fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-21 23:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

boards: add new SVehicle-E2 (#25578)

Browse Source 
* boards: add new svehicle e2

* add SVehicle-E2 documentation

* Add new documents

* Subedit - shrink images

* Supplementary documentation based on discussion

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
This commit is contained in:
GC-20-20
2025-10-19 08:32:10 +08:00
committed by GitHub
parent 444b31be21
commit 66e73528a2
40 changed files with 4068 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/svehicle/e2/src/CMakeLists.txt
+75
View File
@@ -0,0 +1,75 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_compile_definitions(BOOTLOADER)
add_library(drivers_board
bootloader_main.c
init.c
usb.c
timer_config.cpp
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer #gpio
arch_io_pins # iotimer
bootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
else()
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
mtd.cpp
sdio.c
spi.cpp
timer_config.cpp
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
)
endif()
boards/svehicle/e2/src/board_config.h
+484
View File
@@ -0,0 +1,484 @@
/****************************************************************************
*
* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* PX4FMU-v6x internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
#undef TRACE_PINS
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS5"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* Configuration ************************************************************************************/
#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks
#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid
#define BOARD_HAS_NBAT_V 2 // one is adc,another is Digital Voltage(iic or can)
#define BOARD_HAS_NBAT_I 2 // one is adc,another is Digital Current(iic or can)
/* PX4FMU GPIOs ***********************************************************************************/
/* Trace Clock and D0-D3 are available on the trace connector
*
* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
* TRACED3 PE6 - nARMED - Trace Connector Pin 8
*/
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
#if !defined(TRACE_PINS)
# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
# define BOARD_OVERLOAD_LED LED_RED
# define BOARD_ARMED_STATE_LED LED_BLUE
#else
# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
# undef BOARD_HAS_CONTROL_STATUS_LEDS
# undef BOARD_OVERLOAD_LED
# undef BOARD_ARMED_STATE_LED
# define GPIO_nLED_RED GPIO_TRACED0
# define GPIO_nLED_GREEN GPIO_TRACED1
# define GPIO_nLED_BLUE GPIO_TRACED2
# define GPIO_nARMED GPIO_TRACED3
# define GPIO_nARMED_INIT GPIO_TRACED3
#endif
/* I2C busses */
/* Devices on the onboard buses.
*
* Note that these are unshifted addresses.
*/
#define BOARD_MTD_NUM_EEPROM 2 /* MTD: base_eeprom, imu_eeprom*/
#define PX4_I2C_OBDEV_SE050 0x48
#define GPIO_I2C2_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
/*
* ADC channels
*
* These are the channel numbers of the ADCs of the microcontroller that
* can be used by the Px4 Firmware in the adc driver
*/
/* ADC defines to be used in sensors.cpp to read from a particular channel */
#define ADC1_CH(n) (n)
/* N.B. there is no offset mapping needed for ADC3 because */
#define ADC3_CH(n) (n)
/* We are only use ADC3 for REV/VER.
* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
* PA0SO of 0.
*
* 0 Analog switch closed (pads are connected through the analog switch)
*
* So ADC3_INP0 is GPIO_ADC123_INP12
* ADC3_INP1 is GPIO_ADC12_INP13
*/
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PB0 */ GPIO_ADC12_INP9, \
/* PB1 */ GPIO_ADC12_INP5, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC3 */ GPIO_ADC12_INP13, \
/* PF12 */ GPIO_ADC1_INP6, \
/* PH3 */ GPIO_ADC3_INP14, \
/* PH4 */ GPIO_ADC3_INP15
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PF12 */ ADC1_CH(6)
#define ADC_BATTERY_CURRENT_CHANNEL /* PB0 */ ADC1_CH(9)
#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16)
#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12)
#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13)
#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
#define ADC_CHANNELS \
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_ADC3_6V6_CHANNEL) | \
(1 << ADC_ADC3_3V3_CHANNEL)) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL)
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
// // /* HW Version and Revision drive signals Default to 1 to detect */
// #define BOARD_HAS_HW_SPLIT_VERSIONING
#define BOARD_HAS_STATIC_MANIFEST 1
#define PX4_MFT_HW_SUPPORTED_PX4_MFT_CAN2 1
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define UAVCAN_NUM_IFACES_RUNTIME 1
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
*/
#if !defined(TRACE_PINS)
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
#endif
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 9
/* PWM Power */
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
#define PWM_5V_VOLT_SEL(on_true) px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
#define BOARD_NUMBER_BRICKS 1
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SENSORS4_EN /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* ETHERNET GPIO */
#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
/* NFC GPIO */
#define GPIO_NFC_GPIO /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 14 /* Timer 14 */
#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 1
#define INPUT_CAP1_CHANNEL /* T1C2 */ 2
#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
/* Safety Switch is HW version dependent on having an PX4IO
* So we init to a benign state with the _INIT definition
* and provide the the non _INIT one for the driver to make a run time
* decision to use it.
*/
#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
/* Power switch controls ******************************************************/
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
/*
* FMUv6X has a separate RC_IN
*
* GPIO PPM_IN on PI5 T8CH1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion is possible in the UART and can drive GPIO PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
/* SD card bringup does not work if performed on the IDLE thread because it
* will cause waiting. Use either:
*
* CONFIG_BOARDCTL=y, OR
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
*/
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
!defined(CONFIG_BOARD_INITTHREAD)
# warning SDIO initialization cannot be perfomed on the IDLE thread
#endif
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
* this board support the ADC system_power interface, and therefore
* provides the true logic GPIO BOARD_ADC_xxxx macros.
*/
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
/* FMUv6X never powers off the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
/* This board provides the board_on_reset interface */
#define BOARD_HAS_ON_RESET 1
#if defined(TRACE_PINS)
#define GPIO_TRACE \
GPIO_TRACECLK1, \
GPIO_TRACED0, \
GPIO_TRACED1, \
GPIO_TRACED2, \
GPIO_TRACED3
#else
#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#endif
#define PX4_GPIO_INIT_LIST { \
GPIO_TRACE, \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
GPIO_VDD_5V_PERIPH_nEN, \
GPIO_VDD_5V_PERIPH_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SENSORS4_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_ETH_POWER_EN, \
GPIO_NFC_GPIO, \
GPIO_TONE_ALARM_IDLE, \
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_nARMED_INIT, \
GPIO_PWM_VOLT_SEL \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_I2C_BUS_MTD 4,5
#define BOARD_NUM_IO_TIMERS 5
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
boards/svehicle/e2/src/bootloader_main.c
+62
View File
@@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file bootloader_main.c
*
* FMU-specific early startup code for bootloader
*/
#include "board_config.h"
#include "bl.h"
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <chip.h>
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include <px4_platform_common/init.h>
extern int sercon_main(int c, char **argv);
void board_late_initialize(void)
{
sercon_main(0, NULL);
}
extern void sys_tick_handler(void);
void board_timerhook(void)
{
sys_tick_handler();
}
boards/svehicle/e2/src/can.c
+142
View File
@@ -0,0 +1,142 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
#if !defined(CONFIG_CAN)
#include <stdint.h>
#include "board_config.h"
__EXPORT
uint16_t board_get_can_interfaces(void)
{
uint16_t enabled_interfaces = 0x3;
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
enabled_interfaces &= ~(1 << 1);
}
return enabled_interfaces;
}
#else
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "arm_internal.h"
#include "chip.h"
#include "stm32_can.h"
#include "board_config.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
int can_devinit(void);
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
canerr("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif /* CONFIG_CAN */
boards/svehicle/e2/src/hw_config.h
+128
View File
@@ -0,0 +1,128 @@
/*
* hw_config.h
*
* Created on: May 17, 2015
* Author: david_s5
*/
#ifndef HW_CONFIG_H_
#define HW_CONFIG_H_
/****************************************************************************
* 10-8--2016:
* To simplify the ripple effect on the tools, we will be using
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
* moving forward all Bootloaders must contain the prefix "PX4 BL "
* in the USBDEVICESTRING
* This Change will be made in an upcoming BL release
****************************************************************************/
/*
* Define usage to configure a bootloader
*
*
* Constant example Usage
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
* BOARD_FMUV2
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
* USBPRODUCTID 0x0011 - PID Should match defconfig
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
* delay provided by an APP FW
* BOARD_TYPE 9 - Must match .prototype boad_id
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
* programmatically
*
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
* during a FW upgrade.
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
* flash_sectors table. Which is the second physical sector of FLASH in the device.
* The first physical sector of FLASH is used by the bootloader, and is not defined
* in the table.
*
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
* BOOTLOADER_RESERVATION_SIZE will be deducted from
* BOARD_FLASH_SIZE to determine the size of the App FW
* and hence the address space of FLASH to erase and program.
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
*
* * Other defines are somewhat self explanatory.
*/
/* Boot device selection list*/
#define USB0_DEV 0x01
#define SERIAL0_DEV 0x02
#define SERIAL1_DEV 0x04
#define APP_LOAD_ADDRESS 0x08020000
#define BOOTLOADER_DELAY 5000
#define INTERFACE_USB 1
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
//#define USE_VBUS_PULL_DOWN
#define INTERFACE_USART 1
#define INTERFACE_USART_CONFIG "/dev/ttyS0,1500000"
#define BOOT_DELAY_ADDRESS 0x000001a0
#define BOARD_TYPE 6110
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
#define BOARD_FLASH_SECTORS (15)
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)//1024
#define OSC_FREQ 16
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
#define BOARD_LED_ON 0
#define BOARD_LED_OFF 1
#define SERIAL_BREAK_DETECT_DISABLED 1
/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
* an ESC prematurely, it is not recommended. This feature
* has not been used and hence defaults now to off.
*
* # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
* # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
*
* # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
* # define BOARD_POWER_ON 1
* # define BOARD_POWER_OFF 0
* # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power)
*
*/
#if !defined(ARCH_SN_MAX_LENGTH)
# define ARCH_SN_MAX_LENGTH 12
#endif
#if !defined(APP_RESERVATION_SIZE)
# define APP_RESERVATION_SIZE 0
#endif
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
#endif
#if !defined(USB_DATA_ALIGN)
# define USB_DATA_ALIGN
#endif
#ifndef BOOT_DEVICES_SELECTION
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
#endif
#ifndef BOOT_DEVICES_FILTER_ONUSB
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
#endif
#endif /* HW_CONFIG_H_ */
boards/svehicle/e2/src/i2c.cpp
+41
View File
@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusExternal(3),
initI2CBusInternal(4),
};
boards/svehicle/e2/src/init.c
+276
View File
@@ -0,0 +1,276 @@
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file init.c
*
* PX4FMU-specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include "board_config.h"
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
#include <chip.h>
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/*
* Ideally we'd be able to get these from arm_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
VDD_5V_PERIPH_EN(false);
board_control_spi_sensors_power(false, 0xffff);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the peripheral rail back on */
board_control_spi_sensors_power(true, 0xffff);
VDD_5V_PERIPH_EN(true);
}
/************************************************************************************
* Name: board_on_reset
*
* Description:
* Optionally provided function called on entry to board_system_reset
* It should perform any house keeping prior to the rest.
*
* status - 1 if resetting to boot loader
* 0 if just resetting
*
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(100);
}
}
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void
stm32_boardinitialize(void)
{
board_on_reset(-1); /* Reset PWM first thing */
/* configure LEDs */
board_autoled_initialize();
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
/* configure USB interfaces */
stm32_usbinitialize();
VDD_3V3_ETH_POWER_EN(true);
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if !defined(BOOTLOADER)
/* Power on Interfaces */
VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
VDD_3V3_SENSORS4_EN(true);
VDD_3V3_SPEKTRUM_POWER_EN(true);
/* Need hrt running before using the ADC */
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
board_spi_reset(10, 0xffff);
/* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
# if defined(SERIAL_HAVE_RXDMA)
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
static struct hrt_call serial_dma_call;
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
# endif
/* initial LED state */
drv_led_start();
led_off(LED_RED);
led_on(LED_GREEN); // Indicate Power.
led_off(LED_BLUE);
if (board_hardfault_init(2, true) != 0) {
led_on(LED_RED);
}
// Ensure Power is off for > 10 mS
usleep(15 * 1000);
VDD_3V3_SD_CARD_EN(true);
usleep(500 * 1000);
# ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();
if (ret != OK) {
led_on(LED_RED);
return ret;
}
# endif /* CONFIG_MMCSD */
#endif /* !defined(BOOTLOADER) */
return OK;
}
boards/svehicle/e2/src/led.c
+235
View File
@@ -0,0 +1,235 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu2_led.c
*
* PX4FMU LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
/*
* Ideally we'd be able to get these from arm_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
#ifdef CONFIG_ARCH_LEDS
static bool nuttx_owns_leds = true;
// B R S G
// 0 1 2 3
static const uint8_t xlatpx4[] = {1, 2, 4, 0};
# define xlat(p) xlatpx4[(p)]
static uint32_t g_ledmap[] = {
GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
GPIO_nLED_RED, // Indexed by BOARD_LED_RED
GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4
};
#else
# define xlat(p) (p)
static uint32_t g_ledmap[] = {
GPIO_nLED_BLUE, // Indexed by LED_BLUE
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
0, // Indexed by LED_SAFETY (defaulted to an input)
GPIO_nLED_GREEN, // Indexed by LED_GREEN
};
#endif
__EXPORT void led_init(void)
{
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
if (g_ledmap[l] != 0) {
stm32_configgpio(g_ledmap[l]);
}
}
}
static void phy_set_led(int led, bool state)
{
/* Drive Low to switch on */
if (g_ledmap[led] != 0) {
stm32_gpiowrite(g_ledmap[led], !state);
}
}
static bool phy_get_led(int led)
{
/* If Low it is on */
if (g_ledmap[led] != 0) {
return !stm32_gpioread(g_ledmap[led]);
}
return false;
}
__EXPORT void led_on(int led)
{
phy_set_led(xlat(led), true);
}
__EXPORT void led_off(int led)
{
phy_set_led(xlat(led), false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
}
#ifdef CONFIG_ARCH_LEDS
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_autoled_initialize
****************************************************************************/
void board_autoled_initialize(void)
{
led_init();
}
/****************************************************************************
* Name: board_autoled_on
****************************************************************************/
void board_autoled_on(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_HEAPALLOCATE:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_BLUE, false);
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_STACKCREATED:
phy_set_led(BOARD_LED_GREEN, true);
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, true);
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, true);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, true);
break;
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
void board_autoled_off(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, false);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, false);
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, false);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, false);
break;
}
}
#endif /* CONFIG_ARCH_LEDS */
boards/svehicle/e2/src/mtd.cpp
+130
View File
@@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
.bus_type = px4_mft_device_t::SPI,
.devid = SPIDEV_FLASH(0)
};
static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 256
.bus_type = px4_mft_device_t::I2C,
.devid = PX4_MK_I2C_DEVID(3, 0x51)
};
static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256
.bus_type = px4_mft_device_t::I2C,
.devid = PX4_MK_I2C_DEVID(4, 0x50)
};
static const px4_mtd_entry_t fmum_fram = {
.device = &spi5,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
}
},
};
static const px4_mtd_entry_t base_eeprom = {
.device = &i2c3,
.npart = 2,
.partd = {
{
.type = MTD_MFT_VER,
.path = "/fs/mtd_mft_ver",
.nblocks = 248
},
{
.type = MTD_NET,
.path = "/fs/mtd_net",
.nblocks = 8 // 256 = 32 * 8
}
},
};
static const px4_mtd_entry_t imu_eeprom = {
.device = &i2c4,
.npart = 3,
.partd = {
{
.type = MTD_CALDATA,
.path = "/fs/mtd_caldata",
.nblocks = 240
},
{
.type = MTD_MFT_REV,
.path = "/fs/mtd_mft_rev",
.nblocks = 8
},
{
.type = MTD_ID,
.path = "/fs/mtd_id",
.nblocks = 8 // 256 = 32 * 8
}
},
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 3,
.entries = {
&fmum_fram,
&base_eeprom,
&imu_eeprom
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_s mft = {
.nmft = 1,
.mfts = {
&mtd_mft,
}
};
const px4_mft_s *board_get_manifest(void)
{
return &mft;
}
boards/svehicle/e2/src/sdio.c
+177
View File
@@ -0,0 +1,177 @@
/****************************************************************************
*
* Copyright (C) 2014, 2016 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include "chip.h"
#include "board_config.h"
#include "stm32_gpio.h"
#include "stm32_sdmmc.h"
#ifdef CONFIG_MMCSD
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Card detections requires card support and a card detection GPIO */
#define HAVE_NCD 1
#if !defined(GPIO_SDMMC1_NCD)
# undef HAVE_NCD
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static FAR struct sdio_dev_s *sdio_dev;
#ifdef HAVE_NCD
static bool g_sd_inserted = 0xff; /* Impossible value */
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_ncd_interrupt
*
* Description:
* Card detect interrupt handler.
*
****************************************************************************/
#ifdef HAVE_NCD
static int stm32_ncd_interrupt(int irq, FAR void *context)
{
bool present;
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
if (sdio_dev && present != g_sd_inserted) {
sdio_mediachange(sdio_dev, present);
g_sd_inserted = present;
}
return OK;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void)
{
int ret;
#ifdef HAVE_NCD
/* Card detect */
bool cd_status;
/* Configure the card detect GPIO */
stm32_configgpio(GPIO_SDMMC1_NCD);
/* Register an interrupt handler for the card detect pin */
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
#endif
/* Mount the SDIO-based MMC/SD block driver */
/* First, get an instance of the SDIO interface */
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
sdio_dev = sdio_initialize(SDIO_SLOTNO);
if (!sdio_dev) {
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
if (ret != OK) {
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
finfo("Successfully bound SDIO to the MMC/SD driver\n");
#ifdef HAVE_NCD
/* Use SD card detect pin to check if a card is g_sd_inserted */
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
finfo("Card detect : %d\n", cd_status);
sdio_mediachange(sdio_dev, cd_status);
#else
/* Assume that the SD card is inserted. What choice do we have? */
sdio_mediachange(sdio_dev, true);
#endif
return OK;
}
#endif /* CONFIG_MMCSD */
boards/svehicle/e2/src/spi.cpp
+58
View File
@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2020, 2022 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.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
boards/svehicle/e2/src/timer_config.cpp
+80
View File
@@ -0,0 +1,80 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include <px4_arch/io_timer_hw_description.h>
/* Timer allocation
*
* TIM5_CH4 T FMU_CH1
* TIM5_CH3 T FMU_CH2
* TIM5_CH2 T FMU_CH3
* TIM5_CH1 T FMU_CH4
*
* TIM4_CH2 T FMU_CH5
* TIM4_CH3 T FMU_CH6
*
* TIM12_CH1 T FMU_CH7
* TIM12_CH2 T FMU_CH8
*
* TIM1_CH2 T FMU_CAP1 < Capture
* TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
* TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe
*
* TIM2_CH3 T HEATER > PWM OUT or GPIO
*
* TIM14_CH1 T BUZZER_1 - Driven by other driver
* TIM8_CH1_IN T FMU_PPM_INPUT - Sampled byt HRT by other driver
*/
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
initIOTimer(Timer::Timer1),
initIOTimer(Timer::Timer2),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
boards/svehicle/e2/src/usb.c
+105
View File
@@ -0,0 +1,105 @@
/****************************************************************************
*
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <arm_internal.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32H7_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);
}