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Support for Raspberry PI RP2040 MCU (#18083)
This commit is contained in:
Vatsal Asitkumar Joshi
@@ -0,0 +1,52 @@
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############################################################################
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#
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||||
# Copyright (c) 2021 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.
|
||||
#
|
||||
############################################################################
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||||
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add_library(drivers_board
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boot_string.c
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i2c.cpp
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init.c
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led.c
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spi.cpp
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timer_config.cpp
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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arch_spi
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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arch_io_pins
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||||
)
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@@ -0,0 +1,140 @@
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/****************************************************************************
|
||||
*
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||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
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||||
|
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/**
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* @file board_config.h
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*
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* board internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/* LEDs */
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// LED1 - GPIO 25 - Green
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#define GPIO_LED1 PX4_MAKE_GPIO_OUTPUT_CLEAR(25) // Take a look at rpi_common micro_hal.h
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#define GPIO_LED_BLUE GPIO_LED1
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#define BOARD_OVERLOAD_LED LED_BLUE
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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*/
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#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) // Change this later based on the adc channels actually used
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#define ADC_BATTERY_VOLTAGE_CHANNEL 1 // Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
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#define ADC_BATTERY_CURRENT_CHANNEL 2 // Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
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#define ADC_RC_RSSI_CHANNEL 0
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/* Define Battery 1 Voltage Divider and A per V. */
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#define BOARD_BATTERY1_V_DIV (13.653333333f)
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#define BOARD_BATTERY1_A_PER_V (36.367515152f)
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/* High-resolution timer */
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#define HRT_TIMER 1
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#define HRT_TIMER_CHANNEL 1
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#define HRT_PPM_CHANNEL 1 // Number really doesn't matter for this board
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#define GPIO_PPM_IN (16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
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#define RC_SERIAL_PORT "/dev/ttyS3"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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/* This board provides a DMA pool and APIs */ // Needs to be figured out
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#define BOARD_DMA_ALLOC_POOL_SIZE 2048
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
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/* USB
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||||
*
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||||
* VBUS detection is on 29 ADC_DPM0 and PTE8
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*/
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#define GPIO_USB_VBUS_VALID (24 | GPIO_FUN(RP2040_GPIO_FUNC_SIO)) // Used in usb.c
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/* PWM
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*
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* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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// Has pwm outputs
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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/*
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* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
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||||
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__BEGIN_DECLS
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||||
#ifndef __ASSEMBLY__
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||||
/****************************************************************************************************
|
||||
* Name: rp2040_spiinitialize
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||||
*
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||||
* Description:
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||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
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||||
****************************************************************************************************/
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||||
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||||
extern void rp2040_spiinitialize(void);
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||||
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||||
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||||
/****************************************************************************************************
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||||
* Name: rp2040_usbinitialize
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||||
*
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||||
* Description:
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||||
* Called to configure USB IO.
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||||
*
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||||
****************************************************************************************************/
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||||
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extern void rp2040_usbinitialize(void);
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||||
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extern void board_peripheral_reset(int ms);
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||||
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#include <px4_platform_common/board_common.h>
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||||
#endif /* __ASSEMBLY__ */
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||||
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||||
__END_DECLS
|
||||
@@ -0,0 +1,20 @@
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#include <stdint.h>
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__attribute__((section(".boot2")))
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const char bootStr[256] = {0x00, 0xb5, 0x32, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x98, 0x68, 0x02, 0x21, 0x88, 0x43, 0x98, 0x60,
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||||
0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x2e, 0x4b, 0x00, 0x21, 0x99, 0x60, 0x02, 0x21, 0x59, 0x61,
|
||||
0x01, 0x21, 0xf0, 0x22, 0x99, 0x50, 0x2b, 0x49, 0x19, 0x60, 0x01, 0x21, 0x99, 0x60, 0x35, 0x20,
|
||||
0x00, 0xf0, 0x44, 0xf8, 0x02, 0x22, 0x90, 0x42, 0x14, 0xd0, 0x06, 0x21, 0x19, 0x66, 0x00, 0xf0,
|
||||
0x34, 0xf8, 0x19, 0x6e, 0x01, 0x21, 0x19, 0x66, 0x00, 0x20, 0x18, 0x66, 0x1a, 0x66, 0x00, 0xf0,
|
||||
0x2c, 0xf8, 0x19, 0x6e, 0x19, 0x6e, 0x19, 0x6e, 0x05, 0x20, 0x00, 0xf0, 0x2f, 0xf8, 0x01, 0x21,
|
||||
0x08, 0x42, 0xf9, 0xd1, 0x00, 0x21, 0x99, 0x60, 0x1b, 0x49, 0x19, 0x60, 0x00, 0x21, 0x59, 0x60,
|
||||
0x1a, 0x49, 0x1b, 0x48, 0x01, 0x60, 0x01, 0x21, 0x99, 0x60, 0xeb, 0x21, 0x19, 0x66, 0xa0, 0x21,
|
||||
0x19, 0x66, 0x00, 0xf0, 0x12, 0xf8, 0x00, 0x21, 0x99, 0x60, 0x16, 0x49, 0x14, 0x48, 0x01, 0x60,
|
||||
0x01, 0x21, 0x99, 0x60, 0x01, 0xbc, 0x00, 0x28, 0x00, 0xd0, 0x00, 0x47, 0x12, 0x48, 0x13, 0x49,
|
||||
0x08, 0x60, 0x03, 0xc8, 0x80, 0xf3, 0x08, 0x88, 0x08, 0x47, 0x03, 0xb5, 0x99, 0x6a, 0x04, 0x20,
|
||||
0x01, 0x42, 0xfb, 0xd0, 0x01, 0x20, 0x01, 0x42, 0xf8, 0xd1, 0x03, 0xbd, 0x02, 0xb5, 0x18, 0x66,
|
||||
0x18, 0x66, 0xff, 0xf7, 0xf2, 0xff, 0x18, 0x6e, 0x18, 0x6e, 0x02, 0xbd, 0x00, 0x00, 0x02, 0x40,
|
||||
0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x07, 0x00, 0x00, 0x03, 0x5f, 0x00, 0x21, 0x22, 0x00, 0x00,
|
||||
0xf4, 0x00, 0x00, 0x18, 0x22, 0x20, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x10, 0x08, 0xed, 0x00, 0xe0,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x74, 0xb2, 0x4e, 0x7a
|
||||
};
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(2),
|
||||
};
|
||||
@@ -0,0 +1,399 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 init.c
|
||||
*
|
||||
* board specific early startup code. This file implements the
|
||||
* board_app_initialize() 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 initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#include <rp2040_uart.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Ideally we'd be able to get these from arm_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)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
// Configure the GPIO pins to outputs and keep them low.
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
|
||||
}
|
||||
|
||||
/*
|
||||
* On resets invoked from system (not boot) insure we establish a low
|
||||
* output state (discharge the pins) on PWM pins before they become inputs.
|
||||
*/
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(400);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
*
|
||||
* Description:
|
||||
* All boards must provide a way to read the state of VBUS, this my be simple
|
||||
* digital input on a GPIO. Or something more complicated like a Analong input
|
||||
* or reading a bit from a USB controller register.
|
||||
*
|
||||
* Returns - 0 if connected.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_read_VBUS_state(void)
|
||||
{
|
||||
return BOARD_ADC_USB_CONNECTED ? 0 : 1;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: rp2040_boardearlyinitialize
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
* This function is taken directly from nuttx's rp2040_boardinitialize.c
|
||||
****************************************************************************/
|
||||
|
||||
void rp2040_boardearlyinitialize(void)
|
||||
{
|
||||
/* Set default UART pin */
|
||||
#if defined(CONFIG_RP2040_UART0) && CONFIG_RP2040_UART0_GPIO >= 0
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO, RP2040_GPIO_FUNC_UART); /* TX */
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 1, RP2040_GPIO_FUNC_UART); /* RX */
|
||||
# ifdef CONFIG_SERIAL_OFLOWCONTROL
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 2, RP2040_GPIO_FUNC_UART); /* CTS */
|
||||
# endif /* CONFIG_SERIAL_OFLOWCONTROL */
|
||||
# ifdef CONFIG_SERIAL_IFLOWCONTROL
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 3, RP2040_GPIO_FUNC_UART); /* RTS */
|
||||
# endif /* CONFIG_SERIAL_IFLOWCONTROL */
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_RP2040_UART1) && CONFIG_RP2040_UART1_GPIO >= 0
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO, RP2040_GPIO_FUNC_UART); /* TX */
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 1, RP2040_GPIO_FUNC_UART); /* RX */
|
||||
# ifdef CONFIG_SERIAL_OFLOWCONTROL
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 2, RP2040_GPIO_FUNC_UART); /* CTS */
|
||||
# endif /* CONFIG_SERIAL_OFLOWCONTROL */
|
||||
# ifdef CONFIG_SERIAL_IFLOWCONTROL
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 3, RP2040_GPIO_FUNC_UART); /* RTS */
|
||||
# endif /* CONFIG_SERIAL_IFLOWCONTROL */
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: rp2040_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
rp2040_boardinitialize(void)
|
||||
{
|
||||
// /* Reset all PWM to Low outputs */
|
||||
// board_on_reset(-1);
|
||||
|
||||
// /* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
// Disable IE and enable OD on GPIO 26-29 (These are ADC Pins)
|
||||
// Do this only for the channels configured in board_config.h
|
||||
rp2040_gpioconfig(27 | GPIO_FUN(RP2040_GPIO_FUNC_NULL)); /* BATT_VOLTAGE_SENS */
|
||||
clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(27)); /* BATT_VOLTAGE_SENS */
|
||||
setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(27)); /* BATT_VOLTAGE_SENS */
|
||||
rp2040_gpioconfig(28 | GPIO_FUN(RP2040_GPIO_FUNC_NULL)); /* BATT_VOLTAGE_SENS */
|
||||
clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(28)); /* BATT_CURRENT_SENS */
|
||||
setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(28)); /* BATT_CURRENT_SENS */
|
||||
|
||||
/* Set default I2C pin */
|
||||
#if defined(CONFIG_RP2040_I2C0) && CONFIG_RP2040_I2C0_GPIO >= 0
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO, RP2040_GPIO_FUNC_I2C); /* SDA */
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO + 1, RP2040_GPIO_FUNC_I2C); /* SCL */
|
||||
rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO, true, false); /* Pull up */
|
||||
rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO + 1, true, false);
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_RP2040_I2C1) && CONFIG_RP2040_I2C1_GPIO >= 0
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO, RP2040_GPIO_FUNC_I2C); /* SDA */
|
||||
rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO + 1, RP2040_GPIO_FUNC_I2C); /* SCL */
|
||||
rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO, true, false); /* Pull up */
|
||||
rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO + 1, true, false);
|
||||
#endif
|
||||
|
||||
// // TODO: power peripherals
|
||||
// ///* configure power supply control/sense pins */
|
||||
// //stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
// //stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
// //stm32_configgpio(GPIO_VDD_USB_VALID);
|
||||
|
||||
// // TODO: 3v3 Sensor?
|
||||
// ///* Start with Sensor voltage off We will enable it
|
||||
// // * in board_app_initialize
|
||||
// // */
|
||||
// //stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
// // TODO: SBUS inversion? SPEK power?
|
||||
// //stm32_configgpio(GPIO_SBUS_INV);
|
||||
// //stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
// // TODO: $$$ Unused?
|
||||
// //stm32_configgpio(GPIO_8266_GPIO0);
|
||||
// //stm32_configgpio(GPIO_8266_PD);
|
||||
// //stm32_configgpio(GPIO_8266_RST);
|
||||
|
||||
// /* Safety - led don in led driver */
|
||||
|
||||
// // TODO: unused?
|
||||
// //stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
// // TODO: RSSI
|
||||
// //stm32_configgpio(GPIO_RSSI_IN);
|
||||
|
||||
// stm32_configgpio(GPIO_PPM_IN);
|
||||
|
||||
/* configure SPI all interfaces GPIO */
|
||||
rp2040_spiinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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 *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */ // Needs to be figured out
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* set up the serial DMA polling */ // RP2040 nuttx implementation doesn't have serial_dma_poll function yet.
|
||||
// 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_on(LED_BLUE);
|
||||
|
||||
// if (board_hardfault_init(2, true) != 0) { // Needs to be figured out as RP2040 doesn't have BBSRAM.
|
||||
// led_off(LED_BLUE);
|
||||
// }
|
||||
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
// // SPI1: SDCard // Will be configured later
|
||||
// /* Get the SPI port for the microSD slot */
|
||||
// spi1 = rp2040_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO); // PX4_BUS_NUMBER_FROM_PX4(1)
|
||||
|
||||
// if (!spi1) {
|
||||
// syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
// led_off(LED_BLUE);
|
||||
// return -ENODEV;
|
||||
// }
|
||||
|
||||
// /* Now bind the SPI interface to the MMCSD driver */
|
||||
// int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi1);
|
||||
|
||||
// if (result != OK) {
|
||||
// led_off(LED_BLUE);
|
||||
// syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
|
||||
// return -ENODEV;
|
||||
// }
|
||||
|
||||
// up_udelay(20);
|
||||
|
||||
// SPI2: MPU9250 and BMP280
|
||||
spi2 = rp2040_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(2));
|
||||
|
||||
if (!spi2) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
|
||||
led_off(LED_BLUE);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI2 to 1MHz and de-assert the known chip selects. */
|
||||
SPI_SETFREQUENCY(spi2, 10000000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
up_udelay(20);
|
||||
|
||||
// #if defined(FLASH_BASED_PARAMS) // This probably doesn't relate to RP2040 right now.
|
||||
// static sector_descriptor_t params_sector_map[] = {
|
||||
// {1, 16 * 1024, 0x08004000},
|
||||
// {0, 0, 0},
|
||||
// };
|
||||
|
||||
// /* Initialize the flashfs layer to use heap allocated memory */
|
||||
// result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
// if (result != OK) {
|
||||
// syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
// led_off(LED_AMBER);
|
||||
// return -ENODEV;
|
||||
// }
|
||||
|
||||
// #endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,119 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 led.c
|
||||
*
|
||||
* board LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from arm_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, // Onboard led on raspberrypi pico
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
px4_arch_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
if (led == 0) {
|
||||
px4_arch_gpiowrite(g_ledmap[led], state);
|
||||
}
|
||||
}
|
||||
|
||||
__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)
|
||||
{
|
||||
if (led == 0) {
|
||||
phy_set_led(led, !px4_arch_gpioread(g_ledmap[led]));
|
||||
}
|
||||
}
|
||||
|
||||
// __EXPORT void board_autoled_initialize()
|
||||
// {
|
||||
// /* Configure LED1 GPIO for output */
|
||||
// px4_arch_configgpio(GPIO_LED1);
|
||||
// }
|
||||
|
||||
// __EXPORT void board_autoled_on(int led)
|
||||
// {
|
||||
// if (led == 1) {
|
||||
// /* Pull down to switch on */
|
||||
// px4_arch_gpiowrite(GPIO_LED1, false);
|
||||
// }
|
||||
// }
|
||||
|
||||
// __EXPORT void board_autoled_off(int led)
|
||||
// {
|
||||
// if (led == 1) {
|
||||
// /* Pull up to switch off */
|
||||
// px4_arch_gpiowrite(GPIO_LED1, true);
|
||||
// }
|
||||
// }
|
||||
@@ -0,0 +1,48 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI0, {
|
||||
initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::Pin5}),
|
||||
}),
|
||||
initSPIBusExternal(SPI::Bus::SPI1, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::Pin13}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::Pin14}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,49 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1),
|
||||
initIOTimer(Timer::Timer2),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::ChannelA}, {GPIO::Pin18}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::ChannelB}, {GPIO::Pin19}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::ChannelA}, {GPIO::Pin20}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::ChannelB}, {GPIO::Pin21}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers,
|
||||
timer_io_channels);
|
||||
@@ -0,0 +1,85 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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 usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/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 <arm_arch.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Name: rp2040_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the omnibusf4sd board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void rp2040_usbinitialize(void)
|
||||
{
|
||||
px4_arch_configgpio(GPIO_USB_VBUS_VALID);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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 rp2040_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user