECTOR_SHIFT;
nbytes >>= W25_SECTOR_SHIFT;
}
return (int)nbytes;
#endif
return nbytes;
}
/************************************************************************************
nuttx/fs/nxffs/Kconfig
+8 -8
View File
@@ -12,31 +12,31 @@ config FS_NXFFS
if FS_NXFFS
config NXFFS_ERASEDSTATE
bool "FLASH erased state"
default n
hex "FLASH erased state"
default 0xff
---help---
The erased state of FLASH.
This must have one of the values of 0xff or 0x00.
Default: 0xff.
config NXFFS_PACKTHRESHOLD
bool "Re-packing threshold"
default n
int "Re-packing threshold"
default 32
---help---
When packing flash file data,
don't both with file chunks smaller than this number of data bytes.
Default: 32.
config NXFFS_MAXNAMLEN
bool "Maximum file name length"
default n
int "Maximum file name length"
default 255
---help---
The maximum size of an NXFFS file name.
Default: 255.
config NXFFS_TAILTHRESHOLD
bool "Tail threshold"
default n
int "Tail threshold"
default 8192
---help---
clean-up can either mean
packing files together toward the end of the file or, if file are
nuttx/include/nuttx/input/ads7843e.h
+12 -2
View File
@@ -70,6 +70,16 @@
# define CONFIG_ADS7843E_SPIMODE SPIDEV_MODE0
#endif
/* Thresholds */
#ifndef CONFIG_ADS7843E_THRESHX
# define CONFIG_ADS7843E_THRESHX 12
#endif
#ifndef CONFIG_ADS7843E_THRESHY
# define CONFIG_ADS7843E_THRESHY 12
#endif
/* Check for some required settings. This can save the user a lot of time
* in getting the right configuration.
*/
@@ -149,7 +159,7 @@ extern "C" {
* number
*
* Input Parameters:
* dev - An SPI driver instance
* spi - An SPI driver instance
* config - Persistent board configuration data
* minor - The input device minor number
*
@@ -159,7 +169,7 @@ extern "C" {
*
****************************************************************************/
EXTERN int ads7843e_register(FAR struct spi_dev_s *dev,
EXTERN int ads7843e_register(FAR struct spi_dev_s *spi,
FAR struct ads7843e_config_s *config,
int minor);
nuttx/include/nuttx/input/stmpe811.h
+1 -1
View File
@@ -85,7 +85,7 @@
* CONFIG_STMPE811_TEMP_DISABLE
* Disable driver temperature sensor functionality.
* CONFIG_STMPE811_REGDEBUG
* Enabled very low register-level debug output. Requires CONFIG_DEBUG.
* Enable very low register-level debug output. Requires CONFIG_DEBUG.
* CONFIG_STMPE811_THRESHX and CONFIG_STMPE811_THRESHY
* STMPE811 touchscreen data comes in a a very high rate. New touch positions
* will only be reported when the X or Y data changes by these thresholds.
nuttx/lib/stdio/lib_libvsprintf.c
+8
View File
@@ -1169,7 +1169,9 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
FAR char *ptmp;
#ifndef CONFIG_NOPRINTF_FIELDWIDTH
int width;
#ifdef CONFIG_LIBC_FLOATINGPOINT
int trunc;
#endif
uint8_t fmt;
#endif
uint8_t flags;
@@ -1212,7 +1214,9 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
#ifndef CONFIG_NOPRINTF_FIELDWIDTH
fmt = FMT_RJUST;
width = 0;
#ifdef CONFIG_LIBC_FLOATINGPOINT
trunc = 0;
#endif
#endif
/* Process each format qualifier. */
@@ -1260,8 +1264,10 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
int value = va_arg(ap, int);
if (IS_HASDOT(flags))
{
#ifdef CONFIG_LIBC_FLOATINGPOINT
trunc = value;
SET_HASASTERISKTRUNC(flags);
#endif
}
else
{
@@ -1300,7 +1306,9 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
if (IS_HASDOT(flags))
{
#ifdef CONFIG_LIBC_FLOATINGPOINT
trunc = n;
#endif
}
else
{
nuttx/net/Kconfig
+6
View File
@@ -18,6 +18,9 @@ choice
prompt "Board PHY Selection"
depends on ARCH_HAVE_PHY
default PHY_KS8721
---help---
Identify the PHY on your board. This setting is not used by all Ethernet
drivers no do all Ethernet drivers support all PHYs.
config PHY_KS8721
bool "Micrel KS8721 PHY"
@@ -28,6 +31,9 @@ config PHY_DP83848C
config PHY_LAN8720
bool "SMSC LAN8720 PHY"
config PHY_DM9161
bool "Davicom DM9161 PHY"
endchoice
config NET_NOINTS
nuttx/net/uip/uip_icmpping.c
+84 -77
View File
@@ -148,122 +148,129 @@ static inline int ping_timeout(struct icmp_ping_s *pstate)
****************************************************************************/
static uint16_t ping_interrupt(struct uip_driver_s *dev, void *conn,
void *pvpriv, uint16_t flags)
void *pvpriv, uint16_t flags)
{
struct icmp_ping_s *pstate = (struct icmp_ping_s *)pvpriv;
uint8_t *ptr;
int failcode = -ETIMEDOUT;
int i;
nllvdbg("flags: %04x\n", flags);
if (pstate)
{
/* Check if this device is on the same network as the destination device. */
/* Check if this is a ICMP ECHO reply. If so, return the sequence
* number to the caller. NOTE: We may not even have sent the
* requested ECHO request; this could have been the delayed ECHO
* response from a previous ping.
*/
if (!uip_ipaddr_maskcmp(pstate->png_addr, dev->d_ipaddr, dev->d_netmask))
if ((flags & UIP_ECHOREPLY) != 0 && conn != NULL)
{
/* Destination address was not on the local network served by this
* device. If a timeout occurs, then the most likely reason is
* that the destination address is not reachable.
*/
struct uip_icmpip_hdr *icmp = (struct uip_icmpip_hdr *)conn;
nlldbg("ECHO reply: id=%d seqno=%d\n",
ntohs(icmp->id), ntohs(icmp->seqno));
nllvdbg("Not reachable\n");
failcode = -ENETUNREACH;
}
else
{
/* Check if this is a ICMP ECHO reply. If so, return the sequence
* number to the caller. NOTE: We may not even have sent the
* requested ECHO request; this could have been the delayed ECHO
* response from a previous ping.
*/
if ((flags & UIP_ECHOREPLY) != 0 && conn != NULL)
if (ntohs(icmp->id) == pstate->png_id)
{
struct uip_icmpip_hdr *icmp = (struct uip_icmpip_hdr *)conn;
nlldbg("ECHO reply: id=%d seqno=%d\n", ntohs(icmp->id), ntohs(icmp->seqno));
/* Consume the ECHOREPLY */
if (ntohs(icmp->id) == pstate->png_id)
{
/* Consume the ECHOREPLY */
flags &= ~UIP_ECHOREPLY;
dev->d_len = 0;
flags &= ~UIP_ECHOREPLY;
dev->d_len = 0;
/* Return the result to the caller */
/* Return the result to the caller */
pstate->png_result = OK;
pstate->png_seqno = ntohs(icmp->seqno);
goto end_wait;
}
pstate->png_result = OK;
pstate->png_seqno = ntohs(icmp->seqno);
goto end_wait;
}
}
/* Check:
* If the outgoing packet is available (it may have been claimed
* by a sendto interrupt serving a different thread
* -OR-
* If the output buffer currently contains unprocessed incoming
* data.
* -OR-
* If we have alread sent the ECHO request
/* Check:
* If the outgoing packet is available (it may have been claimed
* by a sendto interrupt serving a different thread)
* -OR-
* If the output buffer currently contains unprocessed incoming
* data.
* -OR-
* If we have alread sent the ECHO request
*
* In the first two cases, we will just have to wait for the next
* polling cycle.
*/
if (dev->d_sndlen <= 0 && /* Packet available */
(flags & UIP_NEWDATA) == 0 && /* No incoming data */
!pstate->png_sent) /* Request not sent */
{
struct uip_icmpip_hdr *picmp = ICMPBUF;
/* We can send the ECHO request now.
*
* In the first two cases, we will just have to wait for the next
* polling cycle.
* Format the ICMP ECHO request packet
*/
if (dev->d_sndlen <= 0 && /* Packet available */
(flags & UIP_NEWDATA) == 0 && /* No incoming data */
!pstate->png_sent) /* Request not sent */
{
struct uip_icmpip_hdr *picmp = ICMPBUF;
/* We can send the ECHO request now.
*
* Format the ICMP ECHO request packet
*/
picmp->type = ICMP_ECHO_REQUEST;
picmp->icode = 0;
picmp->type = ICMP_ECHO_REQUEST;
picmp->icode = 0;
#ifndef CONFIG_NET_IPv6
picmp->id = htons(pstate->png_id);
picmp->seqno = htons(pstate->png_seqno);
picmp->id = htons(pstate->png_id);
picmp->seqno = htons(pstate->png_seqno);
#else
# error "IPv6 ECHO Request not implemented"
#endif
/* Add some easily verifiable data */
/* Add some easily verifiable data */
for (i = 0, ptr = ICMPDAT; i < pstate->png_datlen; i++)
{
*ptr++ = i;
}
/* Send the ICMP echo request. Note that d_sndlen is set to
* the size of the ICMP payload and does not include the size
* of the ICMP header.
*/
nlldbg("Send ECHO request: seqno=%d\n", pstate->png_seqno);
dev->d_sndlen = pstate->png_datlen + 4;
uip_icmpsend(dev, &pstate->png_addr);
pstate->png_sent = true;
return flags;
for (i = 0, ptr = ICMPDAT; i < pstate->png_datlen; i++)
{
*ptr++ = i;
}
/* Send the ICMP echo request. Note that d_sndlen is set to
* the size of the ICMP payload and does not include the size
* of the ICMP header.
*/
nlldbg("Send ECHO request: seqno=%d\n", pstate->png_seqno);
dev->d_sndlen = pstate->png_datlen + 4;
uip_icmpsend(dev, &pstate->png_addr);
pstate->png_sent = true;
return flags;
}
/* Check if the selected timeout has elapsed */
if (ping_timeout(pstate))
{
/* Yes.. report the timeout */
int failcode;
/* Check if this device is on the same network as the destination
* device.
*/
if (!uip_ipaddr_maskcmp(pstate->png_addr, dev->d_ipaddr, dev->d_netmask))
{
/* Destination address was not on the local network served by this
* device. If a timeout occurs, then the most likely reason is
* that the destination address is not reachable.
*/
nlldbg("Not reachable\n");
failcode = -ENETUNREACH;
}
else
{
nlldbg("Ping timeout\n");
failcode = -ETIMEDOUT;
}
/* Report the failure */
nlldbg("Ping timeout\n");
pstate->png_result = failcode;
goto end_wait;
}
/* Continue waiting */
}
return flags;
end_wait: