mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-12 01:51:37 +08:00
WIP: nuttx common early pin init per architecture
This commit is contained in:
Daniel Agar
@@ -31,6 +31,7 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(board_init)
|
||||
|
||||
add_subdirectory(../stm32_common/adc adc)
|
||||
add_subdirectory(../stm32_common/board_critmon board_critmon)
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2023 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_board_init
|
||||
board_init.cpp
|
||||
)
|
||||
@@ -0,0 +1,188 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 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/board_init.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define SPI_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
#define SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT |GPIO_SPEED_2MHz))
|
||||
|
||||
void px4_arch_pin_initialize()
|
||||
{
|
||||
// Reset PWM first thing
|
||||
board_on_reset(-1);
|
||||
|
||||
// configure pins
|
||||
#if defined(PX4_GPIO_INIT_LIST)
|
||||
const uint32_t list[] = PX4_GPIO_INIT_LIST;
|
||||
|
||||
for (auto &gpio : list) {
|
||||
if (gpio != 0) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
}
|
||||
|
||||
#endif // PX4_GPIO_INIT_LIST
|
||||
|
||||
|
||||
|
||||
|
||||
// CAN
|
||||
|
||||
#if defined(GPIO_CAN1_RX)
|
||||
px4_arch_configgpio(GPIO_CAN1_RX);
|
||||
#endif // GPIO_CAN1_RX
|
||||
#if defined(GPIO_CAN1_TX)
|
||||
px4_arch_configgpio(GPIO_CAN1_TX);
|
||||
#endif // GPIO_CAN1_TX
|
||||
#if defined(GPIO_CAN1_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN1_SILENT_S0);
|
||||
#endif // GPIO_CAN1_SILENT_S0
|
||||
|
||||
#if defined(GPIO_CAN2_RX)
|
||||
px4_arch_configgpio(GPIO_CAN2_RX);
|
||||
#endif // GPIO_CAN2_RX
|
||||
#if defined(GPIO_CAN2_TX)
|
||||
px4_arch_configgpio(GPIO_CAN2_TX);
|
||||
#endif // GPIO_CAN2_TX
|
||||
#if defined(GPIO_CAN2_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN2_SILENT_S0);
|
||||
#endif // GPIO_CAN2_SILENT_S0
|
||||
|
||||
#if defined(GPIO_CAN3_RX)
|
||||
px4_arch_configgpio(GPIO_CAN3_RX);
|
||||
#endif // GPIO_CAN3_RX
|
||||
#if defined(GPIO_CAN3_TX)
|
||||
px4_arch_configgpio(GPIO_CAN3_TX);
|
||||
#endif // GPIO_CAN3_TX
|
||||
#if defined(GPIO_CAN3_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN3_SILENT_S0);
|
||||
#endif // GPIO_CAN3_SILENT_S0
|
||||
|
||||
|
||||
|
||||
|
||||
// I2C
|
||||
|
||||
#if defined(CONFIG_STM32F7_I2C1)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA));
|
||||
#endif // CONFIG_STM32F7_I2C1
|
||||
|
||||
#if defined(CONFIG_STM32F7_I2C2)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA));
|
||||
#endif // CONFIG_STM32F7_I2C2
|
||||
|
||||
#if defined(CONFIG_STM32F7_I2C3)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA));
|
||||
#endif // CONFIG_STM32F7_I2C3
|
||||
|
||||
#if defined(CONFIG_STM32F7_I2C4)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA));
|
||||
#endif // CONFIG_STM32F7_I2C4
|
||||
|
||||
|
||||
|
||||
|
||||
// SPI
|
||||
|
||||
#if defined(CONFIG_STM32F7_SPI1)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MOSI));
|
||||
#endif // CONFIG_STM32_SPI1
|
||||
#if defined(CONFIG_STM32F7_SPI2)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MOSI));
|
||||
#endif // CONFIG_STM32_SPI2
|
||||
#if defined(CONFIG_STM32F7_SPI3)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MOSI));
|
||||
#endif // CONFIG_STM32_SPI3
|
||||
#if defined(CONFIG_STM32F7_SPI4)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MOSI));
|
||||
#endif // CONFIG_STM32_SPI4
|
||||
#if defined(CONFIG_STM32F7_SPI5)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MOSI));
|
||||
#endif // CONFIG_STM32_SPI5
|
||||
#if defined(CONFIG_STM32F7_SPI6)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MOSI));
|
||||
#endif // CONFIG_STM32_SPI6
|
||||
|
||||
|
||||
|
||||
|
||||
// SDMMC
|
||||
|
||||
#if defined(CONFIG_STM32F7_SDMMC1)
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD));
|
||||
#endif // CONFIG_STM32F7_SDMMC1
|
||||
#if defined(CONFIG_STM32F7_SDMMC2)
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D0));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D1));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D2));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D3));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_CMD));
|
||||
#endif // CONFIG_STM32F7_SDMMC2
|
||||
|
||||
|
||||
|
||||
|
||||
// USB
|
||||
#if defined(CONFIG_STM32F7_OTGFS)
|
||||
px4_arch_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
void px4_arch_pin_initialize(void);
|
||||
|
||||
__END_DECLS
|
||||
@@ -31,6 +31,7 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(board_init)
|
||||
|
||||
add_subdirectory(adc)
|
||||
add_subdirectory(../stm32_common/board_critmon board_critmon)
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2023 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_board_init
|
||||
board_init.cpp
|
||||
)
|
||||
@@ -0,0 +1,188 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 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/board_init.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define SPI_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
#define SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT |GPIO_SPEED_2MHz))
|
||||
|
||||
void px4_arch_pin_initialize()
|
||||
{
|
||||
// Reset PWM first thing
|
||||
board_on_reset(-1);
|
||||
|
||||
// configure pins
|
||||
#if defined(PX4_GPIO_INIT_LIST)
|
||||
const uint32_t list[] = PX4_GPIO_INIT_LIST;
|
||||
|
||||
for (auto &gpio : list) {
|
||||
if (gpio != 0) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
}
|
||||
|
||||
#endif // PX4_GPIO_INIT_LIST
|
||||
|
||||
|
||||
|
||||
|
||||
// CAN
|
||||
|
||||
#if defined(GPIO_CAN1_RX)
|
||||
px4_arch_configgpio(GPIO_CAN1_RX);
|
||||
#endif // GPIO_CAN1_RX
|
||||
#if defined(GPIO_CAN1_TX)
|
||||
px4_arch_configgpio(GPIO_CAN1_TX);
|
||||
#endif // GPIO_CAN1_TX
|
||||
#if defined(GPIO_CAN1_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN1_SILENT_S0);
|
||||
#endif // GPIO_CAN1_SILENT_S0
|
||||
|
||||
#if defined(GPIO_CAN2_RX)
|
||||
px4_arch_configgpio(GPIO_CAN2_RX);
|
||||
#endif // GPIO_CAN2_RX
|
||||
#if defined(GPIO_CAN2_TX)
|
||||
px4_arch_configgpio(GPIO_CAN2_TX);
|
||||
#endif // GPIO_CAN2_TX
|
||||
#if defined(GPIO_CAN2_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN2_SILENT_S0);
|
||||
#endif // GPIO_CAN2_SILENT_S0
|
||||
|
||||
#if defined(GPIO_CAN3_RX)
|
||||
px4_arch_configgpio(GPIO_CAN3_RX);
|
||||
#endif // GPIO_CAN3_RX
|
||||
#if defined(GPIO_CAN3_TX)
|
||||
px4_arch_configgpio(GPIO_CAN3_TX);
|
||||
#endif // GPIO_CAN3_TX
|
||||
#if defined(GPIO_CAN3_SILENT_S0)
|
||||
px4_arch_configgpio(GPIO_CAN3_SILENT_S0);
|
||||
#endif // GPIO_CAN3_SILENT_S0
|
||||
|
||||
|
||||
|
||||
|
||||
// I2C
|
||||
|
||||
#if defined(CONFIG_STM32H7_I2C1)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA));
|
||||
#endif // CONFIG_STM32H7_I2C1
|
||||
|
||||
#if defined(CONFIG_STM32H7_I2C2)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA));
|
||||
#endif // CONFIG_STM32H7_I2C2
|
||||
|
||||
#if defined(CONFIG_STM32H7_I2C3)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA));
|
||||
#endif // CONFIG_STM32H7_I2C3
|
||||
|
||||
#if defined(CONFIG_STM32H7_I2C4)
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA));
|
||||
#endif // CONFIG_STM32H7_I2C4
|
||||
|
||||
|
||||
|
||||
|
||||
// SPI
|
||||
|
||||
#if defined(CONFIG_STM32H7_SPI1)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MOSI));
|
||||
#endif // CONFIG_STM32_SPI1
|
||||
#if defined(CONFIG_STM32H7_SPI2)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MOSI));
|
||||
#endif // CONFIG_STM32_SPI2
|
||||
#if defined(CONFIG_STM32H7_SPI3)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MOSI));
|
||||
#endif // CONFIG_STM32_SPI3
|
||||
#if defined(CONFIG_STM32H7_SPI4)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MOSI));
|
||||
#endif // CONFIG_STM32_SPI4
|
||||
#if defined(CONFIG_STM32H7_SPI5)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MOSI));
|
||||
#endif // CONFIG_STM32_SPI5
|
||||
#if defined(CONFIG_STM32H7_SPI6)
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_SCK));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MISO));
|
||||
px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MOSI));
|
||||
#endif // CONFIG_STM32_SPI6
|
||||
|
||||
|
||||
|
||||
|
||||
// SDMMC
|
||||
|
||||
#if defined(CONFIG_STM32H7_SDMMC1)
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD));
|
||||
#endif // CONFIG_STM32H7_SDMMC1
|
||||
#if defined(CONFIG_STM32H7_SDMMC2)
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D0));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D1));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D2));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D3));
|
||||
px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_CMD));
|
||||
#endif // CONFIG_STM32H7_SDMMC2
|
||||
|
||||
|
||||
|
||||
|
||||
// USB
|
||||
#if defined(CONFIG_STM32H7_OTGFS)
|
||||
px4_arch_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
void px4_arch_pin_initialize(void);
|
||||
|
||||
__END_DECLS
|
||||
Reference in New Issue
Block a user