fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/master' into fw_control

Browse Source
This commit is contained in:
Thomas Gubler
2012-10-28 15:27:13 +01:00
parent e5f56a1a8f 1a70b2f4ed
commit 8d764170aa
22 changed files with 563 additions and 492 deletions
Download Patch File Download Diff File Expand all files Collapse all files
nuttx/configs/px4fmu/common/ld.script
+9
View File
@@ -87,6 +87,15 @@ SECTIONS
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
/*
* Construction data for parameters.
*/
nuttx/configs/px4fmu/include/board.h
+4 -40
View File
@@ -45,9 +45,6 @@
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
//#include "stm32_rcc.h"
//#include "stm32_sdio.h"
//#include "stm32_internal.h"
/************************************************************************************
* Definitions
@@ -298,7 +295,7 @@
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 NOTDEFINED
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
@@ -327,11 +324,9 @@
/*
* Tone alarm output
*/
#ifdef CONFIG_TONE_ALARM
# define TONE_ALARM_TIMER 3 /* timer 3 */
# define TONE_ALARM_CHANNEL 3 /* channel 3 */
# define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
#endif
#define TONE_ALARM_TIMER 3 /* timer 3 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/************************************************************************************
* Public Data
@@ -362,37 +357,6 @@ extern "C" {
EXTERN void stm32_boardinitialize(void);
/************************************************************************************
* Button support.
*
* Description:
* up_buttoninit() must be called to initialize button resources. After
* that, up_buttons() may be called to collect the current state of all
* buttons or up_irqbutton() may be called to register button interrupt
* handlers.
*
* After up_buttoninit() has been called, up_buttons() may be called to
* collect the state of all buttons. up_buttons() returns an 8-bit bit set
* with each bit associated with a button. See the BUTTON_*_BIT
* definitions in board.h for the meaning of each bit.
*
* up_irqbutton() may be called to register an interrupt handler that will
* be called when a button is depressed or released. The ID value is a
* button enumeration value that uniquely identifies a button resource. See the
* BUTTON_* definitions in board.h for the meaning of enumeration
* value. The previous interrupt handler address is returned (so that it may
* restored, if so desired).
*
************************************************************************************/
#ifdef CONFIG_ARCH_BUTTONS
EXTERN void up_buttoninit(void);
EXTERN uint8_t up_buttons(void);
#ifdef CONFIG_ARCH_IRQBUTTONS
EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
#endif
#endif
#undef EXTERN
#if defined(__cplusplus)
}
nuttx/configs/px4fmu/include/drv_gpio.h
-107
View File
@@ -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 GPIO driver interface.
*
* This header defines the basic interface to platform-specific GPIOs.
*/
#ifndef _BOARD_DRV_GPIO_H
#define _BOARD_DRV_GPIO_H
/*
* PX4FMU GPIO numbers.
*
* For shared pins, alternate function 1 selects the non-GPIO mode
* (USART2, CAN2, etc.)
*/
#define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */
#define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */
#define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */
#define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */
#define GPIO_MULTI_3 (1<<4) /**< USART2 TX */
#define GPIO_MULTI_4 (1<<5) /**< USART2 RX */
#define GPIO_CAN_TX (1<<6) /**< CAN2 TX */
#define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
#define GPIO_DEVICE_PATH "/dev/gpio"
/*
* IOCTL definitions.
*
* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
* by the operation, with the LSB being the lowest-numbered GPIO.
*
* Note that there may be board-specific relationships between GPIOs;
* applications using GPIOs should be aware of this.
*/
#define _GPIOCBASE 0x6700
#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
/** reset all board GPIOs to their default state */
#define GPIO_RESET GPIOC(0)
/** configure the board GPIOs in (arg) as outputs */
#define GPIO_SET_OUTPUT GPIOC(1)
/** configure the board GPIOs in (arg) as inputs */
#define GPIO_SET_INPUT GPIOC(2)
/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
#define GPIO_SET_ALT_1 GPIOC(3)
/** configure the board GPIO (arg) for the second alternate function (if supported) */
#define GPIO_SET_ALT_2 GPIOC(4)
/** configure the board GPIO (arg) for the third alternate function (if supported) */
#define GPIO_SET_ALT_3 GPIOC(5)
/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
#define GPIO_SET_ALT_4 GPIOC(6)
/** set the GPIOs in (arg) */
#define GPIO_SET GPIOC(10)
/** clear the GPIOs in (arg) */
#define GPIO_CLEAR GPIOC(11)
/** read all the GPIOs and return their values in *(uint32_t *)arg */
#define GPIO_GET GPIOC(12)
#endif /* _DRV_GPIO_H */
nuttx/configs/px4fmu/nsh/appconfig
+1 -1
View File
@@ -97,7 +97,7 @@ CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/px4io
CONFIGURED_APPS += drivers/stm32
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += px4/fmu
CONFIGURED_APPS += drivers/px4fmu
# Testing stuff
CONFIGURED_APPS += px4/sensors_bringup
nuttx/configs/px4fmu/nsh/defconfig
+2 -2
View File
@@ -179,7 +179,7 @@ CONFIG_STM32_I2C1=y
CONFIG_STM32_I2C2=y
CONFIG_STM32_I2C3=y
CONFIG_STM32_CAN1=n
CONFIG_STM32_CAN2=y
CONFIG_STM32_CAN2=n
CONFIG_STM32_DAC=n
CONFIG_STM32_PWR=y
# APB2:
@@ -542,7 +542,7 @@ CONFIG_DEBUG_I2C=n
CONFIG_DEBUG_INPUT=n
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=n
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_MM_REGIONS=2
CONFIG_ARCH_LOWPUTC=y
CONFIG_MSEC_PER_TICK=1
nuttx/configs/px4fmu/src/Makefile
-1
View File
@@ -41,7 +41,6 @@ ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_leds.c \
drv_gpio.c \
drv_led.c drv_eeprom.c
COBJS = $(CSRCS:.c=$(OBJEXT))
nuttx/configs/px4fmu/src/drv_gpio.c
-195
View File
@@ -1,195 +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.
*
****************************************************************************/
/*
* GPIO driver for PX4FMU.
*
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_gpio.h>
static int px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations px4fmu_gpio_fops = {
.ioctl = px4fmu_gpio_ioctl,
};
static struct {
uint32_t input;
uint32_t output;
uint32_t alt;
} gpio_tab[] = {
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
};
#define NGPIO (sizeof(gpio_tab) / sizeof(gpio_tab[0]))
static void
px4fmu_gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
*/
for (unsigned i = 0; i < NGPIO; i++)
stm32_configgpio(gpio_tab[i].input);
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
}
static void
px4fmu_gpio_set_function(uint32_t gpios, int function)
{
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
/* configure selected GPIOs as required */
for (unsigned i = 0; i < NGPIO; i++) {
if (gpios & (1<<i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (gpio_tab[i].alt != 0)
stm32_configgpio(gpio_tab[i].alt);
break;
}
}
}
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
}
static void
px4fmu_gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < NGPIO; i++)
if (gpios & (1<<i))
stm32_gpiowrite(gpio_tab[i].output, value);
}
static uint32_t
px4fmu_gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < NGPIO; i++)
if (stm32_gpioread(gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
void
px4fmu_gpio_init(void)
{
/* reset all GPIOs to default state */
px4fmu_gpio_reset();
/* register the driver */
register_driver(GPIO_DEVICE_PATH, &px4fmu_gpio_fops, 0666, NULL);
}
static int
px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case GPIO_RESET:
px4fmu_gpio_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
px4fmu_gpio_set_function(arg, cmd);
break;
case GPIO_SET:
case GPIO_CLEAR:
px4fmu_gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = px4fmu_gpio_read();
break;
default:
result = -ENOTTY;
}
return result;
}