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Make the 'fmu' command build for v2. Should be enough to get the FMU-side PWM outputs working, but untested.

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This commit is contained in:
px4dev
2013-04-06 19:20:08 -07:00
parent 706dcb6a53
commit c355275669
4 changed files with 203 additions and 44 deletions
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apps/drivers/boards/px4fmuv2/px4fmu_internal.h
+17
View File
@@ -71,6 +71,23 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
apps/drivers/drv_gpio.h
+22 -5
View File
@@ -42,11 +42,6 @@
#include <sys/ioctl.h>
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
#warning No GPIOs on this board.
#define GPIO_DEVICE_PATH "/dev/null"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU
/*
* PX4FMU GPIO numbers.
@@ -72,6 +67,28 @@
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
/*
* PX4FMUv2 GPIO numbers.
*
* There are no alternate functions on this board.
*/
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
# define GPIO_DEVICE_PATH "/dev/px4fmu"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO
/*
* PX4IO GPIO numbers.