mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 00:31:35 +08:00
Adding esc35-v1 board and bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
d09cd77777
commit
cd8b759fed
Executable
+2
@@ -0,0 +1,2 @@
|
||||
This directory contains header files unique to the
|
||||
AUAV ESC35 V1.0 board using STM32F303CC
|
||||
Executable
+261
@@ -0,0 +1,261 @@
|
||||
/************************************************************************************
|
||||
* configs/esc35-v1/include/board.h
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __CONFIGS_ESC35_V1_INCLUDE_BOARD_H
|
||||
#define __CONFIGS_ESC35_V1_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdio.h"
|
||||
#include "stm32.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
|
||||
/* HSI - 8 MHz RC factory-trimmed
|
||||
* LSI - 40 KHz RC (30-60KHz, uncalibrated)
|
||||
* HSE - On-board crystal frequency is 8MHz
|
||||
* LSE - 32.768 kHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 8000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 8000000ul
|
||||
#define STM32_LSI_FREQUENCY 40000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
|
||||
|
||||
#define STM32_CFGR_PLLSRC RCC_CFGR_PLLSRC
|
||||
#define STM32_CFGR_PLLXTPRE 0
|
||||
#define STM32_CFGR_PLLMUL RCC_CFGR_PLLMUL_CLKx9
|
||||
#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL)
|
||||
|
||||
/* Use the PLL and set the SYSCLK source to be the PLL */
|
||||
|
||||
#define STM32_SYSCLK_SW RCC_CFGR_SW_PLL
|
||||
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_PLL
|
||||
#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (72MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
|
||||
#define STM32_HCLK_FREQUENCY STM32_PLL_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (72MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
|
||||
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
|
||||
|
||||
/* APB2 timer 1 will receive PCLK2. */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB1 timers 2-7 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8,15-7 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
|
||||
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
|
||||
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
|
||||
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
|
||||
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
|
||||
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
|
||||
#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
|
||||
#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
|
||||
#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
|
||||
|
||||
/* USB divider -- Divide PLL clock by 1.5 */
|
||||
|
||||
#define STM32_CFGR_USBPRE 0
|
||||
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
|
||||
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
/* Leds *************************************************************************/
|
||||
|
||||
/* LED index values for use with board_setled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED3 2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
/* LED bits for use with board_setleds() */
|
||||
|
||||
#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
|
||||
#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
|
||||
#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
|
||||
|
||||
/* TODO:define these
|
||||
* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
|
||||
*
|
||||
* defined. In that case, the usage by the board port is as follows:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ------------------------ -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
|
||||
#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
|
||||
/* Led PWM */
|
||||
|
||||
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1 /* PA1 - Blue */
|
||||
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_2 /* PA2 - Red */
|
||||
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2 /* PA3 - Green */
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
void stm32_led_initialize(void);
|
||||
void stm32_setled(int led, bool ledon);
|
||||
void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_NSH_LIBRARY)
|
||||
int app_archinitialize(void);
|
||||
#else
|
||||
#define app_archinitialize() (-ENOSYS)
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_ESC35_V1_INCLUDE_BOARD_H */
|
||||
Reference in New Issue
Block a user