mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 09:33:35 +08:00
Deprecate the tap_common directory, nuttx, driver, and makefile references to tap-v1. (#10629)
This commit is contained in:
Mark Sauder
@@ -1,52 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
# Author: David Sidrane <david_s5@nscdg.com>
|
||||
#
|
||||
# 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(drivers_board
|
||||
init.c
|
||||
led.c
|
||||
pwr.c
|
||||
sdio.c
|
||||
spi.c
|
||||
timer_config.c
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_apps # up_cxxinitialize
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
drivers__led # drv_led_start
|
||||
parameters # param_init
|
||||
)
|
||||
@@ -1,351 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 board_config.h
|
||||
*
|
||||
* TAP_V1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs
|
||||
*
|
||||
* PC4 BLUE_LED D4 Blue LED cathode
|
||||
* PC5 RED_LED D5 Red LED cathode
|
||||
*/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_BLUE_LED GPIO_LED1
|
||||
#define GPIO_RED_LED GPIO_LED2
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
|
||||
* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
|
||||
* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
|
||||
* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
|
||||
*
|
||||
* PC2 SD_SW SD-9 SW
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
|
||||
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
|
||||
*
|
||||
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
|
||||
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
|
||||
*
|
||||
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
|
||||
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
|
||||
*
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD 1
|
||||
#define PX4_I2C_BUS_SONAR 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
|
||||
#define PX4_I2C_BUS_ONBOARD_HZ 400000
|
||||
#define PX4_I2C_BUS_SONAR_HZ 400000
|
||||
#define PX4_I2C_BUS_EXPANSION_HZ 400000
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 3
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, PX4_I2C_BUS_SONAR_HZ, PX4_I2C_BUS_EXPANSION_HZ}
|
||||
|
||||
|
||||
/*
|
||||
* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses (not includinf R/W).
|
||||
*/
|
||||
|
||||
/*
|
||||
* The slave address of the MPU-60X0 is b110100X which is 7 bits long.
|
||||
* The LSB bit of the 7 bit address is determined by the logic level
|
||||
* on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
|
||||
* When used in this configuration, the address of the one of the devices
|
||||
* should be b1101000 (pin AD0 is logic low) and the address of the other
|
||||
* should be b1101001 (pin AD0 is logic high).
|
||||
*/
|
||||
#define PX4_I2C_MPU6050_ADDR 0x68
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
|
||||
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
|
||||
*
|
||||
*/
|
||||
#define ADC_CHANNELS (1 << 10)
|
||||
/* todo:Revisit - cannnot tell from schematic - some could be ADC */
|
||||
|
||||
// ADC defines to be used in sensors.cpp to read from a particular channel
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
/* Define Battery 1 Voltage Divider
|
||||
* Use Default for A per V
|
||||
*/
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (9.0f)
|
||||
|
||||
/* No User GPIOs
|
||||
*
|
||||
* TIM3_CH1 PA6 LED_R JP2-23,24
|
||||
* TIM3_CH2 PA7 LED_G JP2-25,26
|
||||
* TIM3_CH3 PB0 LED_B JP2-27,28
|
||||
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
|
||||
*
|
||||
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
|
||||
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
|
||||
*/
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
|
||||
#define TONE_ALARM_TIMER 8 /* timer 8 */
|
||||
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
* Four PWM outputs can be configured on pins
|
||||
*
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* TIM3_CH1 PA6 LED_R JP2-23,24
|
||||
* TIM3_CH2 PA7 LED_G JP2-25,26
|
||||
* TIM3_CH3 PB0 LED_B JP2-27,28
|
||||
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
|
||||
*
|
||||
*/
|
||||
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
|
||||
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 4
|
||||
|
||||
#define GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_1
|
||||
#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_1
|
||||
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
|
||||
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 4
|
||||
|
||||
#define BOARD_HAS_LED_PWM
|
||||
#define BOARD_HAS_SHARED_PWM_TIMERS
|
||||
#define LED_TIM3_CH1OUT GPIO_TIM3_CH1OUT
|
||||
#define LED_TIM3_CH2OUT GPIO_TIM3_CH2OUT
|
||||
#define LED_TIM3_CH3OUT GPIO_TIM3_CH3OUT
|
||||
|
||||
#define BOARD_PWM_DRIVE_ACTIVE_LOW 1
|
||||
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS5" /* No HW invert support */
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_NAME "TAP_V1"
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
|
||||
* system_power interface, and herefore provides the true logic
|
||||
* GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
#define BOARD_ADC_BRICK_VALID (1)
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_HAS_POWER_CONTROL 1
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
#define MS_PWR_BUTTON_DOWN 200
|
||||
#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN1)
|
||||
#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
#define GPIO_S0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_S1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_S2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
#define GPIO_PCON_RADIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
|
||||
#define RF_RADIO_POWER_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_PCON_RADIO, !(_on_true))
|
||||
|
||||
#define GPIO_TEMP_CONT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
|
||||
#define TEMP_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_TEMP_CONT, (_on_true))
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI Buses.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int stm32_spi_bus_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: board_spi_reset board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
* Called to reset SPI and the perferal bus
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
#define board_spi_reset(ms)
|
||||
#define board_peripheral_reset(ms)
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB IO.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SDIO.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int board_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_i2c_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to set I2C bus frequencies.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_i2c_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_pwr_init()
|
||||
*
|
||||
* Description:
|
||||
* Called to configure power control for the tap-v1 board.
|
||||
*
|
||||
* Input Parameters:
|
||||
* stage- 0 for boot, 1 for board init
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_pwr_init(int stage);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr_button_down
|
||||
*
|
||||
* Description:
|
||||
* Called to Read the logical state of the power button
|
||||
****************************************************************************/
|
||||
|
||||
bool board_pwr_button_down(void);
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,400 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_init.c
|
||||
*
|
||||
* tap-v1-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "platform/cxxinitialize.h"
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/hardfault_log.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) syslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message syslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* Hold power state */
|
||||
|
||||
board_pwr_init(0);
|
||||
|
||||
/* TEMP ctrl Off (active high, init is clear) */
|
||||
|
||||
stm32_configgpio(GPIO_TEMP_CONT);
|
||||
|
||||
|
||||
/* Select 0 */
|
||||
|
||||
stm32_configgpio(GPIO_S0);
|
||||
stm32_configgpio(GPIO_S1);
|
||||
stm32_configgpio(GPIO_S2);
|
||||
|
||||
/* Radio Off (active low, init is set) */
|
||||
|
||||
stm32_configgpio(GPIO_PCON_RADIO);
|
||||
|
||||
|
||||
/* configure always-on ADC pins */
|
||||
|
||||
stm32_configgpio(GPIO_ADC1_IN10);
|
||||
|
||||
|
||||
/* configure USB interfaces */
|
||||
|
||||
stm32_usbinitialize();
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
board_autoled_initialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
int result;
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
board_pwr_init(1);
|
||||
|
||||
#if defined(CONFIG_STM32_BBSRAM)
|
||||
|
||||
/* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA
|
||||
*/
|
||||
|
||||
/* Using Battery Backed Up SRAM */
|
||||
|
||||
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
|
||||
|
||||
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
|
||||
|
||||
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
|
||||
|
||||
/* Panic Logging in Battery Backed Up Files */
|
||||
|
||||
/*
|
||||
* In an ideal world, if a fault happens in flight the
|
||||
* system save it to BBSRAM will then reboot. Upon
|
||||
* rebooting, the system will log the fault to disk, recover
|
||||
* the flight state and continue to fly. But if there is
|
||||
* a fault on the bench or in the air that prohibit the recovery
|
||||
* or committing the log to disk, the things are too broken to
|
||||
* fly. So the question is:
|
||||
*
|
||||
* Did we have a hard fault and not make it far enough
|
||||
* through the boot sequence to commit the fault data to
|
||||
* the SD card?
|
||||
*/
|
||||
|
||||
/* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD
|
||||
*/
|
||||
int hadCrash = hardfault_check_status("boot");
|
||||
|
||||
if (hadCrash == OK) {
|
||||
|
||||
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
|
||||
" while booting to halt the system!\n");
|
||||
|
||||
/* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD
|
||||
*/
|
||||
|
||||
int reboots = hardfault_increment_reboot("boot", false);
|
||||
|
||||
/* Also end the misery for a user that holds for a key down on the console */
|
||||
|
||||
int bytesWaiting;
|
||||
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
|
||||
|
||||
if (reboots > 2 || bytesWaiting != 0) {
|
||||
|
||||
/* Since we can not commit the fault dump to disk. Display it
|
||||
* to the console.
|
||||
*/
|
||||
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
|
||||
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
|
||||
reboots,
|
||||
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
|
||||
|
||||
|
||||
/* For those of you with a debugger set a break point on up_assert and
|
||||
* then set dbgContinue = 1 and go.
|
||||
*/
|
||||
|
||||
/* Clear any key press that got us here */
|
||||
|
||||
static volatile bool dbgContinue = false;
|
||||
int c = '>';
|
||||
|
||||
while (!dbgContinue) {
|
||||
|
||||
switch (c) {
|
||||
|
||||
case EOF:
|
||||
|
||||
|
||||
case '\n':
|
||||
case '\r':
|
||||
case ' ':
|
||||
continue;
|
||||
|
||||
default:
|
||||
|
||||
putchar(c);
|
||||
putchar('\n');
|
||||
|
||||
switch (c) {
|
||||
|
||||
case 'D':
|
||||
case 'd':
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
break;
|
||||
|
||||
case 'C':
|
||||
case 'c':
|
||||
hardfault_rearm("boot");
|
||||
hardfault_increment_reboot("boot", true);
|
||||
break;
|
||||
|
||||
case 'B':
|
||||
case 'b':
|
||||
dbgContinue = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
} // Inner Switch
|
||||
|
||||
message("\nEnter B - Continue booting\n" \
|
||||
"Enter C - Clear the fault log\n" \
|
||||
"Enter D - Dump fault log\n\n?>");
|
||||
fflush(stdout);
|
||||
|
||||
if (!dbgContinue) {
|
||||
c = getchar();
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
} // outer switch
|
||||
} // for
|
||||
|
||||
} // inner if
|
||||
} // outer if
|
||||
|
||||
#endif // CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif // CONFIG_STM32_BBSRAM
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_AMBER);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t sector_map[] = {
|
||||
{1, 16 * 1024, 0x08004000},
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initalizee the flashfs layer to use heap allocated memory */
|
||||
|
||||
result = parameter_flashfs_init(sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Init the microSD slot */
|
||||
|
||||
result = board_sdio_initialize();
|
||||
|
||||
if (result != OK) {
|
||||
led_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1,107 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_led.c
|
||||
*
|
||||
* TAP_V1 LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_BLUE_LED);
|
||||
stm32_configgpio(GPIO_RED_LED);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, false);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_RED_LED, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, true);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_RED_LED, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
stm32_gpiowrite(GPIO_BLUE_LED, !stm32_gpioread(GPIO_BLUE_LED));
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
stm32_gpiowrite(GPIO_RED_LED, !stm32_gpioread(GPIO_RED_LED));
|
||||
}
|
||||
}
|
||||
@@ -1,185 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_pwr.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <time.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "board_config.h"
|
||||
#include <stm32_pwr.h>
|
||||
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
|
||||
static struct timespec time_down;
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
static int default_power_button_state_notification(board_power_button_state_notification_e request)
|
||||
{
|
||||
// syslog(0,"%d\n", request);
|
||||
return PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW;
|
||||
}
|
||||
|
||||
|
||||
static power_button_state_notification_t power_state_notification = default_power_button_state_notification;
|
||||
|
||||
int board_register_power_state_notification_cb(power_button_state_notification_t cb)
|
||||
{
|
||||
power_state_notification = cb;
|
||||
|
||||
if (board_pwr_button_down() && (time_down.tv_nsec != 0 || time_down.tv_sec != 0)) {
|
||||
// make sure we don't miss the first event
|
||||
power_state_notification(PWR_BUTTON_DOWN);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int board_shutdown()
|
||||
{
|
||||
stm32_pwr_enablebkp(true);
|
||||
/* XXX wow, this is evil - write a magic number into backup register zero */
|
||||
*(uint32_t *)0x40002850 = 0xdeaddead;
|
||||
stm32_pwr_enablebkp(false);
|
||||
up_mdelay(50);
|
||||
up_systemreset();
|
||||
|
||||
while (1);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int board_button_irq(int irq, FAR void *context, FAR void *args)
|
||||
{
|
||||
if (board_pwr_button_down()) {
|
||||
|
||||
led_on(BOARD_LED_RED);
|
||||
clock_gettime(CLOCK_REALTIME, &time_down);
|
||||
power_state_notification(PWR_BUTTON_DOWN);
|
||||
|
||||
} else {
|
||||
|
||||
power_state_notification(PWR_BUTTON_UP);
|
||||
|
||||
led_off(BOARD_LED_RED);
|
||||
|
||||
struct timespec now;
|
||||
|
||||
clock_gettime(CLOCK_REALTIME, &now);
|
||||
|
||||
uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
|
||||
|
||||
uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
|
||||
|
||||
if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
|
||||
|
||||
led_on(BOARD_LED_BLUE);
|
||||
|
||||
if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
|
||||
up_mdelay(200);
|
||||
board_shutdown();
|
||||
}
|
||||
|
||||
} else {
|
||||
power_state_notification(PWR_BUTTON_IDEL);
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_pwr_init()
|
||||
*
|
||||
* Description:
|
||||
* Called to configure power control for the tap-v1 board.
|
||||
*
|
||||
* Input Parameters:
|
||||
* stage- 0 for boot, 1 for board init
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_pwr_init(int stage)
|
||||
{
|
||||
if (stage == 0) {
|
||||
stm32_configgpio(POWER_ON_GPIO);
|
||||
stm32_configgpio(KEY_AD_GPIO);
|
||||
}
|
||||
|
||||
if (stage == 1) {
|
||||
stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pwr_button_down
|
||||
*
|
||||
* Description:
|
||||
* Called to Read the logical state of the active low power button.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
bool board_pwr_button_down(void)
|
||||
{
|
||||
return 0 == stm32_gpioread(KEY_AD_GPIO);
|
||||
}
|
||||
@@ -1,122 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_sdio.c
|
||||
*
|
||||
* Board-specific SDIOfunctions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lowsyslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lowsyslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************/
|
||||
static struct spi_dev_s *spi;
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SDIO.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT int board_sdio_initialize(void)
|
||||
{
|
||||
/* Get the SPI port for the microSD slot */
|
||||
|
||||
spi = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SPI interface to the MMCSD driver */
|
||||
int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,85 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the tap-v1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
stm32_configgpio(GPIO_SPI_SD_SW);
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return !stm32_gpioread(GPIO_SPI_SD_SW);
|
||||
}
|
||||
|
||||
@@ -1,109 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 0,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = STM32_IRQ_TIM3,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
||||
.gpio_in = GPIO_TIM3_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.vectorno = STM32_IRQ_TIM3,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 2,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH1OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH2OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH3OUT,
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
}
|
||||
};
|
||||
@@ -1,127 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 tap-v1_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_otgfs.h"
|
||||
|
||||
#define GPIO_DP (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the tap-v1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up.
|
||||
* The HW also has one too. So we need to overcome it.
|
||||
* to force a soft disconnect.
|
||||
*/
|
||||
|
||||
/* Issue the Reset to the OTGFS Block */
|
||||
|
||||
uint32_t regval = getreg32(STM32_RCC_AHB2RSTR);
|
||||
regval |= RCC_AHB2RSTR_OTGFSRST;
|
||||
putreg32(regval, STM32_RCC_AHB2RSTR);
|
||||
|
||||
/* Drive the DP Pin Low */
|
||||
|
||||
stm32_configgpio(GPIO_DP);
|
||||
|
||||
/* Release the Reset to the OTGFS Block */
|
||||
|
||||
regval &= ~RCC_AHB2RSTR_OTGFSRST;
|
||||
|
||||
putreg32(regval, STM32_RCC_AHB2RSTR);
|
||||
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO */
|
||||
|
||||
px4_arch_configgpio(GPIO_OTGFS_VBUS);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
//ulldbg("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user