mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-05 00:11:35 +08:00
platform: restructure (NuttX) architecture-specific code
updated: tone_alarm, px4io_serial, px4_micro_hal
This commit is contained in:
Beat Küng
@@ -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})
|
||||
|
||||
@@ -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_tone_alarm
|
||||
ToneAlarmInterface.cpp
|
||||
)
|
||||
@@ -0,0 +1,188 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ToneAlarmInterface.cpp
|
||||
*/
|
||||
|
||||
#include "chip/kinetis_sim.h"
|
||||
#include "kinetis_tpm.h"
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
|
||||
#include <px4_defines.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#define CAT3_(A, B, C) A##B##C
|
||||
#define CAT3(A, B, C) CAT3_(A, B, C)
|
||||
|
||||
/* Check that tone alarm and HRT timers are different */
|
||||
#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
|
||||
# if TONE_ALARM_TIMER == HRT_TIMER
|
||||
# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifndef TONE_ALARM_CLOCK
|
||||
#define TONE_ALARM_CLOCK (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
|
||||
#endif
|
||||
|
||||
/* Period of the free-running counter, in microseconds. */
|
||||
#ifndef TONE_ALARM_COUNTER_PERIOD
|
||||
#define TONE_ALARM_COUNTER_PERIOD 65536
|
||||
#endif
|
||||
|
||||
/* Tone Alarm configuration */
|
||||
#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
|
||||
#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
|
||||
#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
|
||||
#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
|
||||
#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
|
||||
|
||||
#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
|
||||
# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
|
||||
#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
|
||||
# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
|
||||
#endif
|
||||
|
||||
/* Tone Alarm clock must be a multiple of 1MHz greater than 1MHz. */
|
||||
#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_CLOCK) != 0
|
||||
# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
|
||||
#endif
|
||||
#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_CLOCK
|
||||
# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
|
||||
#endif
|
||||
|
||||
#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1)
|
||||
# error TONE_ALARM_CHANNEL must be a value between 0 and 1
|
||||
#endif
|
||||
|
||||
|
||||
/* Register accessors */
|
||||
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
|
||||
|
||||
/* Timer register accessors */
|
||||
#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
|
||||
|
||||
#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET)
|
||||
#define rC0V REG(KINETIS_TPM_C0V_OFFSET)
|
||||
#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET)
|
||||
#define rC1V REG(KINETIS_TPM_C1V_OFFSET)
|
||||
#define rCNT REG(KINETIS_TPM_CNT_OFFSET)
|
||||
#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET)
|
||||
#define rCONF REG(KINETIS_TPM_CONF_OFFSET)
|
||||
#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET)
|
||||
#define rMOD REG(KINETIS_TPM_MOD_OFFSET)
|
||||
#define rPOL REG(KINETIS_TPM_POL_OFFSET)
|
||||
#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET)
|
||||
#define rSC REG(KINETIS_TPM_SC_OFFSET)
|
||||
#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET)
|
||||
|
||||
/* Specific registers and bits used by Tone Alarm sub-functions. */
|
||||
# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */
|
||||
# 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 */
|
||||
|
||||
namespace ToneAlarmInterface
|
||||
{
|
||||
void init()
|
||||
{
|
||||
#ifdef GPIO_TONE_ALARM_NEG
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
|
||||
#else
|
||||
// Configure the GPIO to the idle state.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
#endif
|
||||
|
||||
// Select a the clock source to the TPM.
|
||||
uint32_t regval = _REG(KINETIS_SIM_SOPT2);
|
||||
|
||||
regval &= ~(SIM_SOPT2_TPMSRC_MASK);
|
||||
regval |= BOARD_TPM_CLKSRC;
|
||||
|
||||
_REG(KINETIS_SIM_SOPT2) = regval;
|
||||
|
||||
// Enabled System Clock Gating Control for TPM.
|
||||
regval = _REG(KINETIS_SIM_SCGC2);
|
||||
regval |= TONE_ALARM_SIM_SCGC2_TPM;
|
||||
_REG(KINETIS_SIM_SCGC2) = regval;
|
||||
|
||||
// Disable and configure the timer.
|
||||
rSC = TPM_SC_TOF;
|
||||
rCNT = 0;
|
||||
rMOD = TONE_ALARM_COUNTER_PERIOD - 1;
|
||||
rSTATUS = (TPM_STATUS_TOF | STATUS);
|
||||
|
||||
// Configure for output compare to toggle on over flow.
|
||||
rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA);
|
||||
|
||||
rCOMBINE = 0;
|
||||
rPOL = 0;
|
||||
rFILTER = 0;
|
||||
rQDCTRL = 0;
|
||||
rCONF = TPM_CONF_DBGMODE_CONT;
|
||||
|
||||
rCNV = 0; // Toggle the CC output each time the count passes 0.
|
||||
rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE); // Enable the timer.
|
||||
rMOD = 0; // Default the timer to a modulo value of 1; playing notes will change this.
|
||||
}
|
||||
|
||||
void start_note(unsigned frequency)
|
||||
{
|
||||
// Calculate the signal switching period.
|
||||
// (Signal switching period is one half of the frequency period).
|
||||
float signal_period = (1.0f / frequency) * 0.5f;
|
||||
|
||||
// Calculate the hardware clock divisor rounded to the nearest integer.
|
||||
unsigned int divisor = std::round(signal_period * TONE_ALARM_CLOCK);
|
||||
|
||||
rCNT = 0;
|
||||
rMOD = divisor; // Load new signal switching period.
|
||||
rSC |= (TPM_SC_CMOD_LPTPM_CLK);
|
||||
|
||||
// Configure the GPIO to enable timer output.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM);
|
||||
}
|
||||
|
||||
void stop_note()
|
||||
{
|
||||
// Stop the current note.
|
||||
rSC &= ~TPM_SC_CMOD_MASK;
|
||||
|
||||
// Ensure the GPIO is not driving the speaker.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
}
|
||||
|
||||
} /* namespace ToneAlarmInterface */
|
||||
@@ -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)
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
Reference in New Issue
Block a user