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mRo Control Zero F7 initial board support
This commit is contained in:
Daniel Agar
@@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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||||
# 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.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
# "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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(drivers_board
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init.c
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led.c
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sdio.c
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spi.cpp
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timer_config.c
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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)
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@@ -0,0 +1,397 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* 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.
|
||||
*
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||||
* 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.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* mro_ctrl-zero-f7 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* GPIOs ***********************************************************************************/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_OVERLOAD_LED LED_RED
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#define BOARD_ARMED_STATE_LED LED_BLUE
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#define PX4_SPI_BUS_1 1
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#define PX4_SPI_BUS_2 2
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#define PX4_SPI_BUS_5 5
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
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/* SPI 1 CS */
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#define GPIO_SPI1_CS1_ICM20602 /* PC2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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#define GPIO_SPI1_CS2_ICM20948 /* PE15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
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/* SPI 2 CS */
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#define GPIO_SPI2_CS1_FRAM /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_SPI2_CS2_BARO /* PD7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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/* SPI 5 CS */
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#define GPIO_SPI5_CS1_BMI088_ACCEL /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
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#define GPIO_SPI5_CS2_BMI088_GYRO /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
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/* SPI 5 BMI088 Data Ready interrupts */
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#define GPIO_DRDY_BMI088_INT1_ACCEL /* PF1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN1)
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#define GPIO_DRDY_BMI088_INT2_ACCEL /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
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#define GPIO_DRDY_BMI088_INT3_GYRO /* PF3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN3)
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#define GPIO_DRDY_BMI088_INT4_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
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/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
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#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
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/* ^ END Legacy SPI defines TODO: fix this with enumeration */
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,0)
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#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,1)
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#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
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#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_2,0)
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_2,1)
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#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
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#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_5,0)
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#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_5,1)
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#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
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/* I2C busses */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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#define BOARD_NUMBER_I2C_BUSES 1
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#define BOARD_I2C_BUS_CLOCK_INIT {100000}
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PA2 */ ADC1_GPIO(2), \
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/* PA3 */ ADC1_GPIO(3), \
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/* PA4 */ ADC1_GPIO(4), \
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/* PC1 */ ADC1_GPIO(11)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY_VOLTAGE_CHANNEL /* PA2 */ ADC1_CH(2)
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#define ADC_BATTERY_CURRENT_CHANNEL /* PA3 */ ADC1_CH(3)
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#define ADC_SCALED_V5_CHANNEL /* PA4 */ ADC1_CH(4)
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#define ADC_RSSI_IN_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL))
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/* Define Battery 1 Voltage Divider and A per V */
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#define BOARD_BATTERY_V_DIV (18.1f) /* measured with the provided PM board */
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#define BOARD_BATTERY_A_PER_V (36.367515152f)
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* CAN Silence: Silent mode control \ ESC Mux select */
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#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
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/* PWM
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*
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* 8 PWM outputs are configured.
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*
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* Pins:
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*
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* FMU_CH1 : PE14 : TIM1_CH4
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* FMU_CH2 : PE13 : TIM1_CH3
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* FMU_CH3 : PE11 : TIM1_CH2
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* FMU_CH4 : PE9 : TIM1_CH1
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* FMU_CH5 : PD13 : TIM4_CH2
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* FMU_CH6 : PD14 : TIM4_CH3
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* FMU_CH7 : PI5 : TIM8_CH1
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* FMU_CH8 : PI6 : TIM8_CH2
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*
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*/
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#define GPIO_TIM8_CH2OUT /* PI6 T8C1 FMU8 */ GPIO_TIM8_CH2OUT_2
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#define GPIO_TIM8_CH1OUT /* PI5 T8C1 FMU7 */ GPIO_TIM8_CH1OUT_2
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#define GPIO_TIM4_CH3OUT /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3OUT_2
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#define GPIO_TIM4_CH2OUT /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2OUT_2
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#define GPIO_TIM1_CH1OUT /* PE9 T1C1 FMU4 */ GPIO_TIM1_CH1OUT_2
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#define GPIO_TIM1_CH2OUT /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2OUT_2
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#define GPIO_TIM1_CH3OUT /* PE13 T1C3 FMU2 */ GPIO_TIM1_CH3OUT_2
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#define GPIO_TIM1_CH4OUT /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4OUT_2
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_TIM8_CH2IN /* PI6 T8C2 FMU8 */ GPIO_TIM8_CH2IN_2
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#define GPIO_TIM8_CH1IN /* PI5 T8C1 FMU7 */ GPIO_TIM8_CH1IN_2
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#define GPIO_TIM4_CH3IN /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3IN_2
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#define GPIO_TIM4_CH2IN /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2IN_2
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#define GPIO_TIM1_CH1IN /* PE9 T1C1 FMU4 */ GPIO_TIM1_CH1IN_2
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#define GPIO_TIM1_CH2IN /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2IN_2
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#define GPIO_TIM1_CH3IN /* PE13 T1C3 FMU2 */ GPIO_TIM1_CH3IN_2
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#define GPIO_TIM1_CH4IN /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4IN_2
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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/* User GPIOs: GPIO0-5 are the PWM servo outputs. */
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#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
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#define GPIO_GPIO7_INPUT /* PI6 T8C2 FMU8 */ _MK_GPIO_INPUT(GPIO_TIM8_CH2IN)
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#define GPIO_GPIO6_INPUT /* PI5 T8C1 FMU7 */ _MK_GPIO_INPUT(GPIO_TIM8_CH1IN)
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#define GPIO_GPIO5_INPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN)
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#define GPIO_GPIO4_INPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_INPUT(GPIO_TIM4_CH2IN)
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#define GPIO_GPIO3_INPUT /* PE9 T1C1 FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
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#define GPIO_GPIO2_INPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
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#define GPIO_GPIO1_INPUT /* PE13 T1C3 FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
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#define GPIO_GPIO0_INPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)
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#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
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#define GPIO_GPIO7_OUTPUT /* PI6 T8C2 FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM8_CH2OUT)
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#define GPIO_GPIO6_OUTPUT /* PI5 T8C1 FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM8_CH1OUT)
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#define GPIO_GPIO5_OUTPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT)
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#define GPIO_GPIO4_OUTPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT)
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#define GPIO_GPIO3_OUTPUT /* PE9 T1C1 FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
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#define GPIO_GPIO2_OUTPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
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#define GPIO_GPIO1_OUTPUT /* PA10 T1C3 FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
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#define GPIO_GPIO0_OUTPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)
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||||
|
||||
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/* Power supply control and monitoring GPIOs */
|
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#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||
|
||||
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
|
||||
#define BOARD_NUMBER_BRICKS 1
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#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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||||
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
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||||
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
|
||||
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
|
||||
|
||||
/* Tone alarm output */
|
||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
|
||||
|
||||
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
|
||||
#define HRT_PPM_CHANNEL /* T3C2 */ 2 /* use capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS3"
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||||
|
||||
/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
|
||||
#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
|
||||
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
|
||||
|
||||
/*
|
||||
* FMUv5 has a separate RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PC7 T3CH2
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
|
||||
* In version is possible in the UART
|
||||
* and can drive GPIO PPM_IN as an output
|
||||
*/
|
||||
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||||
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
|
||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
|
||||
#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
|
||||
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
/* The list of GPIO that will be initialized */
|
||||
#define PX4_GPIO_PWM_INIT_LIST { \
|
||||
GPIO_GPIO7_INPUT, \
|
||||
GPIO_GPIO6_INPUT, \
|
||||
GPIO_GPIO5_INPUT, \
|
||||
GPIO_GPIO4_INPUT, \
|
||||
GPIO_GPIO3_INPUT, \
|
||||
GPIO_GPIO2_INPUT, \
|
||||
GPIO_GPIO1_INPUT, \
|
||||
GPIO_GPIO0_INPUT, \
|
||||
}
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_CAN1_SILENT_S0, \
|
||||
GPIO_nPOWER_IN_A, \
|
||||
GPIO_VDD_3V3_SENSORS_EN, \
|
||||
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_SAFETY_SWITCH_IN, \
|
||||
GPIO_DRDY_BMI088_INT1_ACCEL, \
|
||||
GPIO_DRDY_BMI088_INT2_ACCEL, \
|
||||
GPIO_DRDY_BMI088_INT3_GYRO, \
|
||||
GPIO_DRDY_BMI088_INT4_GYRO, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization for NSH.
|
||||
*
|
||||
* CONFIG_NSH_ARCHINIT=y :
|
||||
* Called from the NSH library
|
||||
*
|
||||
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
|
||||
* CONFIG_NSH_ARCHINIT=n :
|
||||
* Called from board_initialize().
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_NSH_LIBRARY
|
||||
int nsh_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,249 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* Board-specific early startup code. This file implements the
|
||||
* nsh_archinitialize() 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 initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "up_internal.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_init.h>
|
||||
#include <drivers/boards/common/board_dma_alloc.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
VDD_3V3_SENSORS_EN(false);
|
||||
|
||||
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
|
||||
/* Keep Spektum on to discharge rail*/
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(false);
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(last);
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initialization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Power on Interfaces */
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
struct timespec ts;
|
||||
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);
|
||||
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_on(LED_GREEN); // Indicate Power.
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
int ret = stm32_sdio_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,103 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.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
|
||||
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_BLUE, // Indexed by LED_BLUE
|
||||
GPIO_nLED_RED, // Indexed by LED_RED
|
||||
GPIO_nLED_GREEN, // Indexed by LED_GREEN
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
@@ -0,0 +1,171 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
@@ -0,0 +1,258 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file spi.cpp
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/* Define CS GPIO array */
|
||||
static constexpr uint32_t spi1selects_gpio[] = PX4_SPI_BUS_1_CS_GPIO;
|
||||
static constexpr uint32_t spi2selects_gpio[] = PX4_SPI_BUS_2_CS_GPIO;
|
||||
static constexpr uint32_t spi5selects_gpio[] = PX4_SPI_BUS_5_CS_GPIO;
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize()
|
||||
{
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
|
||||
for (auto gpio : spi1selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
|
||||
#if defined(CONFIG_STM32F7_SPI2)
|
||||
|
||||
for (auto gpio : spi2selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI2
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
|
||||
for (auto gpio : spi5selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi1select and stm32_spi1status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 1.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_1);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi2select and stm32_spi2status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 2.
|
||||
*
|
||||
************************************************************************************/
|
||||
#if defined(CONFIG_STM32F7_SPI2)
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
if (devid == SPIDEV_FLASH(0)) {
|
||||
devid = PX4_SPIDEV_MEMORY;
|
||||
}
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_2);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi2selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI2 && GPIO_SPI2_CS_FRAM
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi5select and stm32_spi5status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 5.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_5);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_spi_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
// disable SPI bus
|
||||
|
||||
// SPI1
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
|
||||
|
||||
// SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_SCK));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MISO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MOSI));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT1_ACCEL));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT2_ACCEL));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT3_GYRO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT4_GYRO));
|
||||
|
||||
/* set the sensor rail off */
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
|
||||
// SPI1
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
// SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI5_SCK);
|
||||
stm32_configgpio(GPIO_SPI5_MISO);
|
||||
stm32_configgpio(GPIO_SPI5_MOSI);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT1_ACCEL);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT2_ACCEL);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT3_GYRO);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT4_GYRO);
|
||||
}
|
||||
@@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file 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 <chip.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_TIM1_BASE,
|
||||
.clock_register = STM32_RCC_APB2ENR,
|
||||
.clock_bit = RCC_APB2ENR_TIM1EN,
|
||||
.clock_freq = STM32_APB2_TIM1_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = STM32_IRQ_TIM1CC,
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM4_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM4EN,
|
||||
.clock_freq = STM32_APB1_TIM4_CLKIN,
|
||||
.first_channel_index = 4,
|
||||
.last_channel_index = 5,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = STM32_IRQ_TIM4,
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM8_BASE,
|
||||
.clock_register = STM32_RCC_APB2ENR,
|
||||
.clock_bit = RCC_APB2ENR_TIM8EN,
|
||||
.clock_freq = STM32_APB2_TIM8_CLKIN,
|
||||
.first_channel_index = 6,
|
||||
.last_channel_index = 7,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = STM32_IRQ_TIM8UP,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_TIM1_CH4OUT,
|
||||
.gpio_in = GPIO_TIM1_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM1_CH3OUT,
|
||||
.gpio_in = GPIO_TIM1_CH3IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM1_CH2OUT,
|
||||
.gpio_in = GPIO_TIM1_CH2IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM1_CH1OUT,
|
||||
.gpio_in = GPIO_TIM1_CH1IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM4_CH2OUT,
|
||||
.gpio_in = GPIO_TIM4_CH2IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM4_CH3OUT,
|
||||
.gpio_in = GPIO_TIM4_CH3IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM8_CH1OUT,
|
||||
.gpio_in = GPIO_TIM8_CH1IN,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 1,
|
||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_TIM8_CH2OUT,
|
||||
.gpio_in = GPIO_TIM8_CH2IN,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 2,
|
||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||
}
|
||||
};
|
||||
@@ -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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file 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 <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32F7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Reference in New Issue
Block a user