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Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver.

Browse Source 
Rename some directories that got left behind in the great board renaming.
This commit is contained in:
px4dev
2013-08-02 22:34:55 -07:00
parent a9c1882ea0
commit 9d6ec6b365
89 changed files with 6364 additions and 204 deletions
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src/drivers/boards/px4fmu/px4fmu_internal.h → src/drivers/boards/px4fmu-v1/board_config.h
+66 -22
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file px4fmu_internal.h
* @file board_config.h
*
* PX4FMU internal definitions
*/
@@ -51,7 +51,7 @@ __BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
@@ -77,15 +77,45 @@ __BEGIN_DECLS
/* External interrupts */
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
// XXX MPU6000 DRDY?
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
/*
* Use these in place of the spi_dev_e enumeration to
* select a specific SPI device on SPI1
*/
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL 2
#define PX4_SPIDEV_MPU 3
/*
* Optional devices on IO's external port
*/
#define PX4_SPIDEV_ACCEL_MAG 2
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_EXPANSION 3
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
#define PX4_I2C_OBDEV_PX4IO 0x1a
/* User GPIOs
*
* GPIO0-1 are the buffered high-power GPIOs.
@@ -110,31 +140,45 @@ __BEGIN_DECLS
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/*
* Tone alarm output
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/*
* PWM
*
* Four PWM outputs can be configured on pins otherwise shared with
* USART2; two can take the flow control pins if they are not being used.
*
* Pins:
*
* CTS - PA0 - TIM2CH1
* RTS - PA1 - TIM2CH2
* TX - PA2 - TIM2CH3
* RX - PA3 - TIM2CH4
*
*/
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* PWM
*
* The PX4FMU has five PWM outputs, of which only the output on
* pin PC8 is fixed assigned to this function. The other four possible
* pwm sources are the TX, RX, RTS and CTS pins of USART2
*
* Alternate function mapping:
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
/* High-resolution timer
*/
#ifdef CONFIG_PWM
# if defined(CONFIG_STM32_TIM3_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 3
# elif defined(CONFIG_STM32_TIM8_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 8
# endif
#endif
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/****************************************************************************************************
* Public Types
src/drivers/boards/px4fmu/module.mk → src/drivers/boards/px4fmu-v1/module.mk
View File
src/drivers/boards/px4fmu/px4fmu_can.c → src/drivers/boards/px4fmu-v1/px4fmu_can.c
+1 -1
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@@ -54,7 +54,7 @@
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#ifdef CONFIG_CAN
src/drivers/boards/px4fmu/px4fmu_init.c → src/drivers/boards/px4fmu-v1/px4fmu_init.c
+1 -1
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@@ -59,7 +59,7 @@
#include <nuttx/analog/adc.h>
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#include "stm32_uart.h"
#include <arch/board/board.h>
src/drivers/boards/px4fmu/px4fmu_led.c → src/drivers/boards/px4fmu-v1/px4fmu_led.c
+1 -1
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@@ -42,7 +42,7 @@
#include <stdbool.h>
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#include <arch/board/board.h>
src/drivers/boards/px4fmu/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c
+5 -5
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@@ -41,15 +41,15 @@
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM2_BASE,
src/drivers/boards/px4fmu/px4fmu_spi.c → src/drivers/boards/px4fmu-v1/px4fmu_spi.c
+1 -1
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@@ -53,7 +53,7 @@
#include "up_arch.h"
#include "chip.h"
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Public Functions
src/drivers/boards/px4fmu/px4fmu_usb.c → src/drivers/boards/px4fmu-v1/px4fmu_usb.c
+1 -1
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@@ -53,7 +53,7 @@
#include "up_arch.h"
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Definitions
src/drivers/boards/px4fmuv2/px4fmu_internal.h → src/drivers/boards/px4fmu-v2/board_config.h
+51 -2
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file px4fmu_internal.h
* @file board_config.h
*
* PX4FMU internal definitions
*/
@@ -51,7 +51,7 @@ __BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
@@ -76,6 +76,9 @@ __BEGIN_DECLS
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
/* External interrupts */
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@@ -83,6 +86,22 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED 2
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_LED 0x55
#define PX4_I2C_OBDEV_HMC5883 0x1e
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
@@ -108,12 +127,42 @@ __BEGIN_DECLS
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/****************************************************************************************************
* Public Types
****************************************************************************************************/
src/drivers/boards/px4fmuv2/module.mk → src/drivers/boards/px4fmu-v2/module.mk
View File
src/drivers/boards/px4fmuv2/px4fmu2_init.c → src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+1 -1
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@@ -60,7 +60,7 @@
#include <nuttx/analog/adc.h>
#include <stm32.h>
#include "px4fmu_internal.h"
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
src/drivers/boards/px4fmuv2/px4fmu2_led.c → src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+1 -1
View File
@@ -42,7 +42,7 @@
#include <stdbool.h>
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#include <arch/board/board.h>
src/drivers/boards/px4fmuv2/px4fmu_can.c → src/drivers/boards/px4fmu-v2/px4fmu_can.c
+1 -1
View File
@@ -54,7 +54,7 @@
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#ifdef CONFIG_CAN
src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c
+5 -5
View File
@@ -41,15 +41,15 @@
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM1_BASE,
src/drivers/boards/px4fmuv2/px4fmu_spi.c → src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+1 -1
View File
@@ -53,7 +53,7 @@
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Public Functions
src/drivers/boards/px4fmuv2/px4fmu_usb.c → src/drivers/boards/px4fmu-v2/px4fmu_usb.c
+1 -1
View File
@@ -53,7 +53,7 @@
#include <up_arch.h>
#include <stm32.h>
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Definitions
src/drivers/boards/px4io/px4io_internal.h → src/drivers/boards/px4io-v1/board_config.h
+11 -1
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file px4io_internal.h
* @file board_config.h
*
* PX4IO hardware definitions.
*/
@@ -47,7 +47,9 @@
#include <nuttx/compiler.h>
#include <stdint.h>
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/************************************************************************************
* Definitions
@@ -83,3 +85,11 @@
#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
/*
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
src/drivers/boards/px4io/module.mk → src/drivers/boards/px4io-v1/module.mk
View File
src/drivers/boards/px4io/px4io_init.c → src/drivers/boards/px4io-v1/px4io_init.c
+1 -1
View File
@@ -55,7 +55,7 @@
#include <nuttx/arch.h>
#include "stm32.h"
#include "px4io_internal.h"
#include "board_config.h"
#include "stm32_uart.h"
#include <arch/board/board.h>
src/drivers/boards/px4io/px4io_pwm_servo.c → src/drivers/boards/px4io-v1/px4io_pwm_servo.c
View File
src/drivers/boards/px4iov2/px4iov2_internal.h → src/drivers/boards/px4io-v2/board_config.h
Executable → Regular
+21 -1
View File
@@ -49,7 +49,7 @@
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/******************************************************************************
* Definitions
@@ -116,3 +116,23 @@
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
/*
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */
#define LED_STARTED 0 /* LED? */
#define LED_HEAPALLOCATE 1 /* LED? */
#define LED_IRQSENABLED 2 /* LED? + LED? */
#define LED_STACKCREATED 3 /* LED? */
#define LED_INIRQ 4 /* LED? + LED? */
#define LED_SIGNAL 5 /* LED? + LED? */
#define LED_ASSERTION 6 /* LED? + LED? + LED? */
#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */
src/drivers/boards/px4iov2/module.mk → src/drivers/boards/px4io-v2/module.mk
View File
src/drivers/boards/px4iov2/px4iov2_init.c → src/drivers/boards/px4io-v2/px4iov2_init.c
+1 -1
View File
@@ -55,7 +55,7 @@
#include <nuttx/arch.h>
#include <stm32.h>
#include "px4iov2_internal.h"
#include "board_config.h"
#include <arch/board/board.h>
src/drivers/boards/px4iov2/px4iov2_pwm_servo.c → src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c
View File