mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 15:20:34 +08:00
src/drivers/boards/common/{stm32,kinetis}: move under platforms/nuttx/src/px4
This commit is contained in:
Beat Küng
@@ -40,15 +40,8 @@ if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "px4_io")
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board_fat_dma_alloc.c
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)
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if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
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add_subdirectory(kinetis)
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elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
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add_subdirectory(stm32)
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endif()
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target_link_libraries(drivers_boards_common
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PRIVATE
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drivers_boards_common_arch
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nuttx_arch # bbsram
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nuttx_mm # dma gran alloc
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systemlib
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@@ -56,5 +49,4 @@ if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "px4_io")
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else()
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add_library(drivers_boards_common INTERFACE)
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add_library(drivers_boards_common_arch INTERFACE)
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endif()
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@@ -1,39 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2017 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
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# 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
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# 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_boards_common_arch
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board_reset.c
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)
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add_dependencies(drivers_boards_common_arch prebuild_targets)
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target_compile_options(drivers_boards_common_arch PRIVATE -Wno-cast-align) # TODO: fix and enable
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target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)
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@@ -1,74 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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* Author: @author David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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/**
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* @file board_reset.c
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* Implementation of kinetis based Board RESET API
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*/
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#include <px4_platform_common/px4_config.h>
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#include <errno.h>
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#include <nuttx/board.h>
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int board_set_bootload_mode(board_reset_e mode)
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{
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uint32_t regvalue = 0;
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switch (mode) {
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case board_reset_normal:
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case board_reset_extended:
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break;
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case board_reset_enter_bootloader:
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regvalue = 0xb007b007;
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break;
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default:
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return -EINVAL;
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}
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*((uint32_t *) KINETIS_VBATR_BASE) = regvalue;
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return OK;
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}
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void board_system_reset(int status)
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{
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board_reset(status);
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while (1);
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}
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@@ -1,40 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2017 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
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# 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
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# 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_boards_common_arch
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board_reset.c
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board_critmon.c
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)
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add_dependencies(drivers_boards_common_arch prebuild_targets)
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target_compile_options(drivers_boards_common_arch PRIVATE -Wno-cast-align) # TODO: fix and enable
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target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)
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@@ -1,79 +0,0 @@
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/************************************************************************************
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <time.h>
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#include <fixedmath.h>
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#include "dwt.h"
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#include "up_arch.h"
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#include <nuttx/clock.h>
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#include <arch/board/board.h>
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#if defined(CONFIG_SCHED_CRITMONITOR) || defined(CONFIG_SCHED_IRQMONITOR)
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: up_critmon_gettime
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************************************************************************************/
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uint32_t up_critmon_gettime(void)
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{
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return getreg32(DWT_CYCCNT);
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}
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/************************************************************************************
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* Name: up_critmon_gettime
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************************************************************************************/
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void up_critmon_convert(uint32_t elapsed, FAR struct timespec *ts)
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{
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b32_t b32elapsed;
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b32elapsed = itob32(elapsed) / STM32_SYSCLK_FREQUENCY;
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ts->tv_sec = b32toi(b32elapsed);
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ts->tv_nsec = NSEC_PER_SEC * b32frac(b32elapsed) / b32ONE;
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}
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#endif /* CONFIG_SCHED_CRITMONITOR */
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@@ -1,88 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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* Author: @author David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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||||
* 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
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* 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
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* 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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/**
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* @file board_reset.c
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* Implementation of STM32 based Board RESET API
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*/
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#include <px4_platform_common/px4_config.h>
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#include <errno.h>
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#include <stm32_pwr.h>
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#include <stm32_rtc.h>
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#include <nuttx/board.h>
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int board_set_bootload_mode(board_reset_e mode)
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{
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uint32_t regvalue = 0;
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switch (mode) {
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case board_reset_normal:
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case board_reset_extended:
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break;
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case board_reset_enter_bootloader:
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regvalue = 0xb007b007;
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break;
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default:
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return -EINVAL;
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}
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stm32_pwr_enablebkp(true);
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// Check if we can to use the new register definition
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#ifndef STM32_RTC_BK0R
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*(uint32_t *)STM32_BKP_BASE = regvalue;
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#else
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*(uint32_t *)STM32_RTC_BK0R = regvalue;
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#endif
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stm32_pwr_enablebkp(false);
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return OK;
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}
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void board_system_reset(int status)
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{
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#if defined(BOARD_HAS_ON_RESET)
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board_on_reset(status);
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#endif
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#ifdef CONFIG_BOARDCTL_RESET
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board_reset(status);
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#endif
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while (1);
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}
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