mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
platform: restructure (NuttX) architecture-specific code
updated: tone_alarm, px4io_serial, px4_micro_hal
This commit is contained in:
Beat Küng
parent
2fa3ee9336
commit
ab43a83bed
@ -347,6 +347,17 @@ else()
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px4_find_python_module(jinja2 REQUIRED)
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endif()
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#=============================================================================
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# get chip and chip manufacturer
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#
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px4_os_determine_build_chip()
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if(NOT PX4_CHIP_MANUFACTURER)
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message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
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endif()
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if(NOT PX4_CHIP)
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message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
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endif()
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#=============================================================================
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# build flags
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#
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@ -451,6 +462,7 @@ add_library(parameters_interface INTERFACE)
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include(px4_add_library)
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add_subdirectory(src/lib EXCLUDE_FROM_ALL)
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add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
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add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
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add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
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add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
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@ -42,7 +42,6 @@ px4_add_board(
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rc_input
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -48,7 +48,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -49,7 +49,6 @@ px4_add_board(
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#roboclaw
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stm32
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stm32/adc
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#stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -27,7 +27,6 @@ px4_add_board(
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rc_input
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry
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tone_alarm
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osd
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@ -51,7 +51,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -32,7 +32,6 @@ px4_add_board(
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irlock
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kinetis
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kinetis/adc
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kinetis/tone_alarm
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lights/blinkm
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lights/oreoled
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lights/rgbled
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@ -37,7 +37,6 @@ px4_add_board(
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rc_input
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stm32
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stm32/adc
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#stm32/tone_alarm
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#tap_esc
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#telemetry # all available telemetry drivers
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telemetry/frsky_telemetry
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@ -57,7 +57,6 @@ px4_add_board(
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#roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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#tap_esc
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#telemetry # all available telemetry drivers
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#test_ppm
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@ -37,7 +37,6 @@ px4_add_board(
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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#telemetry # all available telemetry drivers
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telemetry/iridiumsbd
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tone_alarm
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@ -53,7 +53,6 @@ px4_add_board(
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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#tap_esc
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#telemetry # all available telemetry drivers
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#test_ppm
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@ -37,7 +37,6 @@ px4_add_board(
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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tone_alarm
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MODULES
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@ -33,7 +33,6 @@ px4_add_board(
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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tone_alarm
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MODULES
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@ -53,7 +53,6 @@ px4_add_board(
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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#tap_esc
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#telemetry # all available telemetry drivers
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#test_ppm
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@ -56,7 +56,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -41,7 +41,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -43,7 +43,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -41,7 +41,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -54,7 +54,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -53,7 +53,6 @@ px4_add_board(
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -39,7 +39,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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tone_alarm
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uavcan
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -43,7 +43,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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tone_alarm
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@ -43,7 +43,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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tone_alarm
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uavcan
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@ -53,7 +53,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -53,7 +53,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -49,7 +49,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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tone_alarm
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uavcan
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@ -50,7 +50,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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tone_alarm
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@ -53,7 +53,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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tone_alarm
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uavcan
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -55,7 +55,6 @@ px4_add_board(
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safety_button
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -17,7 +17,6 @@ px4_add_board(
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#magnetometer # all available magnetometer drivers
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pwm_out_sim
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#telemetry # all available telemetry drivers
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sim/tone_alarm
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tone_alarm
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#uavcan
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@ -17,7 +17,6 @@ px4_add_board(
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#magnetometer # all available magnetometer drivers
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pwm_out_sim
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#telemetry # all available telemetry drivers
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sim/tone_alarm
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tone_alarm
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#uavcan
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@ -17,7 +17,6 @@ px4_add_board(
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#magnetometer # all available magnetometer drivers
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pwm_out_sim
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#telemetry # all available telemetry drivers
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sim/tone_alarm
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tone_alarm
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#uavcan
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@ -47,7 +47,6 @@ px4_add_board(
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rc_input
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stm32
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stm32/adc
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stm32/tone_alarm
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#tap_esc
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telemetry # all available telemetry drivers
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#test_ppm
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@ -183,6 +183,9 @@ function(px4_add_board)
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set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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# platform-specific include path
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include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
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if(ARCHITECTURE)
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set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
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endif()
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@ -174,6 +174,7 @@ function(px4_add_common_flags)
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${PX4_BINARY_DIR}/src/lib
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${PX4_BINARY_DIR}/src/modules
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${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}
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${PX4_SOURCE_DIR}/src
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${PX4_SOURCE_DIR}/src/include
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${PX4_SOURCE_DIR}/src/lib
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@ -40,7 +40,7 @@ include(px4_base)
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# Like add_library but with PX4 platform dependencies
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#
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function(px4_add_library target)
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add_library(${target} ${ARGN})
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add_library(${target} EXCLUDE_FROM_ALL ${ARGN})
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target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
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@ -36,8 +36,6 @@ include(cygwin_cygpath)
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set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
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set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps)
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add_subdirectory(src)
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add_executable(px4 ${PX4_SOURCE_DIR}/src/platforms/empty.c)
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set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
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set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
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@ -38,6 +38,7 @@
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# Required OS Interface Functions
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#
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# * px4_os_add_flags
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# * px4_os_determine_build_chip
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# * px4_os_prebuild_targets
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#
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@ -84,6 +85,38 @@ function(px4_os_add_flags)
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endfunction()
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#=============================================================================
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#
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# px4_os_determine_build_chip
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#
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# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
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#
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# Usage:
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# px4_os_determine_build_chip()
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#
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function(px4_os_determine_build_chip)
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# determine chip and chip manufacturer based on NuttX config
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if (CONFIG_STM32_STM32F10XX)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f1")
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elseif(CONFIG_STM32_STM32F4XXX)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f4")
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elseif(CONFIG_ARCH_CHIP_STM32F7)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f7")
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elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
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set(CHIP_MANUFACTURER "nxp")
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set(CHIP "k66")
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else()
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message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
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endif()
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set(PX4_CHIP ${CHIP} CACHE STRING "PX4 Chip" FORCE)
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set(PX4_CHIP_MANUFACTURER ${CHIP_MANUFACTURER} CACHE STRING "PX4 Chip Manufacturer" FORCE)
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endfunction()
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#=============================================================================
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#
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||||
# px4_os_prebuild_targets
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||||
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37
platforms/nuttx/src/px4/CMakeLists.txt
Normal file
37
platforms/nuttx/src/px4/CMakeLists.txt
Normal file
@ -0,0 +1,37 @@
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############################################################################
|
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#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(common)
|
||||
|
||||
add_subdirectory(${PX4_CHIP_MANUFACTURER})
|
||||
|
||||
56
platforms/nuttx/src/px4/common/px4_platform_micro_hal.h
Normal file
56
platforms/nuttx/src/px4/common/px4_platform_micro_hal.h
Normal file
@ -0,0 +1,56 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
__BEGIN_DECLS
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
|
||||
/* For historical reasons (NuttX STM32 numbering) PX4 bus numbering is 1 based
|
||||
* All PX4 code, including, board code is written to assuming 1 based numbering.
|
||||
* The following macros are used to allow the board config to define the bus
|
||||
* numbers in terms of the NuttX driver numbering. 1,2,3 for one based numbering
|
||||
* schemes or 0,1,2 for zero based schemes.
|
||||
*/
|
||||
|
||||
#define PX4_BUS_NUMBER_TO_PX4(x) ((x)+PX4_BUS_OFFSET) /* Use to define Zero based to match Nuttx Driver but provide 1 based to PX4 */
|
||||
#define PX4_BUS_NUMBER_FROM_PX4(x) ((x)-PX4_BUS_OFFSET) /* Use to map PX4 1 based to NuttX driver 0 based */
|
||||
|
||||
#define px4_enter_critical_section() enter_critical_section()
|
||||
#define px4_leave_critical_section(flags) leave_critical_section(flags)
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
__END_DECLS
|
||||
|
||||
36
platforms/nuttx/src/px4/nxp/CMakeLists.txt
Normal file
36
platforms/nuttx/src/px4/nxp/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(${PX4_CHIP})
|
||||
|
||||
@ -31,6 +31,6 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(tone_alarm_interface
|
||||
px4_add_library(arch_tone_alarm
|
||||
ToneAlarmInterface.cpp
|
||||
)
|
||||
@ -115,7 +115,9 @@
|
||||
# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */
|
||||
# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */
|
||||
|
||||
void ToneAlarmInterface::init()
|
||||
namespace ToneAlarmInterface
|
||||
{
|
||||
void init()
|
||||
{
|
||||
#ifdef GPIO_TONE_ALARM_NEG
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
|
||||
@ -157,7 +159,7 @@ void ToneAlarmInterface::init()
|
||||
rMOD = 0; // Default the timer to a modulo value of 1; playing notes will change this.
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
void start_note(unsigned frequency)
|
||||
{
|
||||
// Calculate the signal switching period.
|
||||
// (Signal switching period is one half of the frequency period).
|
||||
@ -174,7 +176,7 @@ void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM);
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::stop_note()
|
||||
void stop_note()
|
||||
{
|
||||
// Stop the current note.
|
||||
rSC &= ~TPM_SC_CMOD_MASK;
|
||||
@ -182,3 +184,5 @@ void ToneAlarmInterface::stop_note()
|
||||
// Ensure the GPIO is not driving the speaker.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
}
|
||||
|
||||
} /* namespace ToneAlarmInterface */
|
||||
38
platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt
Normal file
38
platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt
Normal file
@ -0,0 +1,38 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(../common/tone_alarm tone_alarm)
|
||||
|
||||
|
||||
|
||||
112
platforms/nuttx/src/px4/nxp/kinetis/px4_arch_micro_hal.h
Normal file
112
platforms/nuttx/src/px4/nxp/kinetis/px4_arch_micro_hal.h
Normal file
@ -0,0 +1,112 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "../../common/px4_platform_micro_hal.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_KINETISK66
|
||||
|
||||
// Fixme: using ??
|
||||
#define PX4_BBSRAM_SIZE 2048
|
||||
#define PX4_BBSRAM_GETDESC_IOCTL 0
|
||||
#define PX4_NUMBER_I2C_BUSES KINETIS_NI2C
|
||||
|
||||
#define GPIO_OUTPUT_SET GPIO_OUTPUT_ONE
|
||||
#define GPIO_OUTPUT_CLEAR GPIO_OUTPUT_ZERO
|
||||
|
||||
#include <chip.h>
|
||||
#include <kinetis_spi.h>
|
||||
#include <kinetis_i2c.h>
|
||||
#include <kinetis_uid.h>
|
||||
|
||||
/* Kinetis defines the 128 bit UUID as
|
||||
* init32_t[4] that can be read as words
|
||||
* init32_t[0] PX4_CPU_UUID_ADDRESS[0] bits 127:96 (offset 0)
|
||||
* init32_t[1] PX4_CPU_UUID_ADDRESS[1] bits 95:64 (offset 4)
|
||||
* init32_t[2] PX4_CPU_UUID_ADDRESS[1] bits 63:32 (offset 8)
|
||||
* init32_t[3] PX4_CPU_UUID_ADDRESS[3] bits 31:0 (offset C)
|
||||
*
|
||||
* PX4 uses the words in bigendian order MSB to LSB
|
||||
* word [0] [1] [2] [3]
|
||||
* bits 127:96 95-64 63-32, 31-00,
|
||||
*/
|
||||
#define PX4_CPU_UUID_BYTE_LENGTH KINETIS_UID_SIZE
|
||||
#define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))
|
||||
|
||||
/* The mfguid will be an array of bytes with
|
||||
* MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
|
||||
*
|
||||
* It will be converted to a string with the MSD on left and LSD on the right most position.
|
||||
*/
|
||||
#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH
|
||||
|
||||
/* define common formating across all commands */
|
||||
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT "%08x"
|
||||
#define PX4_CPU_UUID_WORD32_SEPARATOR ":"
|
||||
|
||||
#define PX4_CPU_UUID_WORD32_UNIQUE_H 3 /* Least significant digits change the most */
|
||||
#define PX4_CPU_UUID_WORD32_UNIQUE_M 2 /* Middle High significant digits */
|
||||
#define PX4_CPU_UUID_WORD32_UNIQUE_L 1 /* Middle Low significant digits */
|
||||
#define PX4_CPU_UUID_WORD32_UNIQUE_N 0 /* Most significant digits change the least */
|
||||
|
||||
/* Separator nnn:nnn:nnnn 2 char per byte term */
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define kinetis_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
|
||||
|
||||
#define px4_savepanic(fileno, context, length) kinetis_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
/* bus_num is zero based on kinetis and must be translated from the legacy one based */
|
||||
|
||||
#define PX4_BUS_OFFSET 1 /* Kinetis buses are 0 based and adjustment is needed */
|
||||
|
||||
#define px4_spibus_initialize(bus_num_1based) kinetis_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
|
||||
|
||||
#define px4_i2cbus_initialize(bus_num_1based) kinetis_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
|
||||
#define px4_i2cbus_uninitialize(pdev) kinetis_i2cbus_uninitialize(pdev)
|
||||
|
||||
#define px4_arch_configgpio(pinset) kinetis_pinconfig(pinset)
|
||||
#define px4_arch_unconfiggpio(pinset)
|
||||
#define px4_arch_gpioread(pinset) kinetis_gpioread(pinset)
|
||||
#define px4_arch_gpiowrite(pinset, value) kinetis_gpiowrite(pinset, value)
|
||||
|
||||
/* kinetis_gpiosetevent is not implemented and will need to be added */
|
||||
|
||||
#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) kinetis_gpiosetevent(pinset,r,f,e,fp,a)
|
||||
|
||||
__END_DECLS
|
||||
36
platforms/nuttx/src/px4/stm/CMakeLists.txt
Normal file
36
platforms/nuttx/src/px4/stm/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(${PX4_CHIP})
|
||||
|
||||
105
platforms/nuttx/src/px4/stm/stm32_common/px4_arch_micro_hal.h
Normal file
105
platforms/nuttx/src/px4/stm/stm32_common/px4_arch_micro_hal.h
Normal file
@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../common/px4_platform_micro_hal.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#include <stm32_tim.h>
|
||||
#include <stm32_spi.h>
|
||||
#include <stm32_i2c.h>
|
||||
|
||||
/* STM32/32F7 defines the 96 bit UUID as
|
||||
* init32_t[3] that can be read as bytes/half-words/words
|
||||
* init32_t[0] PX4_CPU_UUID_ADDRESS[0] bits 31:0 (offset 0)
|
||||
* init32_t[1] PX4_CPU_UUID_ADDRESS[1] bits 63:32 (offset 4)
|
||||
* init32_t[2] PX4_CPU_UUID_ADDRESS[3] bits 96:64 (offset 8)
|
||||
*
|
||||
* The original PX4 stm32 (legacy) based implementation **displayed** the
|
||||
* UUID as: ABCD EFGH IJKL
|
||||
* Where:
|
||||
* A was bit 31 and D was bit 0
|
||||
* E was bit 63 and H was bit 32
|
||||
* I was bit 95 and L was bit 64
|
||||
*
|
||||
* Since the string was used by some manufactures to identify the units
|
||||
* it must be preserved.
|
||||
*
|
||||
* For new targets moving forward we will use
|
||||
* IJKL EFGH ABCD
|
||||
*/
|
||||
#define PX4_CPU_UUID_BYTE_LENGTH 12
|
||||
#define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))
|
||||
|
||||
/* The mfguid will be an array of bytes with
|
||||
* MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
|
||||
*
|
||||
* It will be converted to a string with the MSD on left and LSD on the right most position.
|
||||
*/
|
||||
#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH
|
||||
|
||||
/* By not defining PX4_CPU_UUID_CORRECT_CORRELATION the following maintains the legacy incorrect order
|
||||
* used for selection of significant digits of the UUID in the PX4 code base.
|
||||
* This is done to avoid the ripple effects changing the IDs used on STM32 base platforms
|
||||
*/
|
||||
#if defined(PX4_CPU_UUID_CORRECT_CORRELATION)
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_H 0 /* Least significant digits change the most */
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_M 1 /* Middle significant digits */
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_L 2 /* Most significant digits change the least */
|
||||
#else
|
||||
/* Legacy incorrect ordering */
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_H 2 /* Most significant digits change the least */
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_M 1 /* Middle significant digits */
|
||||
# define PX4_CPU_UUID_WORD32_UNIQUE_L 0 /* Least significant digits change the most */
|
||||
#endif
|
||||
|
||||
/* Separator nnn:nnn:nnnn 2 char per byte term */
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define px4_savepanic(fileno, context, length) stm32_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
#define PX4_BUS_OFFSET 0 /* STM buses are 1 based no adjustment needed */
|
||||
#define px4_spibus_initialize(bus_num_1based) stm32_spibus_initialize(bus_num_1based)
|
||||
|
||||
#define px4_i2cbus_initialize(bus_num_1based) stm32_i2cbus_initialize(bus_num_1based)
|
||||
#define px4_i2cbus_uninitialize(pdev) stm32_i2cbus_uninitialize(pdev)
|
||||
|
||||
#define px4_arch_configgpio(pinset) stm32_configgpio(pinset)
|
||||
#define px4_arch_unconfiggpio(pinset) stm32_unconfiggpio(pinset)
|
||||
#define px4_arch_gpioread(pinset) stm32_gpioread(pinset)
|
||||
#define px4_arch_gpiowrite(pinset, value) stm32_gpiowrite(pinset, value)
|
||||
#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) stm32_gpiosetevent(pinset,r,f,e,fp,a)
|
||||
|
||||
__END_DECLS
|
||||
@ -32,31 +32,17 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4io_driver.h
|
||||
* @file arch_px4io_serial.h
|
||||
*
|
||||
* Interface for PX4IO
|
||||
* Serial Interface definition for PX4IO
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_config.h>
|
||||
#include <px4_posix.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
#include <debug.h>
|
||||
#include <time.h>
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
#include <board_config.h>
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <modules/px4iofirmware/protocol.h>
|
||||
@ -117,87 +103,17 @@ private:
|
||||
PX4IO_serial &operator = (const PX4IO_serial &);
|
||||
};
|
||||
|
||||
#if defined(CONFIG_STM32_STM32F10XX) || defined(CONFIG_STM32_STM32F4XXX)
|
||||
/** XXX use F4 implementation for F1 as well. **/
|
||||
|
||||
#define PX4IO_INTERFACE_CLASS PX4IO_serial_f4
|
||||
#define PX4IO_INTERFACE_F4
|
||||
|
||||
class PX4IO_serial_f4 : public PX4IO_serial
|
||||
{
|
||||
public:
|
||||
PX4IO_serial_f4();
|
||||
~PX4IO_serial_f4();
|
||||
|
||||
virtual int init();
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Start the transaction with IO and wait for it to complete.
|
||||
*/
|
||||
int _bus_exchange(IOPacket *_packet);
|
||||
|
||||
private:
|
||||
DMA_HANDLE _tx_dma;
|
||||
DMA_HANDLE _rx_dma;
|
||||
|
||||
IOPacket *_current_packet;
|
||||
|
||||
/** saved DMA status */
|
||||
static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values
|
||||
static const unsigned _dma_status_waiting = 0x00000000;
|
||||
volatile unsigned _rx_dma_status;
|
||||
|
||||
/** client-waiting lock/signal */
|
||||
px4_sem_t _completion_semaphore;
|
||||
|
||||
/**
|
||||
* DMA completion handler.
|
||||
*/
|
||||
static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
|
||||
void _do_rx_dma_callback(unsigned status);
|
||||
|
||||
/**
|
||||
* Serial interrupt handler.
|
||||
*/
|
||||
static int _interrupt(int vector, void *context, void *arg);
|
||||
void _do_interrupt();
|
||||
|
||||
/**
|
||||
* Cancel any DMA in progress with an error.
|
||||
*/
|
||||
void _abort_dma();
|
||||
|
||||
/**
|
||||
* Performance counters.
|
||||
*/
|
||||
perf_counter_t _pc_dmasetup;
|
||||
perf_counter_t _pc_dmaerrs;
|
||||
|
||||
/* do not allow top copying this class */
|
||||
PX4IO_serial_f4(PX4IO_serial_f4 &);
|
||||
PX4IO_serial_f4 &operator = (const PX4IO_serial_f4 &);
|
||||
|
||||
/**
|
||||
* IO Buffer storage
|
||||
*/
|
||||
static IOPacket _io_buffer_storage; // XXX static to ensure DMA-able memory
|
||||
};
|
||||
|
||||
#elif defined(CONFIG_ARCH_CHIP_STM32F7)
|
||||
|
||||
#define PX4IO_INTERFACE_CLASS PX4IO_serial_f7
|
||||
#define PX4IO_INTERFACE_F7
|
||||
|
||||
#include <stm32_dma.h>
|
||||
|
||||
|
||||
class PX4IO_serial_f7 : public PX4IO_serial
|
||||
class ArchPX4IOSerial : public PX4IO_serial
|
||||
{
|
||||
public:
|
||||
PX4IO_serial_f7();
|
||||
~PX4IO_serial_f7();
|
||||
ArchPX4IOSerial();
|
||||
ArchPX4IOSerial(ArchPX4IOSerial &) = delete;
|
||||
ArchPX4IOSerial &operator = (const ArchPX4IOSerial &) = delete;
|
||||
~ArchPX4IOSerial();
|
||||
|
||||
virtual int init();
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
@ -245,16 +161,9 @@ private:
|
||||
perf_counter_t _pc_dmasetup;
|
||||
perf_counter_t _pc_dmaerrs;
|
||||
|
||||
/* do not allow top copying this class */
|
||||
PX4IO_serial_f7(PX4IO_serial_f7 &);
|
||||
PX4IO_serial_f7 &operator = (const PX4IO_serial_f7 &);
|
||||
|
||||
/**
|
||||
* IO Buffer storage
|
||||
*/
|
||||
static uint8_t _io_buffer_storage[] __attribute__((aligned(ARMV7M_DCACHE_LINESIZE)));
|
||||
static uint8_t _io_buffer_storage[] __attribute__((aligned(PX4IO_SERIAL_BUF_ALIGN)));
|
||||
};
|
||||
|
||||
#else
|
||||
#error "Interface not implemented for this chip"
|
||||
#endif
|
||||
@ -31,6 +31,6 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(tone_alarm_interface
|
||||
px4_add_library(arch_tone_alarm
|
||||
ToneAlarmInterface.cpp
|
||||
)
|
||||
@ -35,19 +35,24 @@
|
||||
#include <px4_defines.h>
|
||||
#include <board_config.h>
|
||||
|
||||
void ToneAlarmInterface::init()
|
||||
namespace ToneAlarmInterface
|
||||
{
|
||||
|
||||
void init()
|
||||
{
|
||||
// Configure the GPIO to the idle state.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
void start_note(unsigned frequency)
|
||||
{
|
||||
px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 1);
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::stop_note()
|
||||
void stop_note()
|
||||
{
|
||||
// Stop the current note.
|
||||
px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 0);
|
||||
}
|
||||
|
||||
} /* namespace ToneAlarmInterface */
|
||||
@ -219,7 +219,10 @@
|
||||
# define rSR REG(STM32_GTIM_SR_OFFSET)
|
||||
#endif
|
||||
|
||||
void ToneAlarmInterface::init()
|
||||
namespace ToneAlarmInterface
|
||||
{
|
||||
|
||||
void init()
|
||||
{
|
||||
#ifdef GPIO_TONE_ALARM_NEG
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
|
||||
@ -251,7 +254,7 @@ void ToneAlarmInterface::init()
|
||||
rCR1 = GTIM_CR1_CEN; // Ensure the timer is running.
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
void start_note(unsigned frequency)
|
||||
{
|
||||
// Calculate the signal switching period.
|
||||
// (Signal switching period is one half of the frequency period).
|
||||
@ -276,7 +279,7 @@ void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM);
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::stop_note()
|
||||
void stop_note()
|
||||
{
|
||||
// Stop the current note.
|
||||
rCCER &= ~TONE_CCER;
|
||||
@ -284,3 +287,5 @@ void ToneAlarmInterface::stop_note()
|
||||
// Ensure the GPIO is not driving the speaker.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
}
|
||||
|
||||
} /* namespace ToneAlarmInterface */
|
||||
36
platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt
Normal file
36
platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(../stm32_common/io_pins io_pins)
|
||||
|
||||
37
platforms/nuttx/src/px4/stm/stm32f1/io_timer.h
Normal file
37
platforms/nuttx/src/px4/stm/stm32f1/io_timer.h
Normal file
@ -0,0 +1,37 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/io_timer.h"
|
||||
|
||||
51
platforms/nuttx/src/px4/stm/stm32f1/px4_arch_micro_hal.h
Normal file
51
platforms/nuttx/src/px4/stm/stm32f1/px4_arch_micro_hal.h
Normal file
@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "../stm32_common/px4_arch_micro_hal.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#include <stm32.h>
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F4
|
||||
#define PX4_FLASH_BASE STM32_FLASH_BASE
|
||||
#if defined(CONFIG_STM32_STM32F4XXX)
|
||||
# include <stm32_bbsram.h>
|
||||
# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
|
||||
# define PX4_BBSRAM_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
|
||||
#endif
|
||||
#define PX4_NUMBER_I2C_BUSES STM32_NI2C
|
||||
|
||||
__END_DECLS
|
||||
|
||||
38
platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt
Normal file
38
platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt
Normal file
@ -0,0 +1,38 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
|
||||
add_subdirectory(px4io_serial)
|
||||
|
||||
51
platforms/nuttx/src/px4/stm/stm32f4/px4_arch_micro_hal.h
Normal file
51
platforms/nuttx/src/px4/stm/stm32f4/px4_arch_micro_hal.h
Normal file
@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "../stm32_common/px4_arch_micro_hal.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#include <stm32.h>
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F4
|
||||
#define PX4_FLASH_BASE STM32_FLASH_BASE
|
||||
#if defined(CONFIG_STM32_STM32F4XXX)
|
||||
# include <stm32_bbsram.h>
|
||||
# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
|
||||
# define PX4_BBSRAM_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
|
||||
#endif
|
||||
#define PX4_NUMBER_I2C_BUSES STM32_NI2C
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_px4io_serial
|
||||
px4io_serial.cpp
|
||||
)
|
||||
@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define PX4IO_SERIAL_BUF_ALIGN 4
|
||||
#include "../stm32_common/px4io_serial/arch_px4io_serial.h"
|
||||
|
||||
@ -32,14 +32,12 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4io_serial_f4.cpp
|
||||
* @file px4io_serial.cpp
|
||||
*
|
||||
* Serial interface for PX4IO on STM32F4
|
||||
*/
|
||||
|
||||
#include "px4io_serial.h"
|
||||
|
||||
#ifdef PX4IO_INTERFACE_F4
|
||||
#include "arch_px4io_serial.h"
|
||||
|
||||
/* serial register accessors */
|
||||
#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x))
|
||||
@ -51,9 +49,9 @@
|
||||
#define rCR3 REG(STM32_USART_CR3_OFFSET)
|
||||
#define rGTPR REG(STM32_USART_GTPR_OFFSET)
|
||||
|
||||
IOPacket PX4IO_serial_f4::_io_buffer_storage;
|
||||
uint8_t ArchPX4IOSerial::_io_buffer_storage[sizeof(IOPacket)];
|
||||
|
||||
PX4IO_serial_f4::PX4IO_serial_f4() :
|
||||
ArchPX4IOSerial::ArchPX4IOSerial() :
|
||||
_tx_dma(nullptr),
|
||||
_rx_dma(nullptr),
|
||||
_current_packet(nullptr),
|
||||
@ -69,7 +67,7 @@ PX4IO_serial_f4::PX4IO_serial_f4() :
|
||||
{
|
||||
}
|
||||
|
||||
PX4IO_serial_f4::~PX4IO_serial_f4()
|
||||
ArchPX4IOSerial::~ArchPX4IOSerial()
|
||||
{
|
||||
if (_tx_dma != nullptr) {
|
||||
stm32_dmastop(_tx_dma);
|
||||
@ -105,12 +103,12 @@ PX4IO_serial_f4::~PX4IO_serial_f4()
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f4::init()
|
||||
ArchPX4IOSerial::init()
|
||||
{
|
||||
/* initialize base implementation */
|
||||
int r;
|
||||
|
||||
if ((r = PX4IO_serial::init(&_io_buffer_storage)) != 0) {
|
||||
if ((r = PX4IO_serial::init((IOPacket *)&_io_buffer_storage[0])) != 0) {
|
||||
return r;
|
||||
}
|
||||
|
||||
@ -167,7 +165,7 @@ PX4IO_serial_f4::init()
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f4::ioctl(unsigned operation, unsigned &arg)
|
||||
ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
switch (operation) {
|
||||
|
||||
@ -232,7 +230,7 @@ PX4IO_serial_f4::ioctl(unsigned operation, unsigned &arg)
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f4::_bus_exchange(IOPacket *_packet)
|
||||
ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
|
||||
{
|
||||
_current_packet = _packet;
|
||||
|
||||
@ -351,17 +349,17 @@ PX4IO_serial_f4::_bus_exchange(IOPacket *_packet)
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f4::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
|
||||
ArchPX4IOSerial::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
|
||||
{
|
||||
if (arg != nullptr) {
|
||||
PX4IO_serial_f4 *ps = reinterpret_cast<PX4IO_serial_f4 *>(arg);
|
||||
ArchPX4IOSerial *ps = reinterpret_cast<ArchPX4IOSerial *>(arg);
|
||||
|
||||
ps->_do_rx_dma_callback(status);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f4::_do_rx_dma_callback(unsigned status)
|
||||
ArchPX4IOSerial::_do_rx_dma_callback(unsigned status)
|
||||
{
|
||||
/* on completion of a reply, wake the waiter */
|
||||
if (_rx_dma_status == _dma_status_waiting) {
|
||||
@ -386,10 +384,10 @@ PX4IO_serial_f4::_do_rx_dma_callback(unsigned status)
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f4::_interrupt(int irq, void *context, void *arg)
|
||||
ArchPX4IOSerial::_interrupt(int irq, void *context, void *arg)
|
||||
{
|
||||
if (arg != nullptr) {
|
||||
PX4IO_serial_f4 *instance = reinterpret_cast<PX4IO_serial_f4 *>(arg);
|
||||
ArchPX4IOSerial *instance = reinterpret_cast<ArchPX4IOSerial *>(arg);
|
||||
|
||||
instance->_do_interrupt();
|
||||
}
|
||||
@ -398,7 +396,7 @@ PX4IO_serial_f4::_interrupt(int irq, void *context, void *arg)
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f4::_do_interrupt()
|
||||
ArchPX4IOSerial::_do_interrupt()
|
||||
{
|
||||
uint32_t sr = rSR; /* get UART status register */
|
||||
(void)rDR; /* read DR to clear status */
|
||||
@ -458,7 +456,7 @@ PX4IO_serial_f4::_do_interrupt()
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f4::_abort_dma()
|
||||
ArchPX4IOSerial::_abort_dma()
|
||||
{
|
||||
/* disable UART DMA */
|
||||
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
|
||||
@ -471,4 +469,3 @@ PX4IO_serial_f4::_abort_dma()
|
||||
stm32_dmastop(_rx_dma);
|
||||
}
|
||||
|
||||
#endif /* PX4IO_INTERFACE_F4 */
|
||||
38
platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
Normal file
38
platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
Normal file
@ -0,0 +1,38 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
|
||||
add_subdirectory(px4io_serial)
|
||||
|
||||
55
platforms/nuttx/src/px4/stm/stm32f7/px4_arch_micro_hal.h
Normal file
55
platforms/nuttx/src/px4/stm/stm32f7/px4_arch_micro_hal.h
Normal file
@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "../stm32_common/px4_arch_micro_hal.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F7
|
||||
#include <chip.h>
|
||||
#include <chip/stm32_flash.h>
|
||||
#include <up_internal.h> //include up_systemreset() which is included on stm32.h
|
||||
#include <stm32_bbsram.h>
|
||||
#define PX4_BBSRAM_SIZE STM32F7_BBSRAM_SIZE
|
||||
#define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL
|
||||
#define PX4_FLASH_BASE 0x08000000
|
||||
#define PX4_NUMBER_I2C_BUSES STM32F7_NI2C
|
||||
|
||||
void stm32_flash_lock(void);
|
||||
void stm32_flash_unlock(void);
|
||||
int stm32_flash_writeprotect(size_t page, bool enabled);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_px4io_serial
|
||||
px4io_serial.cpp
|
||||
)
|
||||
@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define PX4IO_SERIAL_BUF_ALIGN ARMV7M_DCACHE_LINESIZE
|
||||
#include "../stm32_common/px4io_serial/arch_px4io_serial.h"
|
||||
|
||||
@ -32,14 +32,12 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4io_serial_f7.cpp
|
||||
* @file px4io_serial.cpp
|
||||
*
|
||||
* Serial interface for PX4IO on STM32F7
|
||||
*/
|
||||
|
||||
#include "px4io_serial.h"
|
||||
|
||||
#ifdef PX4IO_INTERFACE_F7
|
||||
#include "arch_px4io_serial.h"
|
||||
|
||||
#include "stm32_uart.h"
|
||||
#include <nuttx/cache.h>
|
||||
@ -60,9 +58,9 @@
|
||||
#define DMA_BUFFER_MASK (ARMV7M_DCACHE_LINESIZE - 1)
|
||||
#define DMA_ALIGN_UP(n) (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK)
|
||||
|
||||
uint8_t PX4IO_serial_f7::_io_buffer_storage[DMA_ALIGN_UP(sizeof(IOPacket))];
|
||||
uint8_t ArchPX4IOSerial::_io_buffer_storage[DMA_ALIGN_UP(sizeof(IOPacket))];
|
||||
|
||||
PX4IO_serial_f7::PX4IO_serial_f7() :
|
||||
ArchPX4IOSerial::ArchPX4IOSerial() :
|
||||
_tx_dma(nullptr),
|
||||
_rx_dma(nullptr),
|
||||
_current_packet(nullptr),
|
||||
@ -78,7 +76,7 @@ PX4IO_serial_f7::PX4IO_serial_f7() :
|
||||
{
|
||||
}
|
||||
|
||||
PX4IO_serial_f7::~PX4IO_serial_f7()
|
||||
ArchPX4IOSerial::~ArchPX4IOSerial()
|
||||
{
|
||||
if (_tx_dma != nullptr) {
|
||||
stm32_dmastop(_tx_dma);
|
||||
@ -114,7 +112,7 @@ PX4IO_serial_f7::~PX4IO_serial_f7()
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f7::init()
|
||||
ArchPX4IOSerial::init()
|
||||
{
|
||||
/* initialize base implementation */
|
||||
int r = PX4IO_serial::init((IOPacket *)&_io_buffer_storage[0]);
|
||||
@ -178,7 +176,7 @@ PX4IO_serial_f7::init()
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f7::ioctl(unsigned operation, unsigned &arg)
|
||||
ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
switch (operation) {
|
||||
|
||||
@ -243,7 +241,7 @@ PX4IO_serial_f7::ioctl(unsigned operation, unsigned &arg)
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f7::_bus_exchange(IOPacket *_packet)
|
||||
ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
|
||||
{
|
||||
_current_packet = _packet;
|
||||
|
||||
@ -369,17 +367,17 @@ PX4IO_serial_f7::_bus_exchange(IOPacket *_packet)
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f7::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
|
||||
ArchPX4IOSerial::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg)
|
||||
{
|
||||
if (arg != nullptr) {
|
||||
PX4IO_serial_f7 *ps = reinterpret_cast<PX4IO_serial_f7 *>(arg);
|
||||
ArchPX4IOSerial *ps = reinterpret_cast<ArchPX4IOSerial *>(arg);
|
||||
|
||||
ps->_do_rx_dma_callback(status);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f7::_do_rx_dma_callback(unsigned status)
|
||||
ArchPX4IOSerial::_do_rx_dma_callback(unsigned status)
|
||||
{
|
||||
/* on completion of a reply, wake the waiter */
|
||||
if (_rx_dma_status == _dma_status_waiting) {
|
||||
@ -405,10 +403,10 @@ PX4IO_serial_f7::_do_rx_dma_callback(unsigned status)
|
||||
}
|
||||
|
||||
int
|
||||
PX4IO_serial_f7::_interrupt(int irq, void *context, void *arg)
|
||||
ArchPX4IOSerial::_interrupt(int irq, void *context, void *arg)
|
||||
{
|
||||
if (arg != nullptr) {
|
||||
PX4IO_serial_f7 *instance = reinterpret_cast<PX4IO_serial_f7 *>(arg);
|
||||
ArchPX4IOSerial *instance = reinterpret_cast<ArchPX4IOSerial *>(arg);
|
||||
|
||||
instance->_do_interrupt();
|
||||
}
|
||||
@ -417,7 +415,7 @@ PX4IO_serial_f7::_interrupt(int irq, void *context, void *arg)
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f7::_do_interrupt()
|
||||
ArchPX4IOSerial::_do_interrupt()
|
||||
{
|
||||
uint32_t sr = rISR; /* get UART status register */
|
||||
|
||||
@ -485,7 +483,7 @@ PX4IO_serial_f7::_do_interrupt()
|
||||
}
|
||||
|
||||
void
|
||||
PX4IO_serial_f7::_abort_dma()
|
||||
ArchPX4IOSerial::_abort_dma()
|
||||
{
|
||||
/* stop DMA */
|
||||
stm32_dmastop(_tx_dma);
|
||||
@ -502,4 +500,3 @@ PX4IO_serial_f7::_abort_dma()
|
||||
rICR = rISR & rISR_ERR_FLAGS_MASK; /* clear the flags */
|
||||
}
|
||||
|
||||
#endif /* PX4IO_INTERFACE_F7 */
|
||||
@ -42,6 +42,7 @@
|
||||
# Required OS Interface Functions
|
||||
#
|
||||
# * px4_os_add_flags
|
||||
# * px4_os_determine_build_chip
|
||||
# * px4_os_prebuild_targets
|
||||
#
|
||||
|
||||
@ -325,6 +326,23 @@ function(px4_os_add_flags)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_determine_build_chip
|
||||
#
|
||||
# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_determine_build_chip()
|
||||
#
|
||||
function(px4_os_determine_build_chip)
|
||||
|
||||
# always use generic chip and chip manufacturer
|
||||
set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
|
||||
set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
|
||||
37
platforms/posix/src/px4/CMakeLists.txt
Normal file
37
platforms/posix/src/px4/CMakeLists.txt
Normal file
@ -0,0 +1,37 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(common)
|
||||
|
||||
add_subdirectory(${PX4_CHIP_MANUFACTURER})
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2019 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
|
||||
@ -31,4 +31,3 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(px4_layer)
|
||||
@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
|
||||
|
||||
36
platforms/posix/src/px4/generic/CMakeLists.txt
Normal file
36
platforms/posix/src/px4/generic/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(${PX4_CHIP})
|
||||
|
||||
36
platforms/posix/src/px4/generic/generic/CMakeLists.txt
Normal file
36
platforms/posix/src/px4/generic/generic/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(tone_alarm)
|
||||
|
||||
@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform/micro_hal.h>
|
||||
|
||||
@ -31,6 +31,6 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(tone_alarm_interface
|
||||
px4_add_library(arch_tone_alarm
|
||||
ToneAlarmInterface.cpp
|
||||
)
|
||||
@ -35,20 +35,26 @@
|
||||
* @file ToneAlarmInterface.cpp
|
||||
*/
|
||||
|
||||
#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
|
||||
#include <drivers/drv_tone_alarm.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
void ToneAlarmInterface::init()
|
||||
namespace ToneAlarmInterface
|
||||
{
|
||||
|
||||
void init()
|
||||
{
|
||||
// Nothing to be done in simulation.
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
void start_note(unsigned frequency)
|
||||
{
|
||||
// Nothing to be done in simulation.
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::stop_note()
|
||||
void stop_note()
|
||||
{
|
||||
// Nothing to be done in simulation.
|
||||
}
|
||||
|
||||
} /* namespace ToneAlarmInterface */
|
||||
|
||||
36
platforms/posix/src/px4/px4/CMakeLists.txt
Normal file
36
platforms/posix/src/px4/px4/CMakeLists.txt
Normal file
@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_subdirectory(${PX4_CHIP})
|
||||
|
||||
@ -5,8 +5,6 @@ include(fastrpc)
|
||||
include(qurt_lib)
|
||||
include(qurt_flags)
|
||||
|
||||
add_subdirectory(src)
|
||||
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
|
||||
|
||||
@ -45,6 +45,7 @@
|
||||
# Required OS Inteface Functions
|
||||
#
|
||||
# * px4_os_add_flags
|
||||
# * px4_os_determine_build_chip
|
||||
# * px4_os_prebuild_targets
|
||||
#
|
||||
|
||||
@ -144,6 +145,23 @@ function(px4_os_add_flags)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_determine_build_chip
|
||||
#
|
||||
# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_determine_build_chip()
|
||||
#
|
||||
function(px4_os_determine_build_chip)
|
||||
|
||||
# always use generic chip and chip manufacturer
|
||||
set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
|
||||
set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
|
||||
37
platforms/qurt/src/px4/CMakeLists.txt
Normal file
37
platforms/qurt/src/px4/CMakeLists.txt
Normal file
@ -0,0 +1,37 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(common)
|
||||
|
||||
add_subdirectory(${PX4_CHIP_MANUFACTURER})
|
||||
|
||||
@ -40,7 +40,7 @@ set(QURT_LAYER_SRCS
|
||||
px4_qurt_impl.cpp
|
||||
px4_qurt_tasks.cpp
|
||||
lib_crc32.c
|
||||
../../../posix/src/px4_layer/drv_hrt.cpp
|
||||
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/drv_hrt.cpp
|
||||
qurt_stubs.c
|
||||
main.cpp
|
||||
shmem_qurt.cpp
|
||||
@ -49,8 +49,8 @@ set(QURT_LAYER_SRCS
|
||||
|
||||
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
|
||||
list(APPEND QURT_LAYER_SRCS
|
||||
../stubs/stubs_posix.c
|
||||
../stubs/stubs_qurt.c
|
||||
stubs/posix.c
|
||||
stubs/qurt.c
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform/micro_hal.h>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue
Block a user