mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 03:13:34 +08:00
Changes to px4fmu-v1 for upstream Nuttx
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
64c00e6c95
commit
82cb9353d1
@@ -46,9 +46,7 @@
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32.h>
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#include <arch/board/board.h>
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#include <nuttx/board.h>
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/****************************************************************************************************
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* Definitions
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@@ -57,7 +55,6 @@
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/* PX4IO connection configuration */
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
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#define UDID_START 0x1FFF7A10
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//#ifdef CONFIG_STM32_SPI2
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//# error "SPI2 is not supported on this board"
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@@ -252,25 +249,6 @@ extern void stm32_usbinitialize(void);
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#define board_peripheral_reset(ms)
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/****************************************************************************
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* Name: nsh_archinitialize
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*
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* Description:
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* Perform architecture specific initialization for NSH.
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*
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* CONFIG_NSH_ARCHINIT=y :
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* Called from the NSH library
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*
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* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
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* CONFIG_NSH_ARCHINIT=n :
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* Called from board_initialize().
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*
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****************************************************************************/
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#ifdef CONFIG_NSH_LIBRARY
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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@@ -46,7 +46,7 @@
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <nuttx/drivers/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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@@ -74,21 +74,6 @@
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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@@ -120,7 +105,7 @@ int can_devinit(void)
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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canerr("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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@@ -129,7 +114,7 @@ int can_devinit(void)
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ret = can_register("/dev/can0", can);
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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canerr("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -35,10 +35,10 @@
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* @file px4fmu_init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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@@ -53,8 +53,9 @@
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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@@ -79,13 +80,13 @@
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# define message(...) syslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# define message syslog
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# else
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# define message printf
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# endif
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@@ -124,18 +125,39 @@ __END_DECLS
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure always-on ADC pins */
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stm32_configgpio(GPIO_ADC1_IN10);
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stm32_configgpio(GPIO_ADC1_IN11);
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure LEDs (empty call to NuttX' ledinit) */
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up_ledinit();
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/* configure LEDs (empty call to NuttX' ) */
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board_autoled_initialize();
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}
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/****************************************************************************
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* Name: nsh_archinitialize
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* Name: board_app_initialize
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*
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* Description:
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* Perform architecture specific initialization
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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@@ -143,17 +165,27 @@ static struct spi_dev_s *spi1;
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static struct spi_dev_s *spi2;
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static struct spi_dev_s *spi3;
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#include <math.h>
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__EXPORT int nsh_archinitialize(void)
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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int result;
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/* configure always-on ADC pins */
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px4_arch_configgpio(GPIO_ADC1_IN10);
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px4_arch_configgpio(GPIO_ADC1_IN11);
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/* IN12 and IN13 further below */
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
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# endif
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#else
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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/* configure the high-resolution time/callout interface */
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hrt_init();
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@@ -187,11 +219,11 @@ __EXPORT int nsh_archinitialize(void)
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/* Configure SPI-based devices */
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spi1 = px4_spibus_initialize(1);
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spi1 = stm32_spibus_initialize(1);
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if (!spi1) {
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message("[boot] FAILED to initialize SPI port 1\r\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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@@ -210,7 +242,7 @@ __EXPORT int nsh_archinitialize(void)
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*/
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#ifdef CONFIG_STM32_SPI2
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spi2 = px4_spibus_initialize(2);
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spi2 = stm32_spibus_initialize(2);
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/* Default SPI2 to 1MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi2, 10000000);
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SPI_SETBITS(spi2, 8);
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@@ -223,17 +255,17 @@ __EXPORT int nsh_archinitialize(void)
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spi2 = NULL;
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message("[boot] Enabling IN12/13 instead of SPI2\n");
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/* no SPI2, use pins for ADC */
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px4_arch_configgpio(GPIO_ADC1_IN12);
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px4_arch_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
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stm32_configgpio(GPIO_ADC1_IN12);
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stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
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#endif
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/* Get the SPI port for the microSD slot */
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spi3 = px4_spibus_initialize(3);
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spi3 = stm32_spibus_initialize(3);
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if (!spi3) {
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message("[boot] FAILED to initialize SPI port 3\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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@@ -242,7 +274,7 @@ __EXPORT int nsh_archinitialize(void)
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if (result != OK) {
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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@@ -64,20 +64,20 @@ __EXPORT void led_init(void)
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{
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/* Configure LED1-2 GPIOs for output */
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px4_arch_configgpio(GPIO_LED1);
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px4_arch_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
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}
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__EXPORT void led_on(int led)
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{
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if (led == 0) {
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/* Pull down to switch on */
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px4_arch_gpiowrite(GPIO_LED1, false);
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stm32_gpiowrite(GPIO_LED1, false);
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}
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if (led == 1) {
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/* Pull down to switch on */
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px4_arch_gpiowrite(GPIO_LED2, false);
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stm32_gpiowrite(GPIO_LED2, false);
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}
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}
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@@ -85,32 +85,32 @@ __EXPORT void led_off(int led)
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{
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if (led == 0) {
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/* Pull up to switch off */
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px4_arch_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED1, true);
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}
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if (led == 1) {
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/* Pull up to switch off */
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px4_arch_gpiowrite(GPIO_LED2, true);
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stm32_gpiowrite(GPIO_LED2, true);
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}
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}
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__EXPORT void led_toggle(int led)
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{
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if (led == 0) {
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if (px4_arch_gpioread(GPIO_LED1)) {
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px4_arch_gpiowrite(GPIO_LED1, false);
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if (stm32_gpioread(GPIO_LED1)) {
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stm32_gpiowrite(GPIO_LED1, false);
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} else {
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px4_arch_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED1, true);
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}
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}
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if (led == 1) {
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if (px4_arch_gpioread(GPIO_LED2)) {
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px4_arch_gpiowrite(GPIO_LED2, false);
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if (stm32_gpioread(GPIO_LED2)) {
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stm32_gpiowrite(GPIO_LED2, false);
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} else {
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px4_arch_gpiowrite(GPIO_LED2, true);
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stm32_gpiowrite(GPIO_LED2, true);
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}
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}
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}
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@@ -47,7 +47,7 @@
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/spi.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include "up_arch.h"
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@@ -69,19 +69,19 @@
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__EXPORT void stm32_spiinitialize(void)
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{
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px4_arch_configgpio(GPIO_SPI_CS_GYRO);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL);
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px4_arch_configgpio(GPIO_SPI_CS_MPU);
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px4_arch_configgpio(GPIO_SPI_CS_SDCARD);
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stm32_configgpio(GPIO_SPI_CS_GYRO);
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stm32_configgpio(GPIO_SPI_CS_ACCEL);
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stm32_configgpio(GPIO_SPI_CS_MPU);
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stm32_configgpio(GPIO_SPI_CS_SDCARD);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
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}
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
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@@ -91,23 +91,23 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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break;
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case PX4_SPIDEV_ACCEL:
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/* Making sure the other peripherals are not selected */
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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break;
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default:
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@@ -121,6 +121,8 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
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return SPI_STATUS_PRESENT;
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}
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#ifdef CONFIG_STM32_SPI2
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__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
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{
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/* SPI select is active low, so write !selected to select the device */
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@@ -138,12 +140,13 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
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{
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return SPI_STATUS_PRESENT;
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}
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#endif
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__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
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{
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/* there can only be one device on this bus, so always select it */
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px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
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}
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__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
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@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
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/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
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#ifdef CONFIG_STM32_OTGFS
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px4_arch_configgpio(GPIO_OTGFS_VBUS);
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stm32_configgpio(GPIO_OTGFS_VBUS);
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/* XXX We only support device mode
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px4_arch_configgpio(GPIO_OTGFS_PWRON);
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px4_arch_configgpio(GPIO_OTGFS_OVER);
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stm32_configgpio(GPIO_OTGFS_PWRON);
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stm32_configgpio(GPIO_OTGFS_OVER);
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||||
*/
|
||||
#endif
|
||||
}
|
||||
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
//ulldbg("resume: %d\n", resume);
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user