mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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CAN node STM32F7 support and Freefly RTK GPS CAN node
This commit is contained in:
Daniel Agar
@@ -0,0 +1,67 @@
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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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
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||||
|
||||
add_library(drivers_board
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||||
boot_config.h
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||||
boot.c
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||||
i2c.cpp
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||||
led.cpp
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||||
)
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||||
target_link_libraries(drivers_board
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||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
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||||
canbootloader
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||||
)
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||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
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||||
|
||||
else()
|
||||
add_library(drivers_board
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||||
can.c
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||||
i2c.cpp
|
||||
init.c
|
||||
spi.cpp
|
||||
usb.c
|
||||
)
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||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
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||||
arch_io_pins
|
||||
)
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||||
endif()
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||||
@@ -0,0 +1,72 @@
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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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
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||||
*
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||||
* board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
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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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||||
|
||||
/* BUTTON *************************************************************************** */
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||||
|
||||
#define BUTTON_SAFETY /* PC14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN14|GPIO_EXTI)
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||||
|
||||
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_BTN_SAFETY (BUTTON_SAFETY & ~GPIO_EXTI)
|
||||
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 2 /* use timer 2 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#ifndef __ASSEMBLY__
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||||
|
||||
extern void stm32_spiinitialize(void);
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||||
|
||||
#include <px4_platform_common/board_common.h>
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||||
|
||||
#endif /* __ASSEMBLY__ */
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||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,192 @@
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||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "led.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 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 stm32_boardinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
|
||||
stm32_configgpio(GPIO_LED_SAFETY);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
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||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_deinitialize
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the bootloader code prior to booting
|
||||
* the application. Is should place the HW into an benign initialized state.
|
||||
*
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||||
************************************************************************************/
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||||
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||||
void board_deinitialize(void)
|
||||
{
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||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_product_name
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the product name. The returned value is a assumed
|
||||
* to be written to a pascal style string that will be length prefixed
|
||||
* and not null terminated
|
||||
*
|
||||
* Input Parameters:
|
||||
* product_name - A pointer to a buffer to write the name.
|
||||
* maxlen - The maximum number of charter that can be written
|
||||
*
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||||
* Returned Value:
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||||
* The length of characters written to the buffer.
|
||||
*
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||||
****************************************************************************/
|
||||
|
||||
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
||||
{
|
||||
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_hardware_version
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the hardware version information. The function
|
||||
* will first initialize the the callers struct to all zeros.
|
||||
*
|
||||
* Input Parameters:
|
||||
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* Length of the unique_id
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
{
|
||||
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_indicate
|
||||
*
|
||||
* Description:
|
||||
* Provides User feedback to indicate the state of the bootloader
|
||||
* on board specific hardware.
|
||||
*
|
||||
* Input Parameters:
|
||||
* indication - A member of the uiindication_t
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||
|
||||
typedef begin_packed_struct struct led_t {
|
||||
uint8_t red;
|
||||
uint8_t green;
|
||||
uint8_t blue;
|
||||
uint8_t hz;
|
||||
} end_packed_struct led_t;
|
||||
|
||||
static const led_t i2l[] = {
|
||||
|
||||
led(0, off, 0, 0, 0, 0),
|
||||
led(1, reset, 10, 63, 31, 255),
|
||||
led(2, autobaud_start, 0, 63, 0, 1),
|
||||
led(3, autobaud_end, 0, 63, 0, 2),
|
||||
led(4, allocation_start, 0, 0, 31, 2),
|
||||
led(5, allocation_end, 0, 63, 31, 3),
|
||||
led(6, fw_update_start, 15, 63, 31, 3),
|
||||
led(7, fw_update_erase_fail, 15, 63, 15, 3),
|
||||
led(8, fw_update_invalid_response, 31, 0, 0, 1),
|
||||
led(9, fw_update_timeout, 31, 0, 0, 2),
|
||||
led(a, fw_update_invalid_crc, 31, 0, 0, 4),
|
||||
led(b, jump_to_app, 0, 63, 0, 10),
|
||||
|
||||
};
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
rgb_led(i2l[indication].red << 3,
|
||||
i2l[indication].green << 2,
|
||||
i2l[indication].blue << 3,
|
||||
i2l[indication].hz);
|
||||
}
|
||||
|
||||
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
|
||||
{
|
||||
}
|
||||
@@ -0,0 +1,134 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 boot_config.h
|
||||
*
|
||||
* bootloader definitions that configures the behavior and options
|
||||
* of the Boot loader
|
||||
* This file is relies on the parent folder's boot_config.h file and defines
|
||||
* different usages of the hardware for bootloading
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
/* Bring in the board_config.h definitions
|
||||
* todo:make this be pulled in from a targed's build
|
||||
* files in nuttx*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "uavcan.h"
|
||||
#include <nuttx/compiler.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <hardware/stm32_flash.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
|
||||
|
||||
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||
#define OPT_TBOOT_MS 5000
|
||||
#define OPT_NODE_STATUS_RATE_MS 800
|
||||
#define OPT_NODE_INFO_RATE_MS 50
|
||||
#define OPT_BL_NUMBER_TIMERS 7
|
||||
|
||||
/*
|
||||
* This Option set is set to 1 ensure a provider of firmware has an
|
||||
* opportunity update the node's firmware.
|
||||
* This Option is the default policy and can be overridden by
|
||||
* a jumper
|
||||
* When this Policy is set, the node will ignore tboot and
|
||||
* wait indefinitely for a GetNodeInfo request before booting.
|
||||
*
|
||||
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
|
||||
* the polarity of the jumper to be True Active
|
||||
*
|
||||
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
* Jumper
|
||||
* yes 1 0 x
|
||||
* yes 1 1 Active
|
||||
* no 1 1 Not Active
|
||||
* no 0 0 X
|
||||
* yes 0 1 Active
|
||||
* no 0 1 Not Active
|
||||
*
|
||||
*/
|
||||
#define OPT_WAIT_FOR_GETNODEINFO 0
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
|
||||
|
||||
#define OPT_ENABLE_WD 1
|
||||
|
||||
#define OPT_RESTART_TIMEOUT_MS 20000
|
||||
|
||||
/* Reserved for the Booloader */
|
||||
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K 0
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
|
||||
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
|
||||
|
||||
|
||||
#define FLASH_BASE STM32_FLASH_BASE
|
||||
#define FLASH_SIZE STM32_FLASH_SIZE
|
||||
|
||||
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
|
||||
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
|
||||
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
|
||||
|
||||
/* If this board uses big flash that have large sectors */
|
||||
|
||||
#define OPT_USE_YIELD
|
||||
|
||||
/* I2C LED needs 8 bytes */
|
||||
|
||||
#define OPT_SIMPLE_MALLOC_HEAP_SIZE 8
|
||||
|
||||
/* Bootloader Option*****************************************************************
|
||||
*
|
||||
*/
|
||||
#define GPIO_GETNODEINFO_JUMPER GPIO_BTN_SAFETY
|
||||
@@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_can.h"
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
|
||||
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||
# undef CONFIG_STM32_CAN2
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_CAN1
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int can_devinit(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int can_devinit(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = stm32_caninitialize(CAN_PORT);
|
||||
|
||||
if (can == NULL) {
|
||||
canerr("ERROR: Failed to get CAN interface\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the CAN driver at "/dev/can0" */
|
||||
|
||||
ret = can_register("/dev/can0", can);
|
||||
|
||||
if (ret < 0) {
|
||||
canerr("ERROR: can_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Now we are initialized */
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusInternal(3),
|
||||
};
|
||||
@@ -0,0 +1,148 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#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 <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <drivers/drv_watchdog.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 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 stm32_boardinitialize(void)
|
||||
{
|
||||
//watchdog_init();
|
||||
|
||||
// Configure CAN interface
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
|
||||
stm32_configgpio(GPIO_LED_SAFETY);
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
// Configure SPI all interfaces GPIO & enable power.
|
||||
stm32_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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{1, 32 * 1024, 0x08008000},
|
||||
{2, 32 * 1024, 0x08010000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int 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);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
//px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,239 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* 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_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "led.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include <hardware/stm32_tim.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/led/led.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
#include "cxx_init.h"
|
||||
void board_autoled_on(int led);
|
||||
void board_autoled_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
using namespace time_literals;
|
||||
#define MODULE_NAME "LED"
|
||||
|
||||
#define ADDR 0x39 /**< I2C adress of NCP5623C */
|
||||
|
||||
#define NCP5623_LED_CURRENT 0x20 /**< Current register */
|
||||
#define NCP5623_LED_PWM0 0x40 /**< pwm0 register */
|
||||
#define NCP5623_LED_PWM1 0x60 /**< pwm1 register */
|
||||
#define NCP5623_LED_PWM2 0x80 /**< pwm2 register */
|
||||
|
||||
#define NCP5623_LED_BRIGHT 0x1f /**< full brightness */
|
||||
#define NCP5623_LED_OFF 0x00 /**< off */
|
||||
|
||||
|
||||
class RGBLED_NPC5623C : public device::I2C
|
||||
{
|
||||
public:
|
||||
RGBLED_NPC5623C(const int bus, int bus_frequency, const int address);
|
||||
virtual ~RGBLED_NPC5623C() = default;
|
||||
|
||||
int init() override;
|
||||
int probe() override;
|
||||
|
||||
int send_led_rgb(uint8_t red, uint8_t green, uint8_t blue);
|
||||
|
||||
|
||||
private:
|
||||
float _brightness{1.0f};
|
||||
float _max_brightness{1.0f};
|
||||
|
||||
int write(uint8_t reg, uint8_t data);
|
||||
};
|
||||
|
||||
RGBLED_NPC5623C::RGBLED_NPC5623C(const int bus, int bus_frequency, const int address) :
|
||||
I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t msg[1] = { 0x00 };
|
||||
msg[0] = ((reg & 0xe0) | (data & 0x1f));
|
||||
|
||||
int ret = transfer(&msg[0], 1, nullptr, 0);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::init()
|
||||
{
|
||||
int ret = I2C::init();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::probe()
|
||||
{
|
||||
_retries = 4;
|
||||
|
||||
return write(NCP5623_LED_CURRENT, 0x00);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Send RGB PWM settings to LED driver according to current color and brightness
|
||||
*/
|
||||
int
|
||||
RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
{
|
||||
|
||||
uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
|
||||
uint8_t brightness = 0x1f * _max_brightness;
|
||||
|
||||
msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
|
||||
msg[2] = NCP5623_LED_PWM0 | (uint8_t(red * _brightness) & 0x1f);
|
||||
msg[4] = NCP5623_LED_PWM1 | (uint8_t(green * _brightness) & 0x1f);
|
||||
msg[6] = NCP5623_LED_PWM2 | (uint8_t(blue * _brightness) & 0x1f);
|
||||
|
||||
return transfer(&msg[0], 7, nullptr, 0);
|
||||
}
|
||||
|
||||
static RGBLED_NPC5623C instance(1, 100000, ADDR);
|
||||
|
||||
#define TMR_BASE STM32_TIM1_BASE
|
||||
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define TMR_REG(o) (TMR_BASE+(o))
|
||||
|
||||
static uint8_t _rgb[] = {0, 0, 0};
|
||||
|
||||
static int timerInterrupt(int irq, void *context, void *arg)
|
||||
{
|
||||
putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
|
||||
|
||||
static int d2 = 1;
|
||||
(d2++ & 1) ? instance.send_led_rgb(0, 0, 0) : instance.send_led_rgb(_rgb[0], _rgb[1], _rgb[2]);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void rgb_led(int r, int g, int b, int freqs)
|
||||
{
|
||||
long fosc = TMR_FREQUENCY;
|
||||
long prescale = 1536;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
uint16_t val;
|
||||
static bool once = false;
|
||||
|
||||
if (!once) {
|
||||
cxx_initialize();
|
||||
|
||||
if (instance.init() != PX4_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
|
||||
|
||||
/* Reload */
|
||||
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
val |= ATIM_EGR_UG;
|
||||
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
|
||||
/* Set Prescaler STM32_TIM_SETCLOCK */
|
||||
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
|
||||
|
||||
/* Enable STM32_TIM_SETMODE*/
|
||||
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
|
||||
|
||||
irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
|
||||
up_enable_irq(STM32_IRQ_TIM1CC);
|
||||
putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
|
||||
once = true;
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
|
||||
_rgb[0] = r;
|
||||
_rgb[1] = g;
|
||||
_rgb[2] = b;
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
if (freqs == 0) {
|
||||
val &= ~ATIM_CR1_CEN;
|
||||
|
||||
} else {
|
||||
val |= ATIM_CR1_CEN;
|
||||
}
|
||||
|
||||
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_on
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void board_autoled_on(int led)
|
||||
{
|
||||
if (led == LED_ASSERTION || led == LED_PANIC) {
|
||||
stm32_gpiowrite(GPIO_LED_SAFETY, true);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
{
|
||||
if (led == LED_ASSERTION || led == LED_PANIC) {
|
||||
stm32_gpiowrite(GPIO_LED_SAFETY, false);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g, int b, int freqs);
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,44 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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::SPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, SPI::CS{GPIO::PortA, GPIO::Pin15}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,93 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef GPIO_OTGFS_VBUS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Reference in New Issue
Block a user