mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 16:03:33 +08:00
px4io-v1:Removed px4io-v1 board from PX4
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
62a2351a72
commit
7123777e0e
@@ -1,42 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 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_module(
|
||||
MODULE drivers__boards__px4io-v1
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
px4io_init.c
|
||||
px4io_timer_config.c
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -1,100 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4IO hardware definitions.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* PX4IO GPIOs **********************************************************************/
|
||||
/* LEDs */
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||
|
||||
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10)
|
||||
|
||||
/* Safety switch button *************************************************************/
|
||||
|
||||
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
|
||||
|
||||
/* Power switch controls ************************************************************/
|
||||
|
||||
#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
||||
|
||||
#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
|
||||
|
||||
#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
|
||||
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
|
||||
|
||||
#define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
|
||||
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_on_true))
|
||||
|
||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
|
||||
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
|
||||
|
||||
/* Analog inputs ********************************************************************/
|
||||
|
||||
#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
|
||||
#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
|
||||
|
||||
/*
|
||||
* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
|
||||
@@ -1,107 +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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4io_init.c
|
||||
*
|
||||
* PX4IO-specific early startup code. This file implements the
|
||||
* stm32_boardinitialize() function that is called during cpu startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure GPIOs */
|
||||
stm32_configgpio(GPIO_ACC1_PWR_EN);
|
||||
stm32_configgpio(GPIO_ACC2_PWR_EN);
|
||||
stm32_configgpio(GPIO_SERVO_PWR_EN);
|
||||
stm32_configgpio(GPIO_RELAY1_EN);
|
||||
stm32_configgpio(GPIO_RELAY2_EN);
|
||||
|
||||
/* turn off - all leds are active low */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
stm32_gpiowrite(GPIO_LED3, true);
|
||||
|
||||
/* LED config */
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
stm32_configgpio(GPIO_LED3);
|
||||
|
||||
stm32_configgpio(GPIO_ACC_OC_DETECT);
|
||||
stm32_configgpio(GPIO_SERVO_OC_DETECT);
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
stm32_configgpio(GPIO_ADC_VBATT);
|
||||
stm32_configgpio(GPIO_ADC_IN5);
|
||||
}
|
||||
@@ -1,151 +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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file px4fmu_timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 1,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = STM32_IRQ_TIM2,
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.first_channel_index = 4,
|
||||
.last_channel_index = 7,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = STM32_IRQ_TIM3,
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM4_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM4EN,
|
||||
.clock_freq = STM32_APB1_TIM4_CLKIN,
|
||||
.first_channel_index = 2,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = STM32_IRQ_TIM4,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH1OUT,
|
||||
.gpio_in = GPIO_TIM2_CH1IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH2OUT,
|
||||
.gpio_in = GPIO_TIM2_CH2IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM4_CH3OUT,
|
||||
.gpio_in = GPIO_TIM4_CH3IN,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM4_CH4OUT,
|
||||
.gpio_in = GPIO_TIM4_CH4IN,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH1OUT,
|
||||
.gpio_in = GPIO_TIM3_CH1IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH2OUT,
|
||||
.gpio_in = GPIO_TIM3_CH2IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH3OUT,
|
||||
.gpio_in = GPIO_TIM3_CH3IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
||||
.gpio_in = GPIO_TIM3_CH4IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
}
|
||||
};
|
||||
Reference in New Issue
Block a user