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holybro_can-gps-v1:Rev to RC9 HW

Browse Source 
holybro_can-gps-v1:Fix LEDs

holybro_can-gps-v1:Only CAN1

holybro_can-gps-v1:ncp5623c at 0x39
This commit is contained in:
David Sidrane 2021-05-12 11:33:47 -07:00 committed by Daniel Agar
parent 51f738e54c
commit 973068ebfe
13 changed files with 105 additions and 213 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
boards/holybro/can-gps-v1/debug.cmake
View File

@ -16,7 +16,7 @@ px4_add_board(
barometer/bmp388
bootloaders
gps
imu/bosch/bmi088
imu/invensense/icm20649
lights/rgbled_ncp5623c
magnetometer/bosch/bmm150
uavcannode

4
boards/holybro/can-gps-v1/default.cmake
View File

@ -10,13 +10,13 @@ px4_add_board(
CONSTRAINED_MEMORY
CONSTRAINED_FLASH
ROMFSROOT cannode
UAVCAN_INTERFACES 2
UAVCAN_INTERFACES 1
DRIVERS
adc/board_adc
barometer/bmp388
bootloaders
gps
imu/bosch/bmi088
imu/invensense/icm20649
lights/rgbled_ncp5623c
magnetometer/bosch/bmm150
uavcannode

2
boards/holybro/can-gps-v1/init/rc.board_defaults
View File

@ -3,4 +3,4 @@
# board specific defaults
#------------------------------------------------------------------------------
rgbled_ncp5623c -I -b 1 -a 0x39 start
rgbled_ncp5623c -I -b 2 -a 0x39 start

9
boards/holybro/can-gps-v1/init/rc.board_sensors
View File

@ -5,13 +5,12 @@
gps start -d /dev/ttyS0 -g 38400 -p ubx
# TODO:Check for Correct Rotations
# Internal SPI BMI088
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start
# Internal SPI ICM20649
icm20649 -s -b 1 -R 8 start
# Internal Baro
bmp388 -I -b 1 -a 0x77 start
# Internal magnetometer on I2c
bmm150 -I -b 1 start
bmm150 -I -b 1 -R 2 start

26
boards/holybro/can-gps-v1/nuttx-config/include/board.h
View File

@ -128,34 +128,34 @@
/* UARTs */
#define GPIO_USART1_TX /* PA15 */ GPIO_USART1_TX_3
#define GPIO_USART1_RX /* PA10 */ GPIO_USART1_RX_1
#define GPIO_USART1_TX /* PA9 */ GPIO_USART1_TX_1
#define GPIO_USART1_RX /* PA10 */ GPIO_USART1_RX_1
#define GPIO_USART2_TX /* PA2 */ GPIO_USART2_TX_1
#define GPIO_USART2_RX /* PA3 */ GPIO_USART2_RX_1
#define GPIO_USART2_TX /* PA2 */ GPIO_USART2_TX_1
#define GPIO_USART2_RX /* PA3 */ GPIO_USART2_RX_1
/* CAN */
#define GPIO_CAN1_TX /* PB9 */ GPIO_CAN1_TX_2
#define GPIO_CAN1_RX /* PB8 */ GPIO_CAN1_RX_2
#define GPIO_CAN1_TX /* PA12 */ GPIO_CAN1_TX_1
#define GPIO_CAN1_RX /* PA11 */ GPIO_CAN1_RX_1
#define GPIO_CAN2_TX /* PB13 */ GPIO_CAN2_TX_1
#define GPIO_CAN2_RX /* PB12 */ GPIO_CAN2_RX_2
#define GPIO_CAN2_TX /* PB13 */ GPIO_CAN2_TX_1
#define GPIO_CAN2_RX /* PB12 */ GPIO_CAN2_RX_2
/* I2C */
#define GPIO_MCU_I2C1_SCL
#define GPIO_MCU_I2C1_SDA
#define GPIO_I2C1_SCL /* PB6 */ GPIO_I2C1_SCL_1
#define GPIO_I2C1_SDA /* PB7 */ GPIO_I2C1_SDA_1
#define GPIO_I2C1_SCL /* PB6 */ GPIO_I2C1_SCL_1
#define GPIO_I2C1_SDA /* PB7 */ GPIO_I2C1_SDA_1
#define GPIO_I2C2_SCL /* PB10 */ GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA /* PB3 */ GPIO_I2C2_SDA_3
/* SPI */
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
#define GPIO_SPI1_MISO /* PA6 */ GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI /* PA7 */ GPIO_SPI1_MOSI_1
#define GPIO_SPI1_MOSI /* PB5 */ GPIO_SPI1_MOSI_2
#define GPIO_SPI1_SCK /* PA5 */ ADJ_SLEW_RATE(GPIO_SPI1_SCK_1)
#endif /* __ARCH_BOARD_BOARD_H */

8
boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig
View File

@ -35,11 +35,6 @@ CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_PRODUCTID=0x004f
CONFIG_CDCACM_PRODUCTSTR="PX4 HolyBro CAN GPS"
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_VENDORSTR="HolyBro"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
@ -136,8 +131,8 @@ CONFIG_STM32_DMA2=y
CONFIG_STM32_FLASH_PREFETCH=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_I2C1=y
CONFIG_STM32_I2C2=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_OTGFS=y
CONFIG_STM32_PWR=y
CONFIG_STM32_RTC=y
CONFIG_STM32_RTC_HSECLOCK=y
@ -167,7 +162,6 @@ CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_RXDMA=y
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_TXBUFSIZE=2500
CONFIG_USBDEV=y
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=4096
CONFIG_USER_ENTRYPOINT="nsh_main"

82
boards/holybro/can-gps-v1/src/board_config.h
View File

@ -50,17 +50,6 @@
// todo:NCP5623 datasheet says 0x38 driver says 0x39 - needs testing
/* GPIO *************************************************************************** */
/* LEDs are driven with push open drain to support Anode to 3.3V */
#define GPIO_MCU_NLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_MCU_NLED_BLUE /* PB2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
#define GPIO_MCU_NLED_GREEN /* PB10 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE
/*
* ADC channels
*
@ -80,18 +69,18 @@
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_HW_VER_SENSE_CHANNEL /* PA0 */ ADC1_CH(0)
#define ADC_HW_REV_SENSE_CHANNEL /* PA1 */ ADC1_CH(1)
#define ADC_HW_REV_SENSE_CHANNEL /* PA0 */ ADC1_CH(0)
#define ADC_HW_VER_SENSE_CHANNEL /* PA1 */ ADC1_CH(1)
#define ADC_CHANNELS \
((1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL))
((1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL))
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING
#define GPIO_HW_VER_REV_DRIVE /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
#define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
#define HW_INFO_INIT {'C','A','N','G','P','S','x', 'x',0}
@ -104,43 +93,52 @@
*
* Silent mode control
*/
#define GPIO_MCU_CAN1_SILENT /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_MCU_CAN1_SILENT /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
#define GPIO_MCU_CAN2_SILENT /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4)
// Spi pinning is in spi.ccp
// SPI pinning for ICM20649 is in spi.ccp
// GPIO_MCU_SPI1_DRDY /* PA8 */
// GPIO_MCU_SPI1_NCS_GYRO /* PB14 */
// GPIO_MCU_SPI1_NCS_ACC /* PB15 */
// GPIO_MCU_SPI1_DRDY /* PB0 */
// GPIO_MCU_SPI1_NCS_ACC /* PA8 */
#define GPIO_SENSOR_3V3_EN /* PC15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
#define GPIO_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
#define GPIO_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
#define GPIO_USB_SWITCH_DET /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14)
#define GPIO_NOPT_WAIT_FOR_GETNODEINFO /* PC13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN13)
#define GPIO_MCU_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
#define GPIO_MCU_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
#define GPIO_GPS_PPS_IN /* PB4 */ GPIO_TIM3_CH1_2
#define GPIO_MCU_I2C2_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_MCU_I2C2_SDA_RESET /* PB3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
#define GPIO_NOPT_WAIT_FOR_GETNODEINFO /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14)
#define GPIO_TIM1_CH1N /* PA7 */ GPIO_TIM1_CH1N_1 /* NLED_RED */
#define GPIO_TIM1_CH2N /* PB14 */ GPIO_TIM1_CH2N_2 /* NLED_BLUE */
#define GPIO_TIM1_CH3N /* PB15 */ GPIO_TIM1_CH3N_2 /* NLED_GREEN */
#define GPIO_TIM2_CH1 /* PA15 */ GPIO_TIM2_CH1_3 /* GPS_PPS_IN */ // todo:needs Driver
#define GPIO_GPS_PPS_IN /* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_SENSOR_3V3_EN, \
GPIO_I2C1_SCL_RESET, \
GPIO_I2C1_SDA_RESET, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_MCU_CAN1_SILENT, \
GPIO_MCU_CAN2_SILENT, \
GPIO_USB_SWITCH_DET, \
GPIO_NOPT_WAIT_FOR_GETNODEINFO, \
GPIO_GPS_PPS_IN /* todo:needs driver */ \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_SENSOR_3V3_EN, \
GPIO_MCU_I2C1_SCL_RESET, \
GPIO_MCU_I2C1_SDA_RESET, \
GPIO_MCU_I2C2_SCL_RESET, \
GPIO_MCU_I2C2_SDA_RESET, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_MCU_CAN1_SILENT, \
GPIO_MCU_CAN2_SILENT, \
GPIO_NOPT_WAIT_FOR_GETNODEINFO, \
GPIO_GPS_PPS_IN \
}
__BEGIN_DECLS

23
boards/holybro/can-gps-v1/src/boot.c
View File

@ -69,7 +69,6 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_CAN2_TX);
stm32_configgpio(GPIO_MCU_CAN1_SILENT);
stm32_configgpio(GPIO_MCU_CAN2_SILENT);
led_init(); // todo:Remove with creation of proper LED driver
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST | RCC_APB1RSTR_CAN2RST, STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~(RCC_APB1RSTR_CAN1RST | RCC_APB1RSTR_CAN2RST), STM32_RCC_APB1RSTR);
@ -168,17 +167,17 @@ typedef begin_packed_struct struct led_t {
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 128, 128, 128, 30),
led(2, autobaud_start, 0, 128, 0, 1),
led(3, autobaud_end, 0, 128, 0, 2),
led(4, allocation_start, 0, 0, 64, 2),
led(5, allocation_end, 0, 128, 64, 3),
led(6, fw_update_start, 32, 128, 64, 3),
led(7, fw_update_erase_fail, 32, 128, 32, 3),
led(8, fw_update_invalid_response, 64, 0, 0, 1),
led(9, fw_update_timeout, 64, 0, 0, 2),
led(a, fw_update_invalid_crc, 64, 0, 0, 4),
led(b, jump_to_app, 0, 128, 0, 10),
led(1, reset, 255, 255, 255, 30),
led(2, autobaud_start, 0, 255, 0, 1),
led(3, autobaud_end, 0, 255, 0, 2),
led(4, allocation_start, 0, 0, 128, 2),
led(5, allocation_end, 0, 255, 128, 3),
led(6, fw_update_start, 64, 255, 128, 3),
led(7, fw_update_erase_fail, 64, 255, 64, 3),
led(8, fw_update_invalid_response, 128, 0, 0, 1),
led(9, fw_update_timeout, 128, 0, 0, 2),
led(a, fw_update_invalid_crc, 128, 0, 0, 4),
led(b, jump_to_app, 0, 255, 0, 10),
};

1
boards/holybro/can-gps-v1/src/i2c.cpp
View File

@ -35,4 +35,5 @@
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusInternal(1),
initI2CBusInternal(2),
};

25
boards/holybro/can-gps-v1/src/init.c
View File

@ -65,7 +65,8 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include "led.h"
#include <systemlib/px4_macros.h>
@ -78,20 +79,6 @@
# include <parameters/flashparams/flashfs.h>
#endif
/*
* 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: stm32_boardinitialize
*
@ -196,12 +183,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
(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);
rgb_led(0, 255, 0, 0);
return OK;
}

132
boards/holybro/can-gps-v1/src/led.c
View File

@ -48,107 +48,17 @@
#include <nuttx/board.h>
#include <arch/board/board.h>
// TODO:This needs a complete rewrite We need to change the HW
// Swap PB0/PB2 and use timer for all LEDS
#include "led.h"
#define TMR_BASE STM32_TIM1_BASE
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
#define TMR_REG(o) (TMR_BASE+(o))
static uint8_t _off[] = {0, 0, 0};
static uint8_t _rgb[] = {0, 0, 0};
/*
* 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
#define LED_RED 1
#define LED_BLUE 0
#define LED_GREEN 3
#define xlat(p) (p)
static uint32_t g_ledmap[] = {
GPIO_MCU_NLED_BLUE, // Indexed by LED_BLUE
GPIO_MCU_NLED_RED, // Indexed by LED_RED, LED_AMBER
0, // Indexed by LED_SAFETY (defaulted to an input)
GPIO_MCU_NLED_GREEN // Indexed by LED_GREEN
};
__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)));
}
static void setled(uint8_t *rgb)
{
phy_set_led(LED_RED, _rgb[0]);
phy_set_led(LED_GREEN, _rgb[1]);
phy_set_led(LED_BLUE, _rgb[2]);
}
static int timerInterrupt(int irq, void *context, void *arg)
{
putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
static int d2 = 1;
setled((d2++ & 1) ? _rgb : _off);
return 0;
}
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = TMR_FREQUENCY;
long prescale = 1536;
long prescale = 9600;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
uint16_t val;
@ -156,38 +66,49 @@ void rgb_led(int r, int g, int b, int freqs)
if (!once) {
once = 1;
setled(_off);
/* Enable Clock to Block */
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
/* Reload */
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
val |= ATIM_EGR_UG;
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
/* Set Prescaler STM32_TIM_SETCLOCK */
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
/* Enable STM32_TIM_SETMODE*/
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
putreg16(ATIM_CCER_CC3NE | ATIM_CCER_CC3NP | ATIM_CCER_CC2NE | ATIM_CCER_CC2NP | ATIM_CCER_CC1NE | ATIM_CCER_CC1NP,
TMR_REG(STM32_GTIM_CCER_OFFSET));
irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
up_enable_irq(STM32_IRQ_TIM1CC);
putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
stm32_configgpio(GPIO_TIM1_CH1N);
stm32_configgpio(GPIO_TIM1_CH2N);
stm32_configgpio(GPIO_TIM1_CH3N);
/* master output enable = on */
putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
}
long p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
_rgb[0] = g;
_rgb[1] = r;
_rgb[2] = b;
setled(_rgb);
long p = freqs == 0 ? p1s : p1s / freqs;
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
@ -199,4 +120,5 @@ void rgb_led(int r, int g, int b, int freqs)
}
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
}

1
boards/holybro/can-gps-v1/src/led.h
View File

@ -34,5 +34,4 @@
__BEGIN_DECLS
void rgb_led(int r, int g, int b, int freqs);
__EXPORT void led_init(void);
__END_DECLS

3
boards/holybro/can-gps-v1/src/spi.cpp
View File

@ -37,8 +37,7 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin14}, SPI::DRDY{GPIO::PortA, GPIO::Pin8}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin8}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
}, {GPIO::PortC, GPIO::Pin15}),
};