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Cleanup and refactor of the PX4IO firmware and board support. Builds, not tested yet.

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This commit is contained in:
px4dev
2012-11-03 01:14:24 -07:00
parent 82c4dbaaa8
commit ea539031da
39 changed files with 401 additions and 2572 deletions
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nuttx/configs/px4io/include/board.h
+3 -21
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@@ -47,9 +47,9 @@
# include <stdint.h>
# include <stdbool.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdio.h"
#include "stm32_internal.h"
#include <stm32_rcc.h>
#include <stm32_sdio.h>
#include <stm32_internal.h>
/************************************************************************************
* Definitions
@@ -116,12 +116,6 @@
# define GPIO_PPM_IN GPIO_TIM1_CH1IN
#endif
/*
* PWM
*
* PWM configuration is provided via the configuration structure in up_boardinitialize.c
*/
/************************************************************************************
* Public Data
************************************************************************************/
@@ -151,17 +145,5 @@ extern "C" {
EXTERN void stm32_boardinitialize(void);
/************************************************************************************
* Power switch support.
*/
extern void up_power_init(void);
extern void up_power_set(int port, bool state);
extern bool up_power_error(int port);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_BOARD_BOARD_H */
nuttx/configs/px4io/include/drv_gpio.h
-67
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@@ -1,67 +0,0 @@
/****************************************************************************
*
* 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 GPIO driver for PX4IO
*/
#include <sys/ioctl.h>
#define _GPIO_IOCTL_BASE 0x7700
#define GPIO_SET(_x) _IOC(_GPIO_IOCTL_BASE, _x)
#define GPIO_GET(_x) _IOC(_GPIO_IOCTL_BASE + 1, _x)
/*
* List of GPIOs; must be sorted with settable GPIOs first.
*/
#define GPIO_ACC1_POWER 0 /* settable */
#define GPIO_ACC2_POWER 1
#define GPIO_SERVO_POWER 2
#define GPIO_RELAY1 3
#define GPIO_RELAY2 4
#define GPIO_LED_BLUE 5
#define GPIO_LED_AMBER 6
#define GPIO_LED_SAFETY 7
#define GPIO_ACC_OVERCURRENT 8 /* readonly */
#define GPIO_SERVO_OVERCURRENT 9
#define GPIO_SAFETY_BUTTON 10
#define GPIO_MAX_SETTABLE 7
#define GPIO_MAX 10
/*
* GPIO driver init function.
*/
extern int gpio_drv_init(void);
nuttx/configs/px4io/include/drv_ppm_input.h
-100
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@@ -1,100 +0,0 @@
/****************************************************************************
*
* 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 PPM input decoder.
*
* Works in conjunction with the HRT driver, exports a device node
* and a message queue (if message queues are enabled).
*
* Note that the device node supports both blocking and non-blocking
* opens, but actually never blocks. A nonblocking open will return
* EWOULDBLOCK if there has not been an update since the last read,
* while a blocking open will always return the most recent data.
*/
#include <sys/ioctl.h>
#define _PPM_INPUT_BASE 0x7600
/*
* Fetch the state of the PPM input detector.
*/
#define PPM_INPUT_STATUS _IOC(_PPM_INPUT_BASE, 0)
typedef enum {
PPM_STATUS_NO_SIGNAL = 0,
PPM_STATUS_SIGNAL_CURRENT = 1,
} ppm_input_status_t;
/*
* Fetch the number of channels decoded (only valid when PPM_STATUS_SIGNAL_CURRENT).
*/
#define PPM_INPUT_CHANNELS _IOC(_PPM_INPUT_BASE, 1)
typedef int ppm_input_channel_count_t;
/*
* Device node
*/
#define PPM_DEVICE_NODE "/dev/ppm_input"
/*
* Message queue; if message queues are supported, PPM input data is
* supplied to the queue when a frame is decoded.
*/
#ifndef CONFIG_DISABLE_MQUEUE
# define PPM_MESSAGE_QUEUE "ppm_input"
#endif
/*
* Private hook from the HRT driver to the PPM decoder.
*
* This function is called for every edge of the incoming PPM
* signal.
*
* @param reset If true, the decoder should be reset (e.g.)
* capture failure was detected.
* @param count The counter value at which the edge
* was captured.
*/
void ppm_input_decode(bool reset, uint16_t count);
/*
* PPM input initialisation function.
*
* If message queues are enabled, and mq_name is not NULL, received input
* is posted to the message queue as an array of 16-bit unsigned channel values.
*/
int ppm_input_init(const char *mq_name);
nuttx/configs/px4io/include/drv_pwm_servo.h
-94
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@@ -1,94 +0,0 @@
/****************************************************************************
*
* 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 PWM servo driver.
*
* The pwm_servo driver supports servos connected to STM32 timer
* blocks.
*
* Servo values can be set either with the PWM_SERVO_SET ioctl, or
* by writing an array of servo_position_t values to the device.
* Writing a value of 0 to a channel suppresses any output for that
* channel.
*
* Servo values can be read back either with the PWM_SERVO_GET
* ioctl, or by reading an array of servo_position_t values
* from the device.
*
* Attempts to set a channel that is not configured are ignored,
* and unconfigured channels always read zero.
*
* The PWM_SERVO_ARM / PWM_SERVO_DISARM calls globally arm
* (enable) and disarm (disable) all servo outputs.
*/
#include <sys/ioctl.h>
#define _PWM_SERVO_BASE 0x7500
#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
typedef uint16_t servo_position_t;
/* configuration limits */
#define PWM_SERVO_MAX_TIMERS 3
#define PWM_SERVO_MAX_CHANNELS 8
struct pwm_servo_config {
/* rate (in Hz) of PWM updates */
uint32_t update_rate;
/* array of timers dedicated to PWM servo use */
struct pwm_servo_timer {
uint32_t base;
uint32_t clock_register;
uint32_t clock_bit;
uint32_t clock_freq;
} timers[PWM_SERVO_MAX_TIMERS];
/* array of channels in logical order */
struct pwm_servo_channel {
uint32_t gpio;
uint8_t timer_index;
uint8_t timer_channel;
servo_position_t default_value;
} channels[PWM_SERVO_MAX_CHANNELS];
};
extern int pwm_servo_init(const struct pwm_servo_config *config);
nuttx/configs/px4io/include/up_boardinitialize.h
-43
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@@ -1,43 +0,0 @@
/****************************************************************************
*
* 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 Board initialisation prototype(s)
*/
#ifndef __UP_BOARDINITIALIZE_H
#define __UP_BOARDINITIALIZE_H
extern int up_boardinitialize(void);
#endif
nuttx/configs/px4io/include/up_hrt.h
-129
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@@ -1,129 +0,0 @@
/****************************************************************************
*
* 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 High-resolution timer callouts and timekeeping.
*/
#ifndef UP_HRT_H_
#define UP_HRT_H_
#include <sys/types.h>
#include <stdbool.h>
#include <time.h>
#include <queue.h>
/*
* Absolute time, in microsecond units.
*
* Absolute time is measured from some arbitrary epoch shortly after
* system startup. It should never wrap or go backwards.
*/
typedef uint64_t hrt_abstime;
/*
* Callout function type.
*
* Note that callouts run in the timer interrupt context, so
* they are serialised with respect to each other, and must not
* block.
*/
typedef void (* hrt_callout)(void *arg);
/*
* Callout record.
*/
struct hrt_call {
struct sq_entry_s link;
hrt_abstime deadline;
hrt_abstime period;
hrt_callout callout;
void *arg;
};
/*
* Get absolute time.
*/
extern hrt_abstime hrt_absolute_time(void);
/*
* Convert a timespec to absolute time.
*/
extern hrt_abstime ts_to_abstime(struct timespec *ts);
/*
* Convert absolute time to a timespec.
*/
extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
/*
* Call callout(arg) after delay has elapsed.
*
* If callout is NULL, this can be used to implement a timeout by testing the call
* with hrt_called().
*/
extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
/*
* Call callout(arg) at absolute time calltime.
*/
extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
/*
* Call callout(arg) after delay, and then after every interval.
*
* Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
* jitter but should not drift.
*/
extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
/*
* If this returns true, the entry has been invoked and removed from the callout list.
*
* Always returns false for repeating callouts.
*/
extern bool hrt_called(struct hrt_call *entry);
/*
* Remove the entry from the callout list.
*/
extern void hrt_cancel(struct hrt_call *entry);
/*
* Initialise the HRT.
*/
extern void hrt_init(int timer);
#endif /* UP_HRT_H_ */