mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 03:33:33 +08:00
Add Gumstix AeroCore device
Based on the work of Andrew Smith [1], add board configuration and device drivers to support the Gumstix AeroCore (previously Aerodroid) board [2]. The AeroCore is an autopilot board based on a STM32F427 similar to the FMUv2. [1] https://github.com/smithandrewc/Firmware [2] https://store.gumstix.com/index.php/products/585/ Signed-off-by: Ash Charles <ashcharles@gmail.com>
This commit is contained in:
Ash Charles
@@ -0,0 +1,282 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_init.c
|
||||
*
|
||||
* AeroCore-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 <nuttx/config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/gran.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_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <systemlib/perf_counter.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
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(CONFIG_FAT_DMAMEMORY)
|
||||
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||
# error microSD DMA support requires CONFIG_GRAN
|
||||
# endif
|
||||
|
||||
static GRAN_HANDLE dma_allocator;
|
||||
|
||||
/*
|
||||
* The DMA heap size constrains the total number of things that can be
|
||||
* ready to do DMA at a time.
|
||||
*
|
||||
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
|
||||
* one sector-sized buffer per file.
|
||||
*
|
||||
* We use a fundamental alignment / granule size of 64B; this is sufficient
|
||||
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
|
||||
*/
|
||||
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
|
||||
static perf_counter_t g_dma_perf;
|
||||
|
||||
static void
|
||||
dma_alloc_init(void)
|
||||
{
|
||||
dma_allocator = gran_initialize(g_dma_heap,
|
||||
sizeof(g_dma_heap),
|
||||
7, /* 128B granule - must be > alignment (XXX bug?) */
|
||||
6); /* 64B alignment */
|
||||
if (dma_allocator == NULL) {
|
||||
message("[boot] DMA allocator setup FAILED");
|
||||
} else {
|
||||
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* DMA-aware allocator stubs for the FAT filesystem.
|
||||
*/
|
||||
|
||||
__EXPORT void *fat_dma_alloc(size_t size);
|
||||
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
|
||||
|
||||
void *
|
||||
fat_dma_alloc(size_t size)
|
||||
{
|
||||
perf_count(g_dma_perf);
|
||||
return gran_alloc(dma_allocator, size);
|
||||
}
|
||||
|
||||
void
|
||||
fat_dma_free(FAR void *memory, size_t size)
|
||||
{
|
||||
gran_free(dma_allocator, memory, size);
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
# define dma_alloc_init()
|
||||
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* 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 SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
up_ledinit();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi3;
|
||||
static struct spi_dev_s *spi4;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
__EXPORT int matherr(struct __exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#else
|
||||
__EXPORT int matherr(struct exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
|
||||
/* configure ADC pins */
|
||||
stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
|
||||
stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */
|
||||
stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */
|
||||
stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
dma_alloc_init();
|
||||
|
||||
/* 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 Sensors on SPI bus #3 */
|
||||
spi3 = up_spiinitialize(3);
|
||||
if (!spi3) {
|
||||
message("[boot] FAILED to initialize SPI port 3\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
/* Default: 1MHz, 8 bits, Mode 3 */
|
||||
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);
|
||||
message("[boot] Initialized SPI port 3 (SENSORS)\n");
|
||||
|
||||
/* Configure FRAM on SPI bus #4 */
|
||||
spi4 = up_spiinitialize(4);
|
||||
if (!spi4) {
|
||||
message("[boot] FAILED to initialize SPI port 4\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
/* Default: ~10MHz, 8 bits, Mode 3 */
|
||||
SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE0);
|
||||
SPI_SELECT(spi4, SPIDEV_FLASH, false);
|
||||
message("[boot] Initialized SPI port 4 (FRAM)\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,121 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_led.c
|
||||
*
|
||||
* AeroCore LED backend.
|
||||
*/
|
||||
|
||||
#include <nuttx/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();
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
__EXPORT void led_init()
|
||||
{
|
||||
stm32_configgpio(GPIO_LED0);
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
stm32_gpiowrite(GPIO_LED0, true);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
stm32_gpiowrite(GPIO_LED0, false);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
if (stm32_gpioread(GPIO_LED0))
|
||||
stm32_gpiowrite(GPIO_LED0, false);
|
||||
else
|
||||
stm32_gpiowrite(GPIO_LED0, true);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
if (stm32_gpioread(GPIO_LED1))
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
else
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo 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/stm32/drv_pwm_servo.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM1_BASE,
|
||||
.clock_register = STM32_RCC_APB2ENR,
|
||||
.clock_bit = RCC_APB2ENR_TIM1EN,
|
||||
.clock_freq = STM32_APB2_TIM1_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH1OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH2OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH3OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH4OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1500,
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,183 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void weak_function stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
stm32_configgpio(GPIO_SPI1_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI1_NSS, 1);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
stm32_configgpio(GPIO_SPI2_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI2_NSS, 1);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI3
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||
stm32_configgpio(GPIO_SPI_CS_BARO);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
|
||||
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
stm32_configgpio(GPIO_SPI4_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI4_NSS, 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 */
|
||||
stm32_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 */
|
||||
stm32_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 */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL_MAG:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#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 */
|
||||
stm32_gpiowrite(GPIO_SPI4_NSS, !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
|
||||
@@ -0,0 +1,176 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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
|
||||
*
|
||||
* AeroCore internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/****************************************************************************************************
|
||||
* 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)
|
||||
|
||||
/* Gyro */
|
||||
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0)
|
||||
|
||||
/* Accel & Mag */
|
||||
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1)
|
||||
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2)
|
||||
|
||||
/* GPS */
|
||||
#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
|
||||
|
||||
/* SPI3--Sensors */
|
||||
#define PX4_SPI_BUS_SENSORS 3
|
||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* Nominal chip selects for devices on SPI bus #3 */
|
||||
#define PX4_SPIDEV_ACCEL_MAG 0
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_BARO 2
|
||||
|
||||
/* User GPIOs broken out on J11 */
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
|
||||
//#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
|
||||
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
|
||||
#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
||||
//#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
|
||||
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||
#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* Eight PWM outputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CH1 : PA8 : TIM1_CH1
|
||||
* CH2 : PA9 : TIM1_CH2
|
||||
* CH3 : PA10 : TIM1_CH3
|
||||
* CH4 : PA11 : TIM1_CH4
|
||||
* CH5 : PC6 : TIM3_CH1
|
||||
* CH6 : PC7 : TIM3_CH2
|
||||
* CH7 : PC8 : TIM3_CH3
|
||||
* CH8 : PC9 : TIM3_CH4
|
||||
*/
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1
|
||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1
|
||||
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3
|
||||
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer 8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
/* Tone Alarm (no onboard speaker )*/
|
||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* 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);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,8 @@
|
||||
#
|
||||
# Board-specific startup code for the AeroCore
|
||||
#
|
||||
|
||||
SRCS = aerocore_init.c \
|
||||
aerocore_pwm_servo.c \
|
||||
aerocore_spi.c \
|
||||
aerocore_led.c
|
||||
@@ -85,6 +85,8 @@ __BEGIN_DECLS
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
|
||||
/*
|
||||
* Use these in place of the spi_dev_e enumeration to
|
||||
* select a specific SPI device on SPI1
|
||||
|
||||
@@ -107,6 +107,8 @@ __BEGIN_DECLS
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
|
||||
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
|
||||
Reference in New Issue
Block a user