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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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board_common:Documentation clean up merged
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
3c384f1890
commit
9cc7148211
@@ -50,9 +50,10 @@
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************************************************************************************/
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/* SPI bus defining tools
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*
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* For new boards we use a board_config.h to define all the SPI functionality
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* A board provides SPI bus definitions and a set of buses that should be
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* enumerated as well as chip selects that will be interatorable
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* enumerated as well as chip selects that will be iterateable
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*
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* We will use these in macros place of the uint32_t enumeration to select a
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* specific SPI device on given SPI1 bus.
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@@ -84,7 +85,7 @@
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*
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* The PX4_xxxx_BUS_FIRST_CS and PX4_xxxxx_BUS_LAST_CS
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* #define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
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* #define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACCEL
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* #define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACCEL
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*
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*
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*/
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@@ -146,8 +147,6 @@
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/* Provide define for Bricks and Battery */
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/* Legacy default */
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/* Define the default maximum voltage resulting from the bias on ADC termination */
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#if !defined(BOARD_ADC_OPEN_CIRCUIT_V)
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@@ -162,6 +161,8 @@
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# define BOARD_VALID_UV (3.7f)
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#endif
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/* Legacy default */
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#if !defined(BOARD_NUMBER_BRICKS)
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# define BOARD_NUMBER_BRICKS 1
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# if !defined(BOARD_ADC_BRICK_VALID)
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@@ -279,26 +280,6 @@
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# define HW_VER_FMUV2MINI HW_VER_SIMPLE(HW_VER_FMUV2MINI_STATE)
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#endif
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/* Provide an interface for reading the connected state of VBUS */
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/************************************************************************************
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* Name: board_read_VBUS_state
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*
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* Description:
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* All boards must provide a way to read the state of VBUS, this my be simple
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* digital input on a GPIO. Or something more complicated like a Analong input
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* or reading a bit from a USB controller register.
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*
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* Returns - 0 if connected.
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*
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************************************************************************************/
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#if defined(GPIO_OTGFS_VBUS)
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# define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
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#else
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int board_read_VBUS_state(void);
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#endif
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/************************************************************************************
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* Public Data
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************************************************************************************/
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@@ -330,7 +311,10 @@ typedef enum board_power_button_state_notification_e {
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typedef int (*power_button_state_notification_t)(board_power_button_state_notification_e request);
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/* Defined the types used for board UUID and MFG UID
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/* UUID
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*
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* Define the types used for board UUID, MFG UID and PX4 GUID
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*
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* A type suitable for holding the byte format of the UUID
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*
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@@ -342,16 +326,39 @@ typedef int (*power_button_state_notification_t)(board_power_button_state_notifi
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* I was bit 95 and L was bit 64
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*
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* Since the string was used by some manufactures to identify the units
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* it must be preserved.
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* it must be preserved. DEPRECATED - This will be removed in PX4 Release
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* 1.7.0.
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*
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* For new targets moving forward we will use
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* IJKL EFGH ABCD
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* For new targets moving forward we will use an 18 byte globally unique
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* PX4 GUID in the form:
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*
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* <ARCH MSD><ARCH LSD>[MNOP] IJKL EFGH ABCD
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*
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* Where <ARCH MSD><ARCH LSD> are a monotonic ordinal number assigned by
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* PX4 to a chip architecture (PX4_SOC_ARCH_ID). The 2 bytes are used to
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* create a globally unique ID when prepended to a padded CPU UUID.
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*
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* In the case where the MFG UUID is shorter than 16 bytes it will be
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* padded with 0's starting at offset [2] until
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* PX4_GUID_BYTE_LENGTH-PX4_CPU_UUID_BYTE_LENGTH -1
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*
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* I.E. For the STM32
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* offset:0 1 2 3 4 5 6 - 17
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* <ARCH MSD><ARCH LSD>[0][0][0][0]<MSD CPU UUID>...<LSD CPU UUID>
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*
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* I.E. For the Kinetis
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* offset:0 1 2 - 17
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* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
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*/
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/* A type suitable for defining the 8 bit format of the UUID */
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/* Define the PX4 Globally unique ID (GUID) length and format size */
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#define PX4_GUID_BYTE_LENGTH 18
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#define PX4_GUID_FORMAT_SIZE ((2*PX4_GUID_BYTE_LENGTH)+1)
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/* DEPRICATED as of 1.7.0 A type suitable for defining the 8 bit format of the CPU UUID */
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typedef uint8_t uuid_byte_t[PX4_CPU_UUID_BYTE_LENGTH];
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/* A type suitable for defining the 32bit format of the UUID */
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/* DEPRICATED as of 1.7.0 A type suitable for defining the 32bit format of the CPU UUID */
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typedef uint32_t uuid_uint32_t[PX4_CPU_UUID_WORD32_LENGTH];
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/* A type suitable for defining the 8 bit format of the MFG UID
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@@ -359,6 +366,12 @@ typedef uint32_t uuid_uint32_t[PX4_CPU_UUID_WORD32_LENGTH];
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*/
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typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
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/* A type suitable for defining the 8 bit format of the px4 globally unique
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* PX4 GUID. This is always returned as MSD @ index 0 -LSD @ index
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* PX4_CPU_GUID_BYTE_LENGTH-1
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*/
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typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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@@ -367,6 +380,30 @@ typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
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* Public Functions
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************************************************************************************/
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/* Provide an interface for reading the connected state of VBUS */
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/************************************************************************************
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* Name: board_read_VBUS_state
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*
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* Description:
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* All boards must provide a way to read the state of VBUS, this my be simple
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* digital input on a GPIO. Or something more complicated like a Analong input
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* or reading a bit from a USB controller register.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* 0 if connected.
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*
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************************************************************************************/
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#if defined(GPIO_OTGFS_VBUS)
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# define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
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#else
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int board_read_VBUS_state(void);
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#endif
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/************************************************************************************
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* Name: board_dma_alloc_init
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*
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@@ -376,6 +413,13 @@ typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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* Input Parameters:
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* None
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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 failure
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* EPERM - board does not support function
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* ENOMEM - There is not enough memory to satisfy allocation.
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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@@ -393,6 +437,15 @@ __EXPORT int board_dma_alloc_init(void);
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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* Input Parameters:
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* dma_total - A pointer to receive the total allocation size of the memory
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* allocated with board_dma_alloc_init. It should be equal to
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* BOARD_DMA_ALLOC_POOL_SIZE.
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* dma_used - A pointer to receive the current allocation in use.
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* dma_peak_used - A pointer to receive the peak allocation used.
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*
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* Returned Value:
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* Zero (OK) is returned on success;
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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@@ -406,9 +459,16 @@ __EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16
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*
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* Description:
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* All boards my optionally provide this API to invert the Serial RC input.
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* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
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* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
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* and external XOR controlled by a GPIO
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*
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* Input Parameters:
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* invert_on - A positive logic value, that when true (on) will set the HW in
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* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
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*
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* Returned Value:
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* None
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*
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************************************************************************************/
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#if defined(INVERT_RC_INPUT)
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# if !defined(GPIO_SBUS_INV)
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@@ -422,9 +482,22 @@ __EXPORT void board_rc_input(bool invert_on);
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* Description:
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* Optionally provided function called on entry to board_system_reset
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* It should perform any house keeping prior to the rest.
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* For example setting PWM outputs to the off state to avoid
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* triggering a motor spin.
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*
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* status - 1 if resetting to boot loader
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* 0 if just resetting
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* As a workaround for the bug seen on some ESC, the code will delay
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* rebooting the flight controller to insure that the 3.2 ms pulse
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* that occurs from the delay from reset to GPIO init due to memory
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* initialization is pushed out from the last PWM by > 6 Ms.
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*
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* Input Parameters:
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* status - 1 Resetting to boot loader
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* 0 Just resetting CPU
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* -1 used internally by board init to to initialize
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* PWM IO pins with delay.
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*
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* Returned Value:
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* None
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*
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************************************************************************************/
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@@ -440,6 +513,14 @@ __EXPORT void board_on_reset(int status);
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* Description:
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* All boards my optionally provide this API to reset the board
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*
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* Input Parameters:
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* status - 1 Resetting to boot loader
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* 0 Just resetting CPU
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*
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* Returned Value:
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* If function is supported by board it will not return.
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* If not supported it is a noop.
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*
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************************************************************************************/
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#if defined(BOARD_HAS_NO_RESET)
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# define board_system_reset(status)
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@@ -454,6 +535,18 @@ __EXPORT void board_system_reset(int status) noreturn_function;
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* All boards my optionally provide this API to enter configure the entry to
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* boot loader mode on the next system reset.
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*
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* Input Parameters:
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* mode - is an board_reset_e that controls the type of reset.
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* board_reset_normal Perform a normal reset
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* board_reset_extended Perform an extend reset as defined by board
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* board_reset_power_off Reset to the boot loader, signaling a power off
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* board_reset_enter_bootloader Perform a reset to the boot loader
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*
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated EINVAL value is returned if an
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* invalid mode is requested.
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*
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************************************************************************************/
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#if defined(BOARD_HAS_NO_BOOTLOADER)
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@@ -466,8 +559,13 @@ __EXPORT int board_set_bootload_mode(board_reset_e mode);
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* Name: board_get_hw_type
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*
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* Description:
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* Optional returns a string defining the HW type
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* Optional returns a 0 terminated string defining the HW type.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* a 0 terminated string defining the HW type. This my be a 0 length string ""
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*
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************************************************************************************/
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@@ -483,6 +581,13 @@ __EXPORT const char *board_get_hw_type_name(void);
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* Description:
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* Optional returns a integer HW version
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware version.
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* A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of -1 is the default for boards supporting the API but not having version.
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*
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************************************************************************************/
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@@ -498,6 +603,13 @@ __EXPORT int board_get_hw_version(void);
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* Description:
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* Optional returns a integer HW revision
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware revision.
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* A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of -1 is the default for boards supporting the API but not having revision.
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*
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************************************************************************************/
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@@ -509,57 +621,80 @@ __EXPORT int board_get_hw_revision(void);
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#if !defined(BOARD_OVERRIDE_UUID)
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/************************************************************************************
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* Name: board_get_uuid
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* Name: board_get_uuid DEPRICATED use board_get_px4_guid
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*
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* Description:
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* All boards either provide a way to read a uuid of PX4_CPU_UUID_BYTE_LENGTH
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* from PX4_CPU_UUID_ADDRESS in the SoC's address space OR define
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* BOARD_OVERRIDE_UUID as an array of bytes that is PX4_CPU_UUID_BYTE_LENGTH
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*
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* Input Parameters:
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* uuid_bytes - uuid_byte_t and array of bytes PX4_CPU_UUID_BYTE_LENGTH in length.
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*
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* Returned Value:
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* The uuid_bytes array is populated with the CPU uuid in the legacy format for
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* STM32.
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*
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************************************************************************************/
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__EXPORT void board_get_uuid(uuid_byte_t uuid_bytes);
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__EXPORT void board_get_uuid(uuid_byte_t uuid_bytes); // DEPRICATED use board_get_px4_guid
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/************************************************************************************
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* Name: board_get_uuid32
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* Name: board_get_uuid32 DEPRICATED use board_get_px4_guid
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*
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* Description:
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* All boards either provide a way to read a uuid of PX4_CPU_UUID_WORD32_LENGTH
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* from PX4_CPU_UUID_ADDRESS in the Soc's address space OR define
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* BOARD_OVERRIDE_UUID as an array of bytes that is PX4_CPU_UUID_BYTE_LENGTH
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* On Legacy (stm32) targets the raw32 format is the result of coping returning
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* the 32bit words from low memory to high memory. On new targets the result
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* On Legacy (stm32) targets the uuid_words format is the result of coping
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* returning the 32bit words from low memory to high memory. On new targets the result
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* will be an array of words with the MSW at index 0 and the LSW: at index
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* PX4_CPU_UUID_WORD32_LENGTH-1.
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*
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* The ordering can optionally be set by defining
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* PX4_CPU_UUID_WORD32_FORMAT_ORDER
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* Input Parameters:
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* uuid_words - a uuid_uint32_t and array of 32 bit words PX4_CPU_UUID_WORD32_
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* LENGTH in length.
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*
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* Returned Value:
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* The uuid_words array is populated with the CPU uuid.
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*
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************************************************************************************/
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__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words);
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__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use board_get_px4_guid
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/************************************************************************************
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* Name: board_get_uuid32_formated
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* Name: board_get_uuid32_formated DEPRICATED use board_get_px4_guid_formated
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*
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* Description:
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* All boards either provide a way to retrieve a uuid and format it
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* or define BOARD_OVERRIDE_UUID
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* The format can optionally be reordered if PX4_CPU_UUID_WORD32_FORMAT_ORDER is
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* defined and printed with the optional separator
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* This function is used to populate a buffer with the UUID to be a printed
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* with the optional separator
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*
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* With seperator = ":"
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* 31-00:63-32:95-64
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* 32383336:412038:33355110
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* With seperator = " "
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* 31-00:63-32:95-64
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* 32383336 412038 33355110
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* With seperator = NULL
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* 31-00:63-32:95-64
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* 3238333641203833355110
|
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* Input Parameters:
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* format_buffer - A pointer to a bufferer of at least PX4_CPU_UUID_WORD32_FORMAT_SIZE
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* that will contain a 0 terminated string formated as described
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* the format string and optional separator.
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* size - The size of the buffer (should be atleaset PX4_CPU_UUID_WORD32_FORMAT_SIZE)
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* format - The fort mat specifier for the hex digit see CPU_UUID_FORMAT
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* separator - Optional pointer to a 0 terminated string or NULL:
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* With separator = ":"
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* 31-00:63-32:95-64
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* 32383336:412038:33355110
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* With separator = " "
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* 31-00:63-32:95-64
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||||
* 32383336 412038 33355110
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* With separator = NULL
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* 31-00:63-32:95-64
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* 3238333641203833355110
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*
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* Returned Value:
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* The format buffer is populated with a 0 terminated string formated as described.
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* Zero (OK) is returned on success;
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*
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************************************************************************************/
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__EXPORT int board_get_uuid32_formated(char *format_buffer, int size,
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const char *format,
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const char *seperator);
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const char *seperator); // DEPRICATED use board_get_px4_guid_formated
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#endif // !defined(BOARD_OVERRIDE_UUID)
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#if !defined(BOARD_OVERRIDE_MFGUID)
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@@ -567,26 +702,106 @@ __EXPORT int board_get_uuid32_formated(char *format_buffer, int size,
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* Name: board_get_mfguid
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*
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* Description:
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* All boards either provide a way to retrieve a manafactuers Uniqe ID or
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* All boards either provide a way to retrieve a manufactures Unique ID or
|
||||
* define BOARD_OVERRIDE_MFGUID.
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* The MFGUID is returned as an array of bytes in
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* MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
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*
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* Input Parameters:
|
||||
* mfgid - mfguid_t and array of bytes PX4_CPU_MFGUID_BYTE_LENGTH in length.
|
||||
*
|
||||
* Returned Value:
|
||||
* The mfguid_t array is populated with the CPU uuid with the MSD @ index 0
|
||||
* and the LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_get_mfguid(mfguid_t mfgid);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_get_mfguid_formated DEPRICATED use board_get_px4_guid_formated
|
||||
*
|
||||
* Description:
|
||||
* All boards either provide a way to retrieve a formatted string of the
|
||||
* manufactures unique ID or define BOARD_OVERRIDE_MFGUID
|
||||
*
|
||||
* Input Parameters:
|
||||
* format_buffer - A pointer to a bufferer of at least PX4_CPU_MFGUID_FORMAT_SIZE
|
||||
* that will contain a 0 terminated string formated as 0 prefixed
|
||||
* lowercase hex. 2 charaters per digit of the mfguid_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* format_buffer is populated with a 0 terminated string of hex digits. The
|
||||
* return value is the number of printable in the string.
|
||||
* Usually PX4_CPU_MFGUID_FORMAT_SIZE-1
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_get_mfguid_formated(char *format_buffer, int size); // DEPRICATED use board_get_px4_guid_formated
|
||||
#endif // !defined(BOARD_OVERRIDE_MFGUID)
|
||||
|
||||
#if !defined(BOARD_OVERRIDE_PX4_GUID)
|
||||
/************************************************************************************
|
||||
* Name: board_get_px4_guid
|
||||
*
|
||||
* Description:
|
||||
* All boards either provide a way to retrieve a PX4 Globally unique ID or
|
||||
* define BOARD_OVERRIDE_PX4_GUID.
|
||||
*
|
||||
* The form of the GUID is as follows:
|
||||
* offset:0 1 2 - 17
|
||||
* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
||||
*
|
||||
* Where <ARCH MSD><ARCH LSD> are a monotonic ordinal number assigned by
|
||||
* PX4 to a chip architecture (PX4_SOC_ARCH_ID). The 2 bytes are used to
|
||||
* create a globally unique ID when prepended to a padded CPU ID.
|
||||
*
|
||||
* In the case where the CPU's UUID is shorter than 16 bytes it will be
|
||||
* padded with 0's starting at offset [2] until
|
||||
* PX4_CPU_MFGUID_BYTE_LENGTH-PX4_CPU_UUID_BYTE_LENGTH -1
|
||||
* I.E. For the STM32
|
||||
* offset:0 1 2 3 4 5 6 - 17
|
||||
* <ARCH MSD><ARCH LSD>[0][0][0][0]<MSD CPU UUID>...<LSD CPU UUID>
|
||||
*
|
||||
* I.E. For as CPU with a 16 byte UUID
|
||||
* offset:0 1 2 - 17
|
||||
* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
||||
*
|
||||
* Input Parameters:
|
||||
* guid - a px4_guid_t which is byte array of PX4_GUID_BYTE_LENGTH length.
|
||||
*
|
||||
* Returned Value:
|
||||
* guid is populated as <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
||||
* the return value is PX4_GUID_BYTE_LENGTH
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_get_px4_guid(px4_guid_t guid);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_get_mfguid_formated
|
||||
*
|
||||
* Description:
|
||||
* All boards either provide a way to retrieve a formatted string of the
|
||||
* manafactuers Uniqe ID or define BOARD_OVERRIDE_MFGUID
|
||||
* manufactures Unique ID or define BOARD_OVERRIDE_PX4_GUID
|
||||
*
|
||||
* Input Parameters:
|
||||
* format_buffer - A buffer to receive the 0 terminated formated px4
|
||||
* guid string.
|
||||
* size - Size of the buffer provided. Normally this would
|
||||
* be PX4_GUID_FORMAT_SIZE.
|
||||
* If the size is less than PX4_GUID_FORMAT_SIZE the string
|
||||
* returned will be truncated from the MSD end and even
|
||||
* in length.
|
||||
*
|
||||
* Returned Value:
|
||||
* The number of printable characters. This value will be even and one less the
|
||||
* the size passed in.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_get_mfguid_formated(char *format_buffer, int size);
|
||||
#endif // !defined(BOARD_OVERRIDE_MFGUID)
|
||||
int board_get_px4_guid_formated(char *format_buffer, int size);
|
||||
#endif // !defined(BOARD_OVERRIDE_PX4_GUID)
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_mcu_version
|
||||
@@ -595,11 +810,13 @@ int board_get_mfguid_formated(char *format_buffer, int size);
|
||||
* All boards either provide a way to retrieve the cpu revision
|
||||
* Or define BOARD_OVERRIDE_CPU_VERSION
|
||||
*
|
||||
* Input Parameters:
|
||||
* rev - The silicon revision character
|
||||
* revstr - The full chip name string
|
||||
* errata -The eratta if any.
|
||||
*
|
||||
* return - The silicon revision / version number as integer
|
||||
* Returned Value:
|
||||
* The silicon revision / version number as integer
|
||||
* or -1 on error and rev, revstr and errata will
|
||||
* not be set
|
||||
*/
|
||||
@@ -620,9 +837,11 @@ __EXPORT int board_mcu_version(char *rev, const char **revstr, const char **erra
|
||||
* N.B. this call back may be called off an interrupt. Do not attempt to block
|
||||
* or run any long threads.
|
||||
*
|
||||
* cb - A pointer to a power button state notification function.
|
||||
* Input Parameters:
|
||||
* cb - A pointer to a power button state notification function.
|
||||
*
|
||||
* return - OK
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success;
|
||||
*/
|
||||
|
||||
int board_register_power_state_notification_cb(power_button_state_notification_t cb);
|
||||
@@ -633,7 +852,11 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
|
||||
* Description:
|
||||
* boards may provide a function to power off the board.
|
||||
*
|
||||
* return - OK, or -errno
|
||||
* Input Parameters:
|
||||
* None.
|
||||
* Returned Value:
|
||||
* - If supported the function will not return.
|
||||
* OK, or -EINVAL if unsupported.
|
||||
*/
|
||||
int board_shutdown(void);
|
||||
|
||||
@@ -648,10 +871,13 @@ static inline int board_shutdown(void) { return -EINVAL; }
|
||||
* Description:
|
||||
* Board may provide a list of GPI pins to get initialized
|
||||
*
|
||||
* Input Parameters:
|
||||
* list - A list of GPIO pins to be initialized
|
||||
* count - Size of the list
|
||||
*
|
||||
* return - Nothing
|
||||
************************************************************************************/
|
||||
* Returned Value:
|
||||
* Nothing
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_gpio_init(const uint32_t list[], int count);
|
||||
|
||||
Reference in New Issue
Block a user