Add the Gumstix AeroCore2 to the build system.

src/drivers/boards/aerocore2/CMakeLists.txt

@@ -0,0 +1,50 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__boards__aerocore2
+	COMPILE_FLAGS
+	SRCS
+                ../common/board_dma_alloc.c
+                ../common/stm32/board_reset.c
+                ../common/stm32/board_identity.c
+                ../common/stm32/board_mcu_version.c
+		aerocore2_can.c
+		aerocore2_init.c
+		aerocore2_timer_config.c
+		aerocore2_spi.c
+		aerocore2_usb.c
+		aerocore2_led.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/boards/aerocore2/aerocore2_can.c

@@ -0,0 +1,145 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 aerocore2_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/drivers/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing CAN */
+
+#ifdef CONFIG_DEBUG_CAN
+#  define candbg    dbg
+#  define canvdbg   vdbg
+#  define canlldbg  lldbg
+#  define canllvdbg llvdbg
+#else
+#  define candbg(x...)
+#  define canvdbg(x...)
+#  define canlldbg(x...)
+#  define canllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			candbg("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			candbg("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif

src/drivers/boards/aerocore2/aerocore2_init.c

@@ -0,0 +1,293 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 aerocore2_init.c
+ *
+ * AeroCore2-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 <px4_config.h>
+#include <px4_tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/cpuload.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <systemlib/param/param.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
+	/* Keep Spektum on to discharge rail*/
+	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+	/* switch the peripheral rail back on */
+	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
+
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN10);	/* used by battery sense */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
+
+	/* configure the power mux sense input */
+	stm32_configgpio(GPIO_POWER_MUX_SENSE);
+
+	/* configure spektrum power controller gpio */
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure LEDs */
+	board_autoled_initialize();
+}
+
+/****************************************************************************
+ * 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 initalization 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.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi3;
+static struct spi_dev_s *spi4;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#       if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#               error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#       endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+	/* configure the high-resolution time/callout interface */
+	hrt_init();
+
+	param_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		message("DMA alloc FAILED");
+	}
+
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	/* Configure SPI-based devices */
+
+	spi3 = px4_spibus_initialize(3);
+
+	if (!spi3) {
+		message("[boot] FAILED to initialize SPI port 3\n");
+		board_autoled_on(LED_AMBER);
+		return -ENODEV;
+	}
+
+	/* Default SPI3 to 1MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi3, 10000000);
+	SPI_SETBITS(spi3, 8);
+	SPI_SETMODE(spi3, SPIDEV_MODE3);
+	SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
+	SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
+	up_udelay(20);
+
+	/* Get the SPI port for the FRAM */
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		message("[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+		return -ENODEV;
+	}
+
+	/* Default SPI4 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi4, 12 * 1000 * 1000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	SPI_SELECT(spi4, SPIDEV_FLASH, false);
+
+	return OK;
+}

src/drivers/boards/aerocore2/aerocore2_led.c

@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 aerocore2_led.c
+ *
+ * AEROCORE2 LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,    // Indexed by LED_BLUE
+	GPIO_LED_RED,     // Indexed by LED_RED, LED_AMBER
+	GPIO_LED_SAFETY,  // Indexed by LED_SAFETY
+	GPIO_LED_GREEN,   // Indexed by LED_GREEN
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	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)
+{
+	/* Pull up to switch on */
+	stm32_gpiowrite(g_ledmap[led], state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	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));
+}

src/drivers/boards/aerocore2/aerocore2_spi.c

@@ -0,0 +1,230 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 aerocore2_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_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 <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
+#include "board_config.h"
+#include <systemlib/err.h>
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_spiinitialize(void)
+{
+#ifdef CONFIG_STM32_SPI3
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+
+	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
+#endif
+
+#ifdef CONFIG_STM32_SPI4
+	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+#endif
+
+}
+
+#ifdef CONFIG_STM32_SPI1
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there is only one device broken-out so select it */
+	px4_arch_gpiowrite(GPIO_SPI1_NSS, !selected);
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there is only one device broken-out so select it */
+	px4_arch_gpiowrite(GPIO_SPI2_NSS, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+#ifdef CONFIG_STM32_SPI3
+__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_GYRO:
+		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_ACCEL_MAG:
+		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		break;
+
+	default:
+		break;
+	}
+}
+#endif
+
+__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+
+#ifdef CONFIG_STM32_SPI4
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there can only be one device on this bus, so always select it */
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	/* FRAM is always present */
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+__EXPORT void board_spi_reset(int ms)
+{
+	/* disable SPI bus */
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
+
+	px4_arch_configgpio(GPIO_SPI3_SCK_OFF);
+	px4_arch_configgpio(GPIO_SPI3_MISO_OFF);
+	px4_arch_configgpio(GPIO_SPI3_MOSI_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI3_SCK_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI3_MISO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI3_MOSI_OFF, 0);
+
+	px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
+	px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
+	px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
+
+	px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
+
+	/* wait for the sensor rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* wait a bit before starting SPI, different times didn't influence results */
+	usleep(100);
+
+	/* reconfigure the SPI pins */
+#ifdef CONFIG_STM32_SPI3
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+
+	px4_arch_configgpio(GPIO_SPI3_SCK);
+	px4_arch_configgpio(GPIO_SPI3_MISO);
+	px4_arch_configgpio(GPIO_SPI3_MOSI);
+
+#endif
+}

src/drivers/boards/aerocore2/aerocore2_timer_config.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 aercore2_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+	{
+		.base = STM32_TIM4_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM4EN,
+		.clock_freq = STM32_APB1_TIM4_CLKIN,
+		.first_channel_index = 0,
+		.last_channel_index = 3,
+		.handler = io_timer_handler0,
+		.vectorno =  STM32_IRQ_TIM4,
+
+	},
+	{
+		.base = STM32_TIM5_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM5EN,
+		.clock_freq = STM32_APB1_TIM5_CLKIN,
+		.first_channel_index = 4,
+		.last_channel_index = 7,
+		.handler = io_timer_handler1,
+		.vectorno =  STM32_IRQ_TIM5
+	}
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	{
+		.gpio_out = GPIO_TIM4_CH1OUT,
+		.gpio_in  = GPIO_TIM9_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_TIM9_CH2IN,
+		.timer_index = 0,
+		.timer_channel = 2,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+	},
+	{
+		.gpio_out = GPIO_TIM4_CH3OUT,
+		.gpio_in = GPIO_TIM3_CH1IN,
+		.timer_index = 0,
+		.timer_channel = 3,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+	},
+	{
+		.gpio_out = GPIO_TIM4_CH4OUT,
+		.gpio_in = GPIO_TIM3_CH2IN,
+		.timer_index = 0,
+		.timer_channel = 4,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
+	},
+	{
+		.gpio_out = GPIO_TIM5_CH1OUT,
+		.gpio_in = GPIO_TIM3_CH3IN,
+		.timer_index = 1,
+		.timer_channel = 1,
+		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
+		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+	},
+	{
+		.gpio_out = GPIO_TIM5_CH2OUT,
+		.gpio_in = GPIO_TIM1_CH1IN,
+		.timer_index = 1,
+		.timer_channel = 2,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+	},
+	{
+		.gpio_out = GPIO_TIM5_CH3OUT,
+		.gpio_in = GPIO_TIM1_CH2IN,
+		.timer_index = 1,
+		.timer_channel = 3,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+	},
+	{
+		.gpio_out = GPIO_TIM5_CH4OUT,
+		.gpio_in = GPIO_TIM1_CH3IN,
+		.timer_index = 1,
+		.timer_channel = 4,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
+	}
+};

src/drivers/boards/aerocore2/aerocore2_usb.c

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 aerocore2_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU 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_STM32_OTGFS
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
+	*/
+#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)
+{
+	//ulldbg("resume: %d\n", resume);
+}
+

src/drivers/boards/aerocore2/board_config.h

@@ -0,0 +1,261 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 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 board_config.h
+ *
+ * AeroCore2 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* LEDs */
+#define GPIO_LED0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_LED1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
+
+#define GPIO_LED_RED	GPIO_LED1
+#define GPIO_LED_GREEN	GPIO_LED0
+#define GPIO_LED_BLUE	0
+#define GPIO_LED_SAFETY 0
+
+/* GPS */
+#define GPS_DEFAULT_UART_PORT	"/dev/ttyS0"
+
+/* Power muxes */
+/* LOW=battery HIGH=USB */
+#define GPIO_POWER_MUX_SENSE	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
+
+/* External interrupts */
+#define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2)
+#define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN4)
+#define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN3)
+
+/* Data ready pins off */
+#define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN2)
+#define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN4)
+#define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN3)
+
+/* SPI3 off */
+#define GPIO_SPI3_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_SPI3_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN11)
+#define GPIO_SPI3_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN12)
+
+/* SPI3 chip selects off */
+#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTE|GPIO_PIN4)
+
+/* SPI chip selects */
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11)
+
+#define PX4_SPI_BUS_SENSORS	3
+#define PX4_SPI_BUS_RAMTRON	4
+#define PX4_SPI_BUS_EXT		1
+#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS
+
+/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI3 */
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_ACCEL_MAG	2
+#define PX4_SPIDEV_BARO		3
+
+/* I2C busses */
+#define PX4_I2C_BUS_EXPANSION	1
+#define PX4_I2C_BUS_ONBOARD	2
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)
+
+/*
+ * ADC defines to be used in sensors.cpp to read from a particular channel
+*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	0
+
+/* Define Battery 1 Voltage Divider
+ */
+
+#define BOARD_BATTERY1_V_DIV   (11.0f)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	10	/* timer 10 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF3|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN8)
+
+/* PWM
+ *
+ * Eight PWM outputs are configured.
+ *
+ * Pins:
+ *
+ * CH1 : PD12 : TIM4_CH1
+ * CH2 : PD13 : TIM4_CH2
+ * CH3 : PD14 : TIM4_CH3
+ * CH4 : PD15 : TIM4_CH4
+ * CH5 : PA0  : TIM5_CH1
+ * CH6 : PA1  : TIM5_CH2
+ * CH7 : PA2  : TIM5_CH3
+ * CH8 : PA3  : TIM5_CH4
+ */
+#define GPIO_TIM4_CH1OUT	GPIO_TIM4_CH1OUT_2
+#define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
+#define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+#define GPIO_TIM4_CH4OUT	GPIO_TIM4_CH4OUT_2
+#define GPIO_TIM5_CH1OUT	GPIO_TIM5_CH1OUT_1
+#define GPIO_TIM5_CH2OUT	GPIO_TIM5_CH2OUT_1
+#define GPIO_TIM5_CH3OUT	GPIO_TIM5_CH3OUT_1
+#define GPIO_TIM5_CH4OUT	GPIO_TIM5_CH4OUT_1
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
+
+/* PWM
+ *
+ * Eight PWM inputs are configured.
+ *
+ * Pins:
+ *
+ * CH8 : PE5  : TIM9_CH1
+ * CH7 : PE6  : TIM9_CH2
+ * CH6 : PC6  : TIM3_CH1
+ * CH5 : PC7  : TIM3_CH2
+ * CH4 : PC8  : TIM3_CH3
+ * CH3 : PA8  : TIM1_CH1
+ * CH2 : PA9  : TIM1_CH2
+ * CH1 : PA10 : TIM1_CH3
+ */
+#define GPIO_TIM9_CH1IN		GPIO_TIM9_CH1IN_2
+#define GPIO_TIM9_CH2IN		GPIO_TIM9_CH2IN_2
+#define GPIO_TIM3_CH1IN		GPIO_TIM3_CH1IN_3
+#define GPIO_TIM3_CH2IN		GPIO_TIM3_CH2IN_3
+#define GPIO_TIM3_CH3IN		GPIO_TIM3_CH3IN_2
+#define GPIO_TIM1_CH1IN		GPIO_TIM1_CH1IN_1
+#define GPIO_TIM1_CH2IN		GPIO_TIM1_CH2IN_1
+#define GPIO_TIM1_CH3IN		GPIO_TIM1_CH3IN_1
+#define DIRECT_INPUT_TIMER_CHANNELS  8
+
+/* spektrum satellite receiver input */
+#define GPIO_SPEKTRUM_PWR_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+#define SPEKTRUM_POWER(_on_true)	px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
+#define RC_SERIAL_PORT		"/dev/ttyS4"
+#define INVERT_RC_INPUT(_s)	while(0)
+#define GPIO_PPM_IN		0
+#define GPIO_RC_OUT		0
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()	px4_arch_configgpio(GPIO_RC_OUT)
+#define SPEKTRUM_OUT(_one_true)	px4_arch_gpiowrite(GPIO_RC_OUT, (_one_true))
+#define SPEKTRUM_RX_AS_UART()	/* Can be left as uart */
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
+#define BOARD_NAME "AEROCORE2"
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB { \
+		{0,  0,                       0}, }
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* The board isn't extremely constrained but
+ * src/modules/navigator/navigation.h defines
+ * NUM_MISSIONS_SUPPORTED to be UINT16_MAX - 1
+ * which is too large for the AeroCore2's FRAM
+ * so we define MEMORY_CONSTRAINED_SYSTEM so that
+ * NUM_MISSIONS_SUPPORTED is only 50
+ */
+#define MEMORY_CONSTRAINED_SYSTEM
+
+/* Dataman uses the mtd to save data
+ */
+#define BOARD_HAS_MTD_PARTITION_OVERRIDE	{"/fs/mtd_params", "/fs/mtd_dataman"}
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+extern void board_spi_reset(int ms);
+extern void stm32_usbinitialize(void);
+extern void board_peripheral_reset(int ms);
+
+#include "../common/board_common.h"
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

src/modules/commander/commander.cpp

@@ -3328,7 +3328,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 
 	last_overload = overload;
 
-#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4) || defined (CONFIG_ARCH_BOARD_CRAZYFLIE) || defined (CONFIG_ARCH_BOARD_AEROFC_V1)
+#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4) || defined (CONFIG_ARCH_BOARD_CRAZYFLIE) || defined (CONFIG_ARCH_BOARD_AEROFC_V1) || defined (CONFIG_ARCH_BOARD_AEROCORE2)
 
 	/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
 	if (actuator_armed->armed) {