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Add Gumstix AeroCore device

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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
2014-05-13 09:41:41 -07:00
parent 178a3e8567
commit e5508a1aa0
33 changed files with 2960 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+83 -1
View File
@@ -92,6 +92,7 @@ public:
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
MODE_8PWM,
};
PX4FMU();
virtual ~PX4FMU();
@@ -113,6 +114,9 @@ private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
static const unsigned _max_actuators = 6;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
static const unsigned _max_actuators = 8;
#endif
Mode _mode;
unsigned _pwm_default_rate;
@@ -203,6 +207,21 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_VDD_5V_HIPOWER_OC, 0, 0},
{GPIO_VDD_5V_PERIPH_OC, 0, 0},
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
/* AeroCore breaks out User GPIOs on J11 */
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
// {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0},
{GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0},
{GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0},
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0},
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0},
#endif
};
const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
@@ -382,6 +401,20 @@ PX4FMU::set_mode(Mode mode)
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
debug("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0xff);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
#endif
case MODE_NONE:
debug("MODE_NONE");
@@ -602,6 +635,9 @@ PX4FMU::task_main()
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
@@ -757,6 +793,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
@@ -986,6 +1025,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_SET(7):
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
@@ -1013,6 +1061,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
@@ -1040,12 +1097,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_RATEGROUP(3):
case PWM_SERVO_GET_RATEGROUP(4):
case PWM_SERVO_GET_RATEGROUP(5):
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET_RATEGROUP(6):
case PWM_SERVO_GET_RATEGROUP(7):
#endif
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
@@ -1091,6 +1158,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
set_mode(MODE_6PWM);
break;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
@@ -1181,10 +1253,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
unsigned count = len / 2;
uint16_t values[6];
#ifdef CONFIG_ARCH_BOARD_AEROCORE
if (count > 8) {
// we have at most 8 outputs
count = 8;
}
#else
if (count > 6) {
// we have at most 6 outputs
count = 6;
}
#endif
// allow for misaligned values
memcpy(values, buffer, count * 2);
@@ -1458,6 +1537,9 @@ fmu_new_mode(PortMode new_mode)
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
servo_mode = PX4FMU::MODE_8PWM;
#endif
break;
@@ -1776,7 +1858,7 @@ fmu_main(int argc, char *argv[])
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
#endif
exit(1);