mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 07:53:35 +08:00
boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
@@ -0,0 +1,101 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR intel
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MODEL aerofc-v1
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ARCH cortex-m4
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ROMFS
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ROMFSROOT px4fmu_common
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SERIAL_PORTS
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GPS1:/dev/ttyS5
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TEL1:/dev/ttyS3
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TEL2:/dev/ttyS1
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DRIVERS
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aerofc_adc
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barometer/ms5611
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#camera_trigger
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#differential_pressure # all available differential pressure drivers
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distance_sensor
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gps
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#irlock
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imu/mpu9250
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#magnetometer # all available magnetometer drivers
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magnetometer/hmc5883
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magnetometer/ist8310
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pwm_out_sim
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#px4flow
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px4fmu
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rc_input
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stm32
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tap_esc
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#telemetry # all available telemetry drivers
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#vmount
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MODULES
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attitude_estimator_q
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#camera_feedback
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commander
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dataman
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ekf2
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events
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#fw_att_control
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#fw_pos_control_l1
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#gnd_att_control
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#gnd_pos_control
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#gpio_led
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_pos_control
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navigator
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#position_estimator_inav
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sensors
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#uavcan
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#vtol_att_control
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#wind_estimator
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SYSTEMCMDS
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bl_update
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config
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dumpfile
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esc_calib
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hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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#tests # tests and test runner
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top
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#topic_listener
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tune_control
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ver
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EXAMPLES
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#bottle_drop # OBC challenge
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hwtest # Hardware test
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#matlab_csv_serial
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#publisher
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#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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#subscriber
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#uuv_example_app
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)
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@@ -0,0 +1,13 @@
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{
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"board_id": 65,
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"magic": "PX4FWv1",
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"description": "Firmware for the Intel Aero FC board",
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"image": "",
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"build_time": 0,
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"summary": "AEROFCv1",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 999424,
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"git_identity": "",
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"board_revision": 0
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}
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@@ -0,0 +1,22 @@
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#
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# For a description of the syntax of this configuration file,
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# see misc/tools/kconfig-language.txt.
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#
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if ARCH_BOARD_AEROFC_V1
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config BOARD_HAS_PROBES
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bool "Board provides GPIO or other Hardware for signaling to timing analyze."
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default y
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---help---
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This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
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config BOARD_USE_PROBES
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bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
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default n
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depends on BOARD_HAS_PROBES
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---help---
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Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
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endif
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@@ -0,0 +1,421 @@
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/************************************************************************************
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* configs/aerofc-v1/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2012-2016 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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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 <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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#include "stm32_rcc.h"
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#include "stm32.h"
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* The TAP V1 uses a 16MHz crystal connected to the HSE.
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*
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* This is the canonical configuration:
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* System Clock source : PLL (HSE)
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* SYSCLK(Hz) : 168000000 Determined by PLL configuration
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* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
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* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
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* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
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* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
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* HSE Frequency(Hz) : 16000000 (STM32_BOARD_XTAL)
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* PLLM : 8 (STM32_PLLCFG_PLLM)
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* PLLN : 168 (STM32_PLLCFG_PLLN)
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* PLLP : 2 (STM32_PLLCFG_PLLP)
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* PLLQ : 7 (STM32_PLLCFG_PLLQ)
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* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
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* Flash Latency(WS) : 5
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* Prefetch Buffer : OFF
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* Instruction cache : ON
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* Data cache : ON
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* Require 48MHz for USB OTG FS, : Enabled
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* SDIO and RNG clock
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*/
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/* HSI - 16 MHz RC factory-trimmed
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* LSI - 32 KHz RC
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* HSE - On-board crystal frequency is 16MHz
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* LSE - not installed
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*/
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#define STM32_BOARD_XTAL 16000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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/* Main PLL Configuration.
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*
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* PLL source is HSE
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* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
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* = (16,000,000 / 8) * 168
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* = 336,000,000
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* SYSCLK = PLL_VCO / PLLP
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* = 336,000,000 / 2 = 168,000,000
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* USB OTG FS, SDIO and RNG Clock
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* = PLL_VCO / PLLQ
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* = 336,000,000 / 7
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* = 48,000,000
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*/
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
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#define STM32_SYSCLK_FREQUENCY 168000000ul
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/* AHB clock (HCLK) is SYSCLK (168MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
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/* Timers driven from APB1 will be twice PCLK1 */
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
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/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
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/* Timers driven from APB2 will be twice PCLK2 */
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#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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/* LED definitions ******************************************************************/
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/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
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* way. The following definitions are used to access individual LEDs.
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*/
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/* LED index values for use with stm32_setled() */
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#define BOARD_LED1 0
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#define BOARD_LED2 1
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#define BOARD_NLEDS 2
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|
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#define BOARD_LED_BLUE BOARD_LED1
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#define BOARD_LED_RED BOARD_LED2
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/* LED bits for use with stm32_setleds() */
|
||||
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#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
|
||||
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
|
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* the aerofc-v1. The following definitions describe how NuttX controls
|
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* the LEDs:
|
||||
*/
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||||
|
||||
#define LED_STARTED 0 /* BLUE */
|
||||
#define LED_HEAPALLOCATE 1 /* LED2 */
|
||||
#define LED_IRQSENABLED 2 /* BLUE */
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||||
#define LED_STACKCREATED 3 /* BLUE + RED */
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#define LED_INIRQ 4 /* BLUE */
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||||
#define LED_SIGNAL 5 /* RED */
|
||||
#define LED_ASSERTION 6 /* BLUE + RED */
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||||
#define LED_PANIC 7 /* BLUE + RED */
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* USARTs and UARTs
|
||||
*
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* USART1_TX PB6 GPS_USART1_TX JP1-15,16
|
||||
* USART1_RX PB7 GPS_USART1_RX JP1-13,14
|
||||
* USART2_TX PA2 GB_USART2_TX JP2-19,20
|
||||
* USART2_RX PA3 GB_USART2_RX JP2-21,22
|
||||
* USART3_TX PC10 RF2_USART3_TX J3-2
|
||||
* USART3_RX PC11 RF2_USART3_RX J3-1
|
||||
* USART6_TX PC6 RF_USART6_TX JP2-15,16
|
||||
* USART6_RX PC7 RF_USART6_RX JP2-17,18
|
||||
*/
|
||||
|
||||
// ESC
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
|
||||
// Companion
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_CTS 0 // unused
|
||||
#define GPIO_USART2_RTS 0 // unused
|
||||
|
||||
// GPS
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1
|
||||
#define GPIO_UART7_CTS 0 // unused
|
||||
#define GPIO_UART7_RTS 0 // unused
|
||||
|
||||
// RC
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_1
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_1
|
||||
#define GPIO_UART4_CTS 0 // unused
|
||||
#define GPIO_UART4_RTS 0 // unused
|
||||
|
||||
// Mavlink
|
||||
// UART5
|
||||
|
||||
// Serial console
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
|
||||
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
|
||||
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
|
||||
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
|
||||
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
|
||||
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
|
||||
*
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
|
||||
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
|
||||
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
|
||||
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
|
||||
* TBD
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_SPI1_NSS (GPIO_SPI1_NSS_2 | GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1 | GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1 | GPIO_SPEED_50MHz)
|
||||
|
||||
/* The following Pin Mapping is just for completeness */
|
||||
/*
|
||||
* JTAG
|
||||
*
|
||||
* We will only enable SW-DP, JTAG-DP will be disabled
|
||||
*
|
||||
* Function Port Signal Name CONN
|
||||
* SWDIO PA13 DAT J10-3,J7
|
||||
* SWCLK PA14 CLK J10-4,J8
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* BOOT
|
||||
*
|
||||
* Function Port Signal Name CONN
|
||||
* BOOT0 NA BOOT0 GND via 10 K
|
||||
* BOOT1 PB2 BOOT1 V3.3 - 10 K
|
||||
*
|
||||
* As jumpered the device can only boot from FLASH.
|
||||
*
|
||||
* It can be booted to:
|
||||
*
|
||||
* SRAM if BOOT0 is pulled High with 1K.
|
||||
* System memory if:
|
||||
* BOOT0 is pulled High with 1K and
|
||||
* BOOT1 is pulled Low with 1K
|
||||
*/
|
||||
|
||||
/*
|
||||
* Timer PWM
|
||||
*
|
||||
* Peripheral Port Signal Name CONN
|
||||
* TIM3_CH1 PA6 LED_R JP2-23,24
|
||||
* TIM3_CH2 PA7 LED_G JP2-25,26
|
||||
* TIM3_CH3 PB0 LED_B JP2-27,28
|
||||
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
|
||||
*/
|
||||
|
||||
/*
|
||||
* GPIO
|
||||
*
|
||||
* Port Signal Name CONN
|
||||
* PA4 POWER JP1-23, - Must be held High to run w/o USB
|
||||
* PB4 TEMP_CONT J2-2,11,14,23 - Gyro Heater
|
||||
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
|
||||
* PC1 KEY_AD JP1-31,32 - Low when Power button is depressed
|
||||
* PC2 SD_SW SD-9 SW - Card Present
|
||||
* PC3 PCON_RADIO JP1-29,30
|
||||
* PC13 S2 U8-9 74HCT151
|
||||
* PC14 S1 U8-10 74HCT151
|
||||
* PC15 S0 U8-11 74HCT151
|
||||
*/
|
||||
|
||||
/*
|
||||
* USB
|
||||
*
|
||||
* Port Signal Name CONN
|
||||
* PA9 OTG_FS_VBUS J1-1
|
||||
* PA10 OTG_FS_ID J1-4
|
||||
* PA11 OTG_FS_DM J1-2
|
||||
* PA12 OTG_FS_DP J1-3
|
||||
*/
|
||||
|
||||
/*
|
||||
* UNUSED PINS - In an idle world - these would have been tied to pads to
|
||||
* facilitate debugging probs.
|
||||
* Port
|
||||
* PA15
|
||||
* PB3
|
||||
* PB5
|
||||
* PC8
|
||||
*/
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
|
||||
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
|
||||
# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
* configs/aerofc-v1/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 192Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 16 KiB of flash is reserved for the bootloader.
|
||||
* Paramater storage will use the next 2 16KiB Sectors.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x0800C000, LENGTH = 976K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR intel
|
||||
MODEL aerofc-v1
|
||||
LABEL rtsp
|
||||
ARCH cortex-m4
|
||||
ROMFS
|
||||
ROMFSROOT px4fmu_common
|
||||
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS5
|
||||
TEL1:/dev/ttyS3
|
||||
TEL2:/dev/ttyS1
|
||||
|
||||
DRIVERS
|
||||
aerofc_adc
|
||||
barometer/ms5611
|
||||
#camera_trigger
|
||||
#differential_pressure # all available differential pressure drivers
|
||||
distance_sensor
|
||||
gps
|
||||
#irlock
|
||||
imu/mpu9250
|
||||
#magnetometer # all available magnetometer drivers
|
||||
magnetometer/hmc5883
|
||||
magnetometer/ist8310
|
||||
protocol_splitter
|
||||
pwm_out_sim
|
||||
#px4flow
|
||||
px4fmu
|
||||
rc_input
|
||||
stm32
|
||||
tap_esc
|
||||
#telemetry # all available telemetry drivers
|
||||
#vmount
|
||||
|
||||
MODULES
|
||||
attitude_estimator_q
|
||||
#camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
#fw_att_control
|
||||
#fw_pos_control_l1
|
||||
#gnd_att_control
|
||||
#gnd_pos_control
|
||||
#gpio_led
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_pos_control
|
||||
micrortps_bridge
|
||||
navigator
|
||||
#position_estimator_inav
|
||||
sensors
|
||||
#uavcan
|
||||
#vtol_att_control
|
||||
#wind_estimator
|
||||
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
config
|
||||
dumpfile
|
||||
esc_calib
|
||||
hardfault_log
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
shutdown
|
||||
#tests # tests and test runner
|
||||
top
|
||||
#topic_listener
|
||||
tune_control
|
||||
ver
|
||||
|
||||
EXAMPLES
|
||||
#bottle_drop # OBC challenge
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#publisher
|
||||
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
|
||||
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
|
||||
#rover_steering_control # Rover example app
|
||||
#segway
|
||||
#subscriber
|
||||
#uuv_example_app
|
||||
|
||||
)
|
||||
@@ -0,0 +1,47 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
init.c
|
||||
led.c
|
||||
spi.c
|
||||
timer_config.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
drivers__led # drv_led_start
|
||||
nuttx_apps # up_cxxinitialize
|
||||
parameters # param_init
|
||||
modules__dataman # dm_flash_sector_description_set
|
||||
)
|
||||
@@ -0,0 +1,189 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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
|
||||
*
|
||||
* @author David Sidrane <david_s5@nscdg.com>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*
|
||||
* AEROFC_V1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11)
|
||||
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_LED LED_BLUE
|
||||
#define BOARD_ARMED_STATE_LED LED_GREEN
|
||||
|
||||
#define GPIO_VDD_5V_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN13)
|
||||
|
||||
#define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*
|
||||
* Peripheral Port
|
||||
* I2C1_SDA PB9
|
||||
* I2C1_SCL PB8
|
||||
*
|
||||
* I2C3_SDA PC9
|
||||
* I2C3_SCL PA8
|
||||
*
|
||||
*/
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
|
||||
#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
|
||||
|
||||
/*
|
||||
* STM32 ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that can
|
||||
* be used by the PX4 Firmware in the adc driver
|
||||
*/
|
||||
#define ADC_CHANNELS 0
|
||||
|
||||
/*
|
||||
* ADC channels: these use the ADC block implemented in the FPGA. There are 5
|
||||
* channels in the FPGA, but only 1 is phisically connected, that's dedicated
|
||||
* for voltage reading.
|
||||
*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 1
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
/*
|
||||
* Define Battery 1 Voltage Divider, using default for A/V
|
||||
*/
|
||||
#define BOARD_BATTERY1_V_DIV (9.0f)
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 1
|
||||
#define BOARD_HAS_PWM 0
|
||||
|
||||
/*
|
||||
* USB OTG FS
|
||||
*/
|
||||
|
||||
/*
|
||||
* RC Serial port
|
||||
*/
|
||||
#define RC_SERIAL_PORT "/dev/ttyS2" /* No HW invert support */
|
||||
/*
|
||||
* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 3 /* use timer3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_NAME "AEROFC_V1"
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
#define FLASH_BASED_DATAMAN
|
||||
|
||||
/*
|
||||
* ESCs do not respond
|
||||
*/
|
||||
#define BOARD_TAP_ESC_MODE 1
|
||||
|
||||
#define MEMORY_CONSTRAINED_SYSTEM
|
||||
|
||||
#define CRASHDUMP_RESET_ONLY
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
#define board_spi_reset(ms)
|
||||
#define board_peripheral_reset(ms)
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SDIO.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int board_sdio_initialize(void);
|
||||
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,266 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file aerofc-v1_init.c
|
||||
*
|
||||
* aerofc-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_config.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "platform/cxxinitialize.h"
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <dataman/dataman.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) syslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message syslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
static int _bootloader_force_pin_callback(int irq, void *context, void *args)
|
||||
{
|
||||
if (stm32_gpioread(GPIO_FORCE_BOOTLOADER)) {
|
||||
board_reset(0);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
stm32_configgpio(GPIO_FORCE_BOOTLOADER);
|
||||
_bootloader_force_pin_callback(0, NULL, NULL);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* turn sensors on */
|
||||
stm32_configgpio(GPIO_VDD_5V_SENSORS_EN);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
int result;
|
||||
|
||||
/* the interruption subsystem is not initialized when stm32_boardinitialize() is called */
|
||||
stm32_gpiosetevent(GPIO_FORCE_BOOTLOADER, true, false, false, _bootloader_force_pin_callback, NULL);
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_AMBER);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
/*
|
||||
* Bootloader(sector 0):
|
||||
* start: 0x08000000, len: 16K, end: 0x08003E80
|
||||
*
|
||||
* FlashFS(sector 1 and 2):
|
||||
* start: 0x08004000, len: 32K, end: 0x0800BFFF
|
||||
*
|
||||
* Firmware(sector 3 to 11):
|
||||
* start: 0x0800C000, len: 976K, end: 0x080FFFFF
|
||||
*
|
||||
* Dataman(sector 23):
|
||||
* start: 0x081E0000, len: 128K, end: 0x08200000
|
||||
*
|
||||
* First 1MB memory bank complete assigned.
|
||||
* Second 1MB memory bank is mostly empty.
|
||||
*/
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{1, 16 * 1024, 0x08004000},
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if defined(FLASH_BASED_DATAMAN)
|
||||
static dm_sector_descriptor_t dm_sector_map = {23, 128 * 1024, 0x081E0000};
|
||||
dm_flash_sector_description_set(&dm_sector_map);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,119 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* AEROFC_V1 LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED0-3 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED0);
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
stm32_configgpio(GPIO_LED3);
|
||||
}
|
||||
|
||||
static uint32_t _led_param_get(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
return GPIO_LED0; // LED_BLUE
|
||||
|
||||
case 1:
|
||||
return GPIO_LED1; // LED_RED
|
||||
|
||||
case 2:
|
||||
return GPIO_LED2; // LED SAFETY
|
||||
|
||||
case 3:
|
||||
return GPIO_LED3; // LED GREEN
|
||||
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
const uint32_t param = _led_param_get(led);
|
||||
|
||||
if (param) {
|
||||
stm32_gpiowrite(param, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
const uint32_t param = _led_param_get(led);
|
||||
|
||||
if (param) {
|
||||
stm32_gpiowrite(param, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
const uint32_t param = _led_param_get(led);
|
||||
|
||||
if (param) {
|
||||
stm32_gpiowrite(param, !stm32_gpioread(param));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the AEROFC-v1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU6500);
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU6500, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
// Invalidate all timers (base == 0): we don't have any
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { };
|
||||
|
||||
// Invalidate all channels (timer_channel == 0): we don't have any
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { };
|
||||
|
||||
// Invalidate all timers (base == 0): we don't have any
|
||||
__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { };
|
||||
|
||||
// Invalidate all channels (timer_channel == 0): we don't have any
|
||||
__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { };
|
||||
Reference in New Issue
Block a user