mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-06 12:41:36 +08:00
boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
@@ -0,0 +1,118 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR nxp
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MODEL hlite-v3
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ARCH cortex-m4
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ROMFS
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS4
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DRIVERS
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barometer # all available barometer drivers
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barometer/mpl3115a2
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batt_smbus
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blinkm
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
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kinetis
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kinetis/adc
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kinetis/tone_alarm
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#heater
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#imu # all available imu drivers
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imu/fxas21002c
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imu/fxos8701cq
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imu/l3gd20
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imu/mpu6000
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imu/mpu9250
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irlock
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magnetometer # all available magnetometer drivers
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mkblctrl
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oreoled
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pca9685
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#pwm_input # NOT Portable YET drivers
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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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rgbled
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rgbled_pwm
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tap_esc
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telemetry # all available telemetry drivers
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#test_ppm # NOT Portable YET
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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 # Needs bbsrm
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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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usb_connected
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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": 28,
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"magic": "PX4FWv1",
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"description": "Firmware for the NXPHLITEv3 board",
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"image": "",
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"build_time": 0,
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"summary": "NXPHLITEv3",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 2096112,
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"git_identity": "",
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"board_revision": 0
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}
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@@ -0,0 +1,50 @@
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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_NXPHLITE_V3
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config NXPHLITE_SDHC_AUTOMOUNT
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bool "SDHC automounter"
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default n
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depends on FS_AUTOMOUNTER && KINETIS_SDHC
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if NXPHLITE_SDHC_AUTOMOUNT
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config NXPHLITE_SDHC_AUTOMOUNT_FSTYPE
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string "SDHC file system type"
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default "vfat"
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config NXPHLITE_SDHC_AUTOMOUNT_BLKDEV
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string "SDHC block device"
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default "/dev/mmcsd0"
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config NXPHLITE_SDHC_AUTOMOUNT_MOUNTPOINT
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string "SDHC mount point"
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default "/mnt/sdcard"
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config NXPHLITE_SDHC_AUTOMOUNT_DDELAY
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int "SDHC debounce delay (milliseconds)"
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default 1000
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config NXPHLITE_SDHC_AUTOMOUNT_UDELAY
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int "SDHC unmount retry delay (milliseconds)"
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default 2000
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endif # NXPHLITE_SDHC_AUTOMOUNT
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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 +1,559 @@
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/************************************************************************************
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* configs/nxphlit-v3/include/board.h
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*
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* Copyright (C) 2016-2017 Gregory Nutt. All rights reserved.
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* Authors: Gregory Nutt <gnutt@nuttx.org>
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* Jordan MacIntyre
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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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#ifndef __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
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#define __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
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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 <arch/chip/chip.h>
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/*
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* The NXPHlite-v3 is populated with a MK66FN2M0VLQ18 has 2 MiB of FLASH and
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* 256 KiB of SRAM.
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*/
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/* Clocking *************************************************************************/
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/* The NXPHlite-v3 uses a 16MHz external powered Oscillator. The Kinetis MCU startup
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* from an internal digitally-controlled oscillator (DCO). Nuttx will enable the main
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* external oscillator EXTAL0. The external oscillator can range from
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* 32.768 KHz up to 50 MHz. The default external source for the MCG oscillator inputs
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* EXTAL.
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*
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* Y1 a High-frequency, Oscillator
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*/
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#define BOARD_EXTAL_LP 1
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#define BOARD_EXTAL_FREQ 16000000 /* 16MHz Oscillator Y1 */
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#define BOARD_XTAL32_FREQ 32768 /* 32KHz RTC Oscillator */
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#define BOARD_OSC_CR OSC_CR_ERCLKEN /* Enable the OSCERCLK */
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#define BOARD_OSC_DIV OSC_DIV_ERPS_DIV1 /* No OSCERCLK Divide */
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/* FLL Configuration.
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* BOARD_EXTAL_FREQ / BOARD_FRDIV has to be in the range 31.25 kHz to 39.0625
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* 16 Mhz / MCG_C1_FRDIV_DIV512 = 31.25 kHz * 640 the default for MCG_C4
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* FLL is 20Mhz
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*/
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#define BOARD_FRDIV MCG_C1_FRDIV_DIV512
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/* PLL Configuration. Either the external clock or crystal frequency is used to
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* select the PRDIV value. Only reference clock frequencies are supported that will
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* produce a KINETIS_MCG_PLL_REF_MIN=8MHz >= PLLIN <=KINETIS_MCG_PLL_REF_MAX=16Mhz
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* reference clock to the PLL.
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*
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* PLL Input frequency: PLLIN = REFCLK / PRDIV = 16 MHz / 2 = 8Mhz MHz
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* PLL Output frequency: PLLOUT = PLLIN * VDIV = 8 MHz * 42 = 336 MHz
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* MCG Frequency: PLLOUT = 168 Mhz = 336 MHz / KINETIS_MCG_PLL_INTERNAL_DIVBY=2
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*
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* PRDIV register value is the divider minus KINETIS_MCG_C5_PRDIV_BASE.
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* VDIV register value is offset by KINETIS_MCG_C6_VDIV_BASE.
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*/
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#define BOARD_PRDIV 2 /* PLL External Reference Divider */
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#define BOARD_VDIV 42 /* PLL VCO Divider (frequency multiplier) */
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/* Define additional MCG_C2 Setting */
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#define BOARD_MCG_C2_FCFTRIM 0 /* Do not enable FCFTRIM */
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#define BOARD_MCG_C2_LOCRE0 MCG_C2_LOCRE0 /* Enable reset on loss of clock */
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#define BOARD_PLLIN_FREQ (BOARD_EXTAL_FREQ / BOARD_PRDIV)
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#define BOARD_PLLOUT_FREQ (BOARD_PLLIN_FREQ * BOARD_VDIV)
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#define BOARD_MCG_FREQ (BOARD_PLLOUT_FREQ/KINETIS_MCG_PLL_INTERNAL_DIVBY)
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/* SIM CLKDIV1 dividers */
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#define BOARD_OUTDIV1 1 /* Core = MCG, 168 MHz */
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#define BOARD_OUTDIV2 3 /* Bus = MCG / 3, 56 MHz */
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#define BOARD_OUTDIV3 3 /* FlexBus = MCG / 3, 56 MHz */
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#define BOARD_OUTDIV4 6 /* Flash clock = MCG / 6, 28 MHz */
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#define BOARD_CORECLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV1)
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#define BOARD_BUS_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV2)
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#define BOARD_FLEXBUS_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV3)
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#define BOARD_FLASHCLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV4)
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/* Use BOARD_MCG_FREQ as the output SIM_SOPT2 MUX selected by
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* SIM_SOPT2[PLLFLLSEL]
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*/
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#define BOARD_SOPT2_PLLFLLSEL SIM_SOPT2_PLLFLLSEL_MCGPLLCLK
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#define BOARD_SOPT2_FREQ BOARD_MCG_FREQ
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/* Divider output clock = Divider input clock × [ (USBFRAC+1) / (USBDIV+1) ]
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* SIM_CLKDIV2_FREQ = BOARD_SOPT2_FREQ × [ (USBFRAC+1) / (USBDIV+1) ]
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* 48Mhz = 168Mhz X [(1 + 1) / (6 + 1)]
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* 48Mhz = 168Mhz / (6 + 1) * (1 + 1)
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*/
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#define BOARD_SIM_CLKDIV2_USBFRAC 2
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#define BOARD_SIM_CLKDIV2_USBDIV 7
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#define BOARD_SIM_CLKDIV2_FREQ (BOARD_SOPT2_FREQ / \
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BOARD_SIM_CLKDIV2_USBDIV * \
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BOARD_SIM_CLKDIV2_USBFRAC)
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#define BOARD_USB_CLKSRC SIM_SOPT2_USBSRC
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#define BOARD_USB_FREQ BOARD_SIM_CLKDIV2_FREQ
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/* Divider output clock = Divider input clock * ((PLLFLLFRAC+1)/(PLLFLLDIV+1))
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* SIM_CLKDIV3_FREQ = BOARD_SOPT2_FREQ × [ (PLLFLLFRAC+1) / (PLLFLLDIV+1)]
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* 84 Mhz = 168 Mhz X [(0 + 1) / (1 + 1)]
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* 84 Mhz = 168 Mhz / (1 + 1) * (0 + 1)
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*/
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#define BOARD_SIM_CLKDIV3_PLLFLLFRAC 1
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#define BOARD_SIM_CLKDIV3_PLLFLLDIV 2
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#define BOARD_SIM_CLKDIV3_FREQ (BOARD_SOPT2_FREQ / \
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BOARD_SIM_CLKDIV3_PLLFLLDIV * \
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BOARD_SIM_CLKDIV3_PLLFLLFRAC)
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#define BOARD_LPUART0_CLKSRC SIM_SOPT2_LPUARTSRC_MCGCLK
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#define BOARD_LPUART0_FREQ BOARD_SIM_CLKDIV3_FREQ
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#define BOARD_TPM_CLKSRC SIM_SOPT2_TPMSRC_OCSERCLK
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#define BOARD_TPM_FREQ BOARD_EXTAL_FREQ
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/* SDHC clocking ********************************************************************/
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/* SDCLK configurations corresponding to various modes of operation. Formula is:
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*
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* SDCLK frequency = (base clock) / (prescaler * divisor)
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*
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* The SDHC module is always configure configured so that the core clock is the base
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* clock. Possible values for prescaler and divisor are:
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*
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* SDCLKFS: {2, 4, 8, 16, 32, 63, 128, 256}
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* DVS: {1..16}
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*/
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/* SDHC pull-up resistors **********************************************************/
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/* There are external pull-ups on the NXPhlite
|
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* So enable we do not them.
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*/
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#undef BOARD_SDHC_ENABLE_PULLUPS
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/* Identification mode: Optimal 400KHz, Actual 168Mhz / (32 * 14) = 375 KHz */
|
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#define BOARD_SDHC_IDMODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV32
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#define BOARD_SDHC_IDMODE_DIVISOR SDHC_SYSCTL_DVS_DIV(14)
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/* MMC normal mode: Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
|
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#define BOARD_SDHC_MMCMODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
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#define BOARD_SDHC_MMCMODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
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|
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/* SD normal mode (1-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
|
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#define BOARD_SDHC_SD1MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
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#define BOARD_SDHC_SD1MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
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/* SD normal mode (4-bit): Optimal 25MHz, Actual Actual 168Mhz / (2 * 4) = 21 MHz (with DMA)
|
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* SD normal mode (4-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz (no DMA)
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*/
|
||||
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#ifdef CONFIG_KINETIS_SDHC_DMA
|
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# define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
|
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# define BOARD_SDHC_SD4MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(4)
|
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#else
|
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# define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
|
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# define BOARD_SDHC_SD4MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
|
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#endif
|
||||
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The NXPHlite-v3 has a separate Red, Green and Blue LEDs driven by the K66 as
|
||||
* follows:
|
||||
*
|
||||
* LED K66
|
||||
* ------ -------------------------------------------------------
|
||||
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
|
||||
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
|
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* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
|
||||
* way. The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED_R 0
|
||||
#define BOARD_LED_G 1
|
||||
#define BOARD_LED_B 2
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED_R_BIT (1 << BOARD_LED_R)
|
||||
#define BOARD_LED_G_BIT (1 << BOARD_LED_G)
|
||||
#define BOARD_LED_B_BIT (1 << BOARD_LED_B)
|
||||
|
||||
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
|
||||
* the NXPHlite-v3. The following definitions describe how NuttX controls
|
||||
* the LEDs:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* RED GREEN BLUE
|
||||
* ------------------- ---------------------------- ----------------- */
|
||||
#define LED_STARTED 1 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 2 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 0 /* Interrupts enabled OFF OFF ON */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON OFF */
|
||||
#define LED_INIRQ 0 /* In an interrupt (no change) */
|
||||
#define LED_SIGNAL 0 /* In a signal handler (no change) */
|
||||
#define LED_ASSERTION 0 /* An assertion failed (no change) */
|
||||
#define LED_PANIC 4 /* The system has crashed FLASH OFF OFF */
|
||||
#undef LED_IDLE /* K66 is in sleep mode (Not used) */
|
||||
|
||||
/* Alternative pin resolution *******************************************************/
|
||||
/* If there are alternative configurations for various pins in the
|
||||
* kinetis_k66pinmux.h header file, those alternative pins will be labeled with a
|
||||
* suffix like _1, _2, etc. The logic in this file must select the correct pin
|
||||
* configuration for the board by defining a pin configuration (with no suffix) that
|
||||
* maps to the correct alternative.
|
||||
*/
|
||||
|
||||
/* CAN
|
||||
* Signal Conn Port Pin Name
|
||||
* ------- -------- ----- ----- --------
|
||||
* CAN0TX P8-2(H) PTB18 97 CAN0_TX
|
||||
* CAN0RX P8-3(L) PTB19 98 CAN0_RX
|
||||
* CAN1TX P19-2(H) PTC16 123 CAN1_TX
|
||||
* CAN1RX P19-3(L) PTC17 124 CAN1_RX
|
||||
*
|
||||
*/
|
||||
#define PIN_CAN0_RX PIN_CAN0_RX_2
|
||||
#define PIN_CAN0_TX PIN_CAN0_TX_2
|
||||
#define PIN_CAN1_RX PIN_CAN1_RX_2
|
||||
#define PIN_CAN1_TX PIN_CAN1_TX_2
|
||||
|
||||
/* 12C
|
||||
*
|
||||
*/
|
||||
|
||||
/* I2C0
|
||||
*
|
||||
* This device can be pinned out to be either or
|
||||
|
||||
* Bit Pin Device Signal Usage Conn
|
||||
* ----- --- ------- --------------------------- ------
|
||||
* PTB2 83 I2C0_SCL U_ECH Ultrasonic P13-3
|
||||
* PTB3 84 I2C0_SDA U_TRI Ultrasonic P13-2
|
||||
* ----- --- ------- --------------------------- ------
|
||||
*
|
||||
* Bit Pin Device Signal Usage Conn
|
||||
* ----- --- ------- --------------------------- ------
|
||||
* PTE24 45 I2C0_SCL IIC_SCL NFC Connector, IIC P2-2
|
||||
* PTE25 46 I2C0_SDA IIC_SDA NFC Connector, IIC P2-3
|
||||
* ----- --- ------- --------------------------- ------
|
||||
*/
|
||||
|
||||
#define PIN_I2C0_SCL PIN_I2C0_SCL_4 /* PTE24 IIC_SCL */
|
||||
#define PIN_I2C0_SDA PIN_I2C0_SDA_4 /* PTE25 IIC_SDA */
|
||||
|
||||
/* I2C1
|
||||
*
|
||||
* Bit Pin Device Signal Usage Conn
|
||||
* ----- --- ------- -------------- ------------- ------
|
||||
* PTC10 115 I2C1_SCL P_SCL, GPS_SCL Pressure, GPS P3-4
|
||||
* PTC11 116 I2C1_SDA P_SDA, GPS_SDA Pressure, GPS P3-5
|
||||
* ----- --- ------- -------------- ------------- ------
|
||||
*/
|
||||
|
||||
#define PIN_I2C1_SCL PIN_I2C1_SCL_1 /* PTC10 GPS / Pressure Sensor*/
|
||||
#define PIN_I2C1_SDA PIN_I2C1_SDA_1 /* PTC11 GPS / Pressure Sensor */
|
||||
|
||||
|
||||
/* PWM
|
||||
*
|
||||
*/
|
||||
|
||||
/* PWM Channels */
|
||||
|
||||
#define GPIO_FTM0_CH0OUT PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-19 */
|
||||
#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-16 */
|
||||
#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-13 */
|
||||
#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-10 */
|
||||
|
||||
#define GPIO_FTM3_CH6OUT PIN_FTM3_CH6_2 /* PTE11 FMU_CH5 P4-7 */
|
||||
#define GPIO_FTM3_CH7OUT PIN_FTM3_CH7_2 /* PTE12 FMU_CH5 P4-4 */
|
||||
|
||||
#define GPIO_FTM3_CH0OUT PIN_FTM3_CH0_1 /* PTD0 U_TRI P10-2 */
|
||||
#define GPIO_FTM2_CH0OUT PIN_FTM2_CH0_1 /* PTA10 U_ECH P20-3 */
|
||||
|
||||
#define GPIO_FTM0_CH0IN PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-19 */
|
||||
#define GPIO_FTM0_CH3IN PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-16 */
|
||||
#define GPIO_FTM0_CH4IN PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-13 */
|
||||
#define GPIO_FTM0_CH5IN PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-10 */
|
||||
|
||||
#define GPIO_FTM3_CH6IN PIN_FTM3_CH6_2 /* PTE11 FMU_CH5 P4-7 */
|
||||
#define GPIO_FTM3_CH7IN PIN_FTM3_CH7_2 /* PTE12 FMU_CH5 P4-4 */
|
||||
|
||||
#define GPIO_FTM3_CH0IN PIN_FTM3_CH0_1 /* PTD0 U_TRI P10-2 */
|
||||
#define GPIO_FTM2_CH0IN PIN_FTM2_CH0_1 /* PTA10 U_ECH P20-3 */
|
||||
|
||||
/* SPI
|
||||
*
|
||||
*/
|
||||
|
||||
/* SPI0 FRAM */
|
||||
|
||||
#define PIN_SPI0_PCS0 PIN_SPI0_PCS2_1 /* PTC2 SPI_CS FRAM_CS */
|
||||
#define PIN_SPI0_SCK PIN_SPI0_SCK_2 /* PTC5 SPI_CLK FRAM_SCK */
|
||||
#define PIN_SPI0_OUT PIN_SPI0_SOUT_2 /* PTC6 SPI_OUT FRAM_MOSI */
|
||||
#define PIN_SPI0_SIN PIN_SPI0_SIN_2 /* PTC7 SPI_IN FRAM_MISO */
|
||||
|
||||
/* SPI1
|
||||
* FXOS8700CQ Accelerometer
|
||||
* FXAS21002CQ Gyroscope
|
||||
*/
|
||||
|
||||
#define PIN_SPI1_PCS0 PIN_SPI1_PCS0_1 /* PTB10 A_CS */
|
||||
#define PIN_SPI1_PCS1 PIN_SPI1_PCS1_1 /* PTB9 GM_CS */
|
||||
#define PIN_SPI1_SCK PIN_SPI1_SCK_1 /* PTB11 A_SCLK */
|
||||
#define PIN_SPI1_OUT PIN_SPI1_SOUT_1 /* PTB16 A_MOSI */
|
||||
#define PIN_SPI1_SIN PIN_SPI1_SIN_1 /* PTB17 A_MISO */
|
||||
|
||||
/* SPI2
|
||||
* Bit Pin Device Signal Conn
|
||||
* ----- --- ------- --------- ------
|
||||
* PTB20 99 SPI2_PCS0 SPI2_CS P18-5
|
||||
* PTB21 100 SPI2_SCK SPI2_CLK P18-2
|
||||
* PTB22 101 SPI2_SOUT SPI2_OUT P18-3
|
||||
* PTB23 102 SPI2_SIN SPI2_IN P18-4
|
||||
*
|
||||
*/
|
||||
|
||||
#define PIN_SPI2_PCS0 PIN_SPI2_PCS0_1 /* PTB20 SPI2_CS */
|
||||
#define PIN_SPI2_SCK PIN_SPI2_SCK_1 /* PTB21 SPI2_CLK */
|
||||
#define PIN_SPI2_OUT PIN_SPI2_SOUT_1 /* PTB22 SPI2_OUT */
|
||||
#define PIN_SPI2_SIN PIN_SPI2_SIN_1 /* PTB23 SPI2_IN */
|
||||
|
||||
/* UART
|
||||
*
|
||||
* NuttX Will use LPUART0 as the Console
|
||||
*
|
||||
* LPUAR0
|
||||
* P16 Pin Name K66 Name
|
||||
* -------- ------------ ------ ---------
|
||||
* 2 UART_TX PTD9 LPUART0_TX
|
||||
* 3 UART_RX PTD8 LPUART0_RX
|
||||
* -------- ----- ------ ---------
|
||||
*/
|
||||
|
||||
#define PIN_LPUART0_RX PIN_LPUART0_RX_3
|
||||
#define PIN_LPUART0_TX PIN_LPUART0_TX_3
|
||||
|
||||
/* UART0
|
||||
*
|
||||
* P7 Pin Name K66 Name
|
||||
* -------- ------------ ------- ---------
|
||||
* 2 IR_Transmitter PTA2 UART0_TX
|
||||
* 4 IR_Receiver PTA1 UART0_RX
|
||||
* -------- ------------ ------- ---------
|
||||
*/
|
||||
|
||||
#define PIN_UART0_RX PIN_UART0_RX_1
|
||||
#define PIN_UART0_TX PIN_UART0_TX_1
|
||||
|
||||
/* UART1
|
||||
*
|
||||
* Pin Name K66 Name
|
||||
* ------------- -------------- ----- ---------
|
||||
* P14-3,P15-2 FrSky_IN_RC_IN PTC3 UART1_RX
|
||||
* P14-2 FrSky_OUT PTC4 UART1_TX
|
||||
* ------------- ------------ ----- ---------
|
||||
*/
|
||||
|
||||
#define PIN_UART1_RX PIN_UART1_RX_1
|
||||
#define PIN_UART1_TX PIN_UART1_TX_1
|
||||
|
||||
/* UART2
|
||||
* No Alternative pins for UART2
|
||||
*
|
||||
* P7 Pin Name K66 Name
|
||||
* -------- ------------ ------- ---------
|
||||
* 2 GPS_TX PTD3 UART2_TX
|
||||
* 3 GPS_RX PTD2 UART2_RX
|
||||
* -------- ------------ ------- ---------
|
||||
*/
|
||||
|
||||
/* UART4
|
||||
*
|
||||
* P10 Pin Name K66 Name
|
||||
* -------- ------------ ------- ---------
|
||||
* 2 UART4_TX PTC15 UART4_TX
|
||||
* 3 UART4_RX PTC14 UART4_RX
|
||||
* 4 UART4_CTS PTC13 UART4_CTS
|
||||
* 5 UART4_RTS PTE27 UART4_RTS
|
||||
* -------- ------------ ------- ---------
|
||||
*/
|
||||
|
||||
#define PIN_UART4_RX PIN_UART4_RX_1
|
||||
#define PIN_UART4_TX PIN_UART4_TX_1
|
||||
#define PIN_UART4_RTS PIN_UART4_RTS_2
|
||||
#define PIN_UART4_CTS PIN_UART4_CTS_1
|
||||
|
||||
/*
|
||||
* Ethernet TJA1100 OPEN Alliance BroadR-Reach PHY for Automotive Ethernet
|
||||
* -----------------------------------------------------------------------
|
||||
*
|
||||
* -------------- ----------------- -----------------------------------------
|
||||
* TJA1100 Board Signal(s) K66F Pin
|
||||
* Pin Signal Function pinmux Name
|
||||
* --- ---------- ----------------- ------------------------------------------
|
||||
* 1 MDC RMII0_MDC PTB1/RMII0_MDC PIN_RMII0_MDC
|
||||
* 2 INT RMII0_INT_B, PTA27 PTA27
|
||||
* 3 nRST ENET_RST PTA28 PTA28
|
||||
* 4 VDDA(1V8) Cap to GND --- ---
|
||||
* 5 XO 25Mhz OSC --- ---
|
||||
* 6 XI 25Mhz OSC --- ---
|
||||
* 7 VDDA(3V3) E_3V3 --- ---
|
||||
* 8 LED (LED_ENABLE = 1) WAKE (LED_ENABLE = 0) ---
|
||||
* 8 VBAT E_3V3 --- ---
|
||||
* 10 nINH ENET_INH PTA8 PTA8
|
||||
* 11 VDDA(TX) E_3V3 --- ---
|
||||
* 12 TRX_P ENET_P --- ---
|
||||
* 13 TRX_M ENET_P --- ---
|
||||
* 14 VDDD(3V3) E_3V3 --- ---
|
||||
* 15 GND --- --- ---
|
||||
* 16 VDDD(1V8) Cap to GND --- ---
|
||||
* 17 RXER RMII0_RXER PTA5/RMII0_RXER PIN_RMII0_RXER
|
||||
* 18 CRS_DIV RMII_CRSDV PTA14/RMII0_CRS_DV PIN_RMII0_CRS_DV
|
||||
* 19 TXEN RMII0_TXEN PTA15/RMII0_TXEN PIN_RMII0_TXEN
|
||||
* 20 GND --- --- ---
|
||||
* 21 CONFIG1 ENET_CON1 THIS PIN IS A NO CONNECT
|
||||
* 22 CONFIG0 ENET_CONFIG0 PTA24 PTA24
|
||||
* 23 RXD1 RMII0_RXD_1 PTA12/RMII0_RXD1 PIN_RMII0_RXD1
|
||||
* 24 RXD0 RMII0_RXD_0 PTA13/RMII0_RXD0 PIN_RMII0_RXD0
|
||||
* 25 REF_CLK E_REF_CLK PTE26/ENET_1588_CLKIN PIN_ENET_1588_CLKIN
|
||||
* 26 GND2 --- --- ---
|
||||
* 27 VDD(IO) E_3V3 --- ---
|
||||
* 28 TXC --- --- ---
|
||||
* 29 TXEN RMII_TXEN PTA15/RMII0_TXEN PIN_RMII0_TXEN
|
||||
* 30 TXD3
|
||||
* 31 TXD2
|
||||
* 32 TXD1 RMII0_TXD_1 PTA17/RMII0_TXD1 PIN_RMII0_TXD1
|
||||
* 33 TXD0 RMII0_TXD_0 PTA16/RMII0_TXD0 PIN_RMII0_TXD0
|
||||
* 34 TXER
|
||||
* 35 EN ENET_EN PTA29 PTA29
|
||||
* 36 MDIO RMII0_MDIO PTB0/RMII0_MDIO PIN_RMII0_MDIO
|
||||
* --- ---------- ----------------- ------------------------------------
|
||||
*
|
||||
*/
|
||||
|
||||
#define PIN_RMII0_MDIO PIN_RMII0_MDIO_1
|
||||
#define PIN_RMII0_MDC PIN_RMII0_MDC_1
|
||||
|
||||
/* 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_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN1)
|
||||
# define PROBE_2 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN6)
|
||||
# define PROBE_3 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN4)
|
||||
# define PROBE_4 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN5)
|
||||
# define PROBE_5 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTE | PIN11)
|
||||
# define PROBE_6 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTE | PIN12)
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { kinetis_pinconfig(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { kinetis_pinconfig(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { kinetis_pinconfig(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { kinetis_pinconfig(PROBE_4); } \
|
||||
if ((mask)& PROBE_N(5)) { kinetis_pinconfig(PROBE_5); } \
|
||||
if ((mask)& PROBE_N(6)) { kinetis_pinconfig(PROBE_6); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {kinetis_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: kinetis_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All kinetis architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void kinetis_boardinitialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIG_NXPHLITE_V23_INCLUDE_BOARD_H */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,179 @@
|
||||
/****************************************************************************
|
||||
* configs/nxphlite-v3/scripts/flash.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2017 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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 MK66FN2M0VLQ18 has 2 MiB of FLASH beginning at address 0x0000:0000 and
|
||||
* 256 KiB of SRAM beginning at address 0x1fff:0000- (SRAM_L) (64Kib) and
|
||||
* 0x2000:0000 196 Kib (SRAM_U).
|
||||
*
|
||||
* NOTE: that the first part of the K66 FLASH region is reserved for
|
||||
* interrupt vectflash and, following that, is a region from 0x0000:0400
|
||||
* to 0x0000:040f that is reserved for the FLASH control fields (FCF).
|
||||
*
|
||||
* NOTE: The on-chip RAM is split evenly among SRAM_L and SRAM_U. The RAM is
|
||||
* also implemented such that the SRAM_L and SRAM_U ranges form a
|
||||
* contiguous block in the memory map.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
vectflash (rx) : ORIGIN = 0x00006000, LENGTH = 1K
|
||||
cfmprotect (rx) : ORIGIN = 0x00006400, LENGTH = 16
|
||||
progflash (rx) : ORIGIN = 0x00006410, LENGTH = 2M - ((6*4K) + 1K + 16)
|
||||
datasram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 256K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(__start)
|
||||
EXTERN(__flashconfigbytes)
|
||||
SECTIONS
|
||||
{
|
||||
.vectors : {
|
||||
_svectors = ABSOLUTE(.);
|
||||
KEEP(*(.vectors))
|
||||
_evectors = ABSOLUTE(.);
|
||||
} > vectflash
|
||||
|
||||
.cfmprotect : {
|
||||
KEEP(*(.cfmconfig))
|
||||
} > cfmprotect
|
||||
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.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;
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > progflash =0xff
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > progflash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > progflash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > progflash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > progflash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > datasram AT > progflash
|
||||
|
||||
.ramfunc ALIGN(4): {
|
||||
_sramfuncs = ABSOLUTE(.);
|
||||
*(.ramfunc .ramfunc.*)
|
||||
_eramfuncs = ABSOLUTE(.);
|
||||
. = ALIGN(8);
|
||||
FILL(0xff)
|
||||
. += 8;
|
||||
} > datasram AT > progflash =0xff
|
||||
|
||||
_framfuncs = LOADADDR(.ramfunc);
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > datasram
|
||||
|
||||
/* 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 +1,53 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
autoleds.c
|
||||
automount.c
|
||||
can.c
|
||||
init.c
|
||||
led.c
|
||||
sdhc.c
|
||||
spi.c
|
||||
timer_config.c
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_apps # up_cxxinitialize
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
drivers__led # drv_led_start
|
||||
parameters # param_init
|
||||
)
|
||||
@@ -0,0 +1,164 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/*
|
||||
* This module shaol be used during board bring up of Nuttx.
|
||||
*
|
||||
* The NXPHlite-v3 has a separate Red, Green and Blue LEDs driven by the K66
|
||||
* as follows:
|
||||
*
|
||||
* LED K66
|
||||
* ------ -------------------------------------------------------
|
||||
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
|
||||
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
|
||||
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
|
||||
*
|
||||
* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
|
||||
* the NXPhlite-v3. The following definitions describe how NuttX controls
|
||||
* the LEDs:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* RED GREEN BLUE
|
||||
* ------------------- ----------------------- -----------------
|
||||
* LED_STARTED NuttX has been started OFF OFF OFF
|
||||
* LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
|
||||
* LED_IRQSENABLED Interrupts enabled OFF OFF ON
|
||||
* LED_STACKCREATED Idle stack created OFF ON OFF
|
||||
* LED_INIRQ In an interrupt (no change)
|
||||
* LED_SIGNAL In a signal handler (no change)
|
||||
* LED_ASSERTION An assertion failed (no change)
|
||||
* LED_PANIC The system has crashed FLASH OFF OFF
|
||||
* LED_IDLE K66 is in sleep mode (Optional, not used)
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "kinetis.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Summary of all possible settings */
|
||||
|
||||
#define LED_NOCHANGE 0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
|
||||
#define LED_OFF_OFF_OFF 1 /* LED_STARTED */
|
||||
#define LED_OFF_OFF_ON 2 /* LED_HEAPALLOCATE */
|
||||
#define LED_OFF_ON_OFF 3 /* LED_STACKCREATED */
|
||||
#define LED_ON_OFF_OFF 4 /* LED_PANIC */
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the on-board LED
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_initialize(void)
|
||||
{
|
||||
kinetis_pinconfig(GPIO_LED_R);
|
||||
kinetis_pinconfig(GPIO_LED_G);
|
||||
kinetis_pinconfig(GPIO_LED_B);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_on
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
if (led != LED_NOCHANGE) {
|
||||
bool redoff = true;
|
||||
bool greenoff = true;
|
||||
bool blueoff = true;
|
||||
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_OFF_OFF_OFF:
|
||||
break;
|
||||
|
||||
case LED_OFF_OFF_ON:
|
||||
blueoff = false;
|
||||
break;
|
||||
|
||||
case LED_OFF_ON_OFF:
|
||||
greenoff = false;
|
||||
break;
|
||||
|
||||
case LED_ON_OFF_OFF:
|
||||
redoff = false;
|
||||
break;
|
||||
}
|
||||
|
||||
kinetis_gpiowrite(GPIO_LED_R, redoff);
|
||||
kinetis_gpiowrite(GPIO_LED_G, greenoff);
|
||||
kinetis_gpiowrite(GPIO_LED_B, blueoff);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_off(int led)
|
||||
{
|
||||
if (led == LED_ON_OFF_OFF) {
|
||||
kinetis_gpiowrite(GPIO_LED_R, true);
|
||||
kinetis_gpiowrite(GPIO_LED_G, true);
|
||||
kinetis_gpiowrite(GPIO_LED_B, true);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CONFIG_ARCH_LEDS */
|
||||
@@ -0,0 +1,306 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2017 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
|
||||
# define CONFIG_DEBUG_FS 1
|
||||
#endif
|
||||
|
||||
#include <debug.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/clock.h>
|
||||
#include <nuttx/fs/automount.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Types
|
||||
************************************************************************************/
|
||||
/* This structure represents the changeable state of the automounter */
|
||||
|
||||
struct nxphlite_automount_state_s {
|
||||
volatile automount_handler_t handler; /* Upper half handler */
|
||||
FAR void *arg; /* Handler argument */
|
||||
bool enable; /* Fake interrupt enable */
|
||||
bool pending; /* Set if there an event while disabled */
|
||||
};
|
||||
|
||||
/* This structure represents the static configuration of an automounter */
|
||||
|
||||
struct nxphlite_automount_config_s {
|
||||
/* This must be first thing in structure so that we can simply cast from struct
|
||||
* automount_lower_s to struct nxphlite_automount_config_s
|
||||
*/
|
||||
|
||||
struct automount_lower_s lower; /* Publicly visible part */
|
||||
FAR struct nxphlite_automount_state_s *state; /* Changeable state */
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
* Private Function Prototypes
|
||||
************************************************************************************/
|
||||
|
||||
static int nxphlite_attach(FAR const struct automount_lower_s *lower,
|
||||
automount_handler_t isr, FAR void *arg);
|
||||
static void nxphlite_enable(FAR const struct automount_lower_s *lower, bool enable);
|
||||
static bool nxphlite_inserted(FAR const struct automount_lower_s *lower);
|
||||
|
||||
/************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************/
|
||||
|
||||
static struct nxphlite_automount_state_s g_sdhc_state;
|
||||
static const struct nxphlite_automount_config_s g_sdhc_config = {
|
||||
.lower =
|
||||
{
|
||||
.fstype = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_FSTYPE,
|
||||
.blockdev = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_BLKDEV,
|
||||
.mountpoint = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_MOUNTPOINT,
|
||||
.ddelay = MSEC2TICK(CONFIG_NXPHLITE_SDHC_AUTOMOUNT_DDELAY),
|
||||
.udelay = MSEC2TICK(CONFIG_NXPHLITE_SDHC_AUTOMOUNT_UDELAY),
|
||||
.attach = nxphlite_attach,
|
||||
.enable = nxphlite_enable,
|
||||
.inserted = nxphlite_inserted
|
||||
},
|
||||
.state = &g_sdhc_state
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_attach
|
||||
*
|
||||
* Description:
|
||||
* Attach a new SDHC event handler
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - An instance of the auto-mounter lower half state structure
|
||||
* isr - The new event handler to be attach
|
||||
* arg - Client data to be provided when the event handler is invoked.
|
||||
*
|
||||
* Returned Value:
|
||||
* Always returns OK
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
static int nxphlite_attach(FAR const struct automount_lower_s *lower,
|
||||
automount_handler_t isr, FAR void *arg)
|
||||
{
|
||||
FAR const struct nxphlite_automount_config_s *config;
|
||||
FAR struct nxphlite_automount_state_s *state;
|
||||
|
||||
/* Recover references to our structure */
|
||||
|
||||
config = (FAR struct nxphlite_automount_config_s *)lower;
|
||||
DEBUGASSERT(config != NULL && config->state != NULL);
|
||||
|
||||
state = config->state;
|
||||
|
||||
/* Save the new handler info (clearing the handler first to eliminate race
|
||||
* conditions).
|
||||
*/
|
||||
|
||||
state->handler = NULL;
|
||||
state->pending = false;
|
||||
state->arg = arg;
|
||||
state->handler = isr;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_enable
|
||||
*
|
||||
* Description:
|
||||
* Enable card insertion/removal event detection
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - An instance of the auto-mounter lower half state structure
|
||||
* enable - True: enable event detection; False: disable
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
static void nxphlite_enable(FAR const struct automount_lower_s *lower, bool enable)
|
||||
{
|
||||
FAR const struct nxphlite_automount_config_s *config;
|
||||
FAR struct nxphlite_automount_state_s *state;
|
||||
irqstate_t flags;
|
||||
|
||||
/* Recover references to our structure */
|
||||
|
||||
config = (FAR struct nxphlite_automount_config_s *)lower;
|
||||
DEBUGASSERT(config != NULL && config->state != NULL);
|
||||
|
||||
state = config->state;
|
||||
|
||||
/* Save the fake enable setting */
|
||||
|
||||
flags = enter_critical_section();
|
||||
state->enable = enable;
|
||||
|
||||
/* Did an interrupt occur while interrupts were disabled? */
|
||||
|
||||
if (enable && state->pending) {
|
||||
/* Yes.. perform the fake interrupt if the interrutp is attached */
|
||||
|
||||
if (state->handler) {
|
||||
bool inserted = nxphlite_cardinserted();
|
||||
(void)state->handler(&config->lower, state->arg, inserted);
|
||||
}
|
||||
|
||||
state->pending = false;
|
||||
}
|
||||
|
||||
leave_critical_section(flags);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_inserted
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the slot.
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - An instance of the auto-mounter lower half state structure
|
||||
*
|
||||
* Returned Value:
|
||||
* True if the card is inserted; False otherwise
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
static bool nxphlite_inserted(FAR const struct automount_lower_s *lower)
|
||||
{
|
||||
return nxphlite_cardinserted();
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_automount_initialize
|
||||
*
|
||||
* Description:
|
||||
* Configure auto-mounters for each enable and so configured SDHC
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void nxphlite_automount_initialize(void)
|
||||
{
|
||||
FAR void *handle;
|
||||
|
||||
finfo("Initializing automounter(s)\n");
|
||||
|
||||
/* Initialize the SDHC0 auto-mounter */
|
||||
|
||||
handle = automount_initialize(&g_sdhc_config.lower);
|
||||
|
||||
if (!handle) {
|
||||
ferr("ERROR: Failed to initialize auto-mounter for SDHC0\n");
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_automount_event
|
||||
*
|
||||
* Description:
|
||||
* The SDHC card detection logic has detected an insertion or removal event. It
|
||||
* has already scheduled the MMC/SD block driver operations. Now we need to
|
||||
* schedule the auto-mount event which will occur with a substantial delay to make
|
||||
* sure that everything has settle down.
|
||||
*
|
||||
* Input Parameters:
|
||||
* slotno - Identifies the SDHC0 slot: SDHC0_SLOTNO or SDHC1_SLOTNO. There is a
|
||||
* terminology problem here: Each SDHC supports two slots, slot A and slot B.
|
||||
* Only slot A is used. So this is not a really a slot, but an HSCMI peripheral
|
||||
* number.
|
||||
* inserted - True if the card is inserted in the slot. False otherwise.
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Interrupts are disabled.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void nxphlite_automount_event(bool inserted)
|
||||
{
|
||||
FAR const struct nxphlite_automount_config_s *config = &g_sdhc_config;
|
||||
FAR struct nxphlite_automount_state_s *state = &g_sdhc_state;
|
||||
|
||||
/* Is the auto-mounter interrupt attached? */
|
||||
|
||||
if (state->handler) {
|
||||
/* Yes.. Have we been asked to hold off interrupts? */
|
||||
|
||||
if (!state->enable) {
|
||||
/* Yes.. just remember the there is a pending interrupt. We will
|
||||
* deliver the interrupt when interrupts are "re-enabled."
|
||||
*/
|
||||
|
||||
state->pending = true;
|
||||
|
||||
} else {
|
||||
/* No.. forward the event to the handler */
|
||||
|
||||
(void)state->handler(&config->lower, state->arg, inserted);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* HAVE_AUTOMOUNTER */
|
||||
@@ -0,0 +1,694 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 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
|
||||
*
|
||||
* nxphlite-v3 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <kinetis.h>
|
||||
#include <chip/kinetis_pinmux.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/* NXPHLITE GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
/* An RGB LED is connected through GPIO as shown below:
|
||||
* TBD (no makring on schematic)
|
||||
* LED K66
|
||||
* ------ -------------------------------------------------------
|
||||
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
|
||||
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
|
||||
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
|
||||
*/
|
||||
|
||||
#define GPIO_LED_R (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN1)
|
||||
#define GPIO_LED_G (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN9)
|
||||
#define GPIO_LED_B (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN8)
|
||||
|
||||
|
||||
#define GPIO_LED_1 (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN13)
|
||||
#define GPIO_LED_2 (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN14)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1 // Use D9 and D10
|
||||
#define BOARD_OVERLOAD_LED LED_AMBER
|
||||
#define BOARD_ARMED_STATE_LED LED_GREEN
|
||||
|
||||
#define GPIO_NFC_IO (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN26)
|
||||
#define GPIO_SENSOR_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN8)
|
||||
|
||||
|
||||
/* UART tty Mapping
|
||||
* Device tty alt Connector Name
|
||||
* ------- ---------- -------------- --------- -------------------------
|
||||
* LPUART0 /dev/tty0 /dev/console P16 DCD-Mini
|
||||
* UART0 /dev/tty1 --- P7 IR transmitter & receiver
|
||||
* UART1 /dev/tty2 --- P14,P15 SERIAL4/FrSky, RC_IN
|
||||
* UART2 /dev/tty3 --- P3 GPS connector
|
||||
* UART4 /dev/tty4 --- P10 UART (Bluetooth)
|
||||
*/
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 1 /* TPM1 timer for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 0 /* Use capture/compare channel 0 */
|
||||
|
||||
/* PPM IN
|
||||
*/
|
||||
|
||||
#define HRT_PPM_CHANNEL 1 /* Use TPM1 capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN PIN_TPM1_CH1_1 /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* NXPhlite-v3 has separate RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PTA9 PIN_TPM1_CH1 and PCT3 USART1 RX
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on PCT3 USART1 RX
|
||||
* Inversion is possible the UART
|
||||
* The FMU can drive GPIO PPM_IN as an output
|
||||
*/
|
||||
|
||||
/* Spektrum controls ******************************************************/
|
||||
|
||||
/* Power is a p-Channel FET */
|
||||
|
||||
#define GPIO_SPEKTRUM_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)
|
||||
|
||||
/* For binding the Spektrum 3-pin interfaces is used with it TX (output)
|
||||
* as an input Therefore we drive are UARTx_RX (normaly an input) as an
|
||||
* output
|
||||
*/
|
||||
|
||||
#define GPIO_PPM_IN_AS_OUT (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN3)
|
||||
|
||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||||
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(PIN_UART1_RX)
|
||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||||
|
||||
/* RC input */
|
||||
|
||||
#define RC_UXART_BASE KINETIS_UART1_BASE
|
||||
#define RC_SERIAL_PORT "/dev/ttyS2" /* UART1 */
|
||||
#define GPIO_RSSI_IN PIN_ADC1_SE13
|
||||
|
||||
/* Ethernet Control
|
||||
*
|
||||
* Uninitialized to Reset Disabled and Inhibited
|
||||
* All pins driven low to not back feed when power is off
|
||||
*/
|
||||
|
||||
#define nGPIO_ETHERNET_P_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN3)
|
||||
#define GPIO_ENET_RST (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN28)
|
||||
#define GPIO_ENET_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN29)
|
||||
#define GPIO_ENET_INH (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN8)
|
||||
#define GPIO_ENET_CONFIG0 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN24)
|
||||
#define GPIO_ENET_CONFIG1 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTB | PIN2)
|
||||
|
||||
/* CAN Control
|
||||
* Control pin S allows two operating modes to be selected:
|
||||
* high-speed mode (Low) or silent mode (high)
|
||||
*/
|
||||
|
||||
#define GPIO_CAN0_STB (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN19)
|
||||
#define GPIO_CAN1_STB (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN18)
|
||||
|
||||
|
||||
/* Safety Switch
|
||||
* TBD
|
||||
*/
|
||||
#define GPIO_LED_SAFETY (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN0)
|
||||
#define GPIO_BTN_SAFETY (GPIO_PULLUP | PIN_PORTE | PIN28)
|
||||
|
||||
/* NXPHlite-v3 GPIOs ****************************************************************/
|
||||
|
||||
/* SDHC
|
||||
*
|
||||
* A micro Secure Digital (SD) card slot is available on the board connected to
|
||||
* the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
|
||||
* format SD memory cards. The SD card detect pin (PTE6) is an open switch that
|
||||
* shorts with VDD when card is inserted.
|
||||
*
|
||||
* ------------ ------------- --------
|
||||
* SD Card Slot Board Signal K66 Pin
|
||||
* ------------ ------------- --------
|
||||
* DAT0 SDHC0_D0 PTE1
|
||||
* DAT1 SDHC0_D1 PTE0
|
||||
* DAT2 SDHC0_D2 PTE5
|
||||
* CD/DAT3 SDHC0_D3 PTE4
|
||||
* CMD SDHC0_CMD PTE3
|
||||
* CLK SDHC0_DCLK PTE2
|
||||
* SWITCH D_CARD_DETECT PTD10
|
||||
* CAED_P_EN PTD6
|
||||
* ------------ ------------- --------
|
||||
*
|
||||
* There is no Write Protect pin available to the K66
|
||||
*/
|
||||
#define SD_CAED_P_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN6)
|
||||
|
||||
#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
|
||||
|
||||
/* SPI
|
||||
*
|
||||
* SD Card is on SPI 0
|
||||
* FXOS8700CQ Accelerometer & Magnetometer is on SPI 1
|
||||
* FXAS21002CQ Gyro is on SPI 2
|
||||
*/
|
||||
|
||||
/* SPI Bus assignments */
|
||||
|
||||
#define PX4_SPI_BUS_MEMORY PX4_BUS_NUMBER_TO_PX4(0)
|
||||
#define PX4_SPI_BUS_SENSORS PX4_BUS_NUMBER_TO_PX4(1)
|
||||
#define PX4_SPI_BUS_EXTERNAL PX4_BUS_NUMBER_TO_PX4(2)
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
#define PX4_SPI_BUS_EXT PX4_SPI_BUS_EXTERNAL
|
||||
|
||||
|
||||
/* SPI chip selects */
|
||||
|
||||
#define GPIO_SPI_CS_MEMORY (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN2)
|
||||
#define GPIO_SPI_CS_FXAS21002CQ_GYRO (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN9)
|
||||
#define GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN10)
|
||||
#define GPIO_SPI2_CS (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN20)
|
||||
#define GPIO_SPI2_EXT (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN15)
|
||||
|
||||
/* SPI device reset signals
|
||||
* In Active state
|
||||
*/
|
||||
|
||||
/* Init in reset */
|
||||
#define GPIO_GM_nRST (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN12)
|
||||
#define GPIO_A_RST (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN25)
|
||||
|
||||
/* Sensor interrupts */
|
||||
|
||||
#define GPIO_EXTI_GYRO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN7)
|
||||
#define GPIO_EXTI_GYRO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN6)
|
||||
#define GPIO_EXTI_ACCEL_MAG_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN9)
|
||||
#define GPIO_EXTI_ACCEL_MAG_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN10)
|
||||
#define GPIO_EXTI_BARO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN11)
|
||||
#define GPIO_EXTI_BARO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN7)
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
|
||||
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}
|
||||
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
|
||||
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
|
||||
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO}
|
||||
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
|
||||
#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_GYRO
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,1)
|
||||
#define PX4_EXTERNAL_BUS_CS_GPIO {GPIO_SPI2_CS, GPIO_SPI2_EXT}
|
||||
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2
|
||||
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_MPU PX4_SPIDEV_EXTERNAL1
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
|
||||
#define PX4_I2C_BUS_EXPANSION1 PX4_BUS_NUMBER_TO_PX4(1) // V3 RC15 has mpl3115a2 on onboard but this goes to a connector
|
||||
// So it is treated as external.
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION1
|
||||
|
||||
/*
|
||||
* 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. ADC1 has 32 channels, with some a/b selection overlap
|
||||
* in the AD4-AD7 range on the same ADC.
|
||||
*
|
||||
* Only ADC1 is used
|
||||
* Bits 31:0 are ADC1 channels 31:0
|
||||
*/
|
||||
|
||||
#define ADC1_CH(c) (((c) & 0x1f)) /* Define ADC number Channel number */
|
||||
#define ADC1_GPIO(n) PIN_ADC1_SE##n
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define ADC_USB_VBUS_VALID ADC1_CH(0) /* USB_VBUS_VALID 29 - ADC1_DP0 */
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10) /* BAT_VSENS 85 PTB4 ADC1_SE10 */
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11) /* BAT_ISENS 86 PTB5 ADC1_SE11 */
|
||||
#define ADC_5V_RAIL_SENSE ADC1_CH(12) /* 5V_VSENS 87 PTB6 ADC1_SE12 */
|
||||
#define ADC_RSSI_IN ADC1_CH(13) /* RSSI_IN 88 PTB7 ADC1_SE13 */
|
||||
#define ADC_AD1 ADC1_CH(16) /* AD1 35 - ADC1_SE16 */
|
||||
#define ADC_AD2 ADC1_CH(18) /* AD2 37 - ADC1_SE18 */
|
||||
#define ADC_AD3 ADC1_CH(23) /* AD3 39 - ADC1_SE23 */
|
||||
|
||||
/* Mask use to initialize the ADC driver */
|
||||
|
||||
#define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
|
||||
(1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
|
||||
(1 << ADC_5V_RAIL_SENSE) | \
|
||||
(1 << ADC_RSSI_IN) | \
|
||||
(1 << ADC_AD1) | \
|
||||
(1 << ADC_AD2) | \
|
||||
(1 << ADC_AD3))
|
||||
|
||||
|
||||
/* GPIO that require Configuration */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PTB4 ADC1_SE10 */ ADC1_GPIO(10), \
|
||||
/* PTB5 ADC1_SE11 */ ADC1_GPIO(11), \
|
||||
/* PTB6 ADC1_SE12 */ ADC1_GPIO(12), \
|
||||
/* PTB7 ADC1_SE13 */ ADC1_GPIO(13)
|
||||
|
||||
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (10.177939394f)
|
||||
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
|
||||
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO-
|
||||
* Define as GPIO input / GPIO outputs and timers IO
|
||||
*/
|
||||
|
||||
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
|
||||
#define PX4_MK_GPIO_INPUT(pin_ftmx) PX4_MK_GPIO(pin_ftmx, GPIO_PULLUP)
|
||||
#define PX4_MK_GPIO_OUTPUT(pin_ftmx) PX4_MK_GPIO(pin_ftmx, GPIO_HIGHDRIVE)
|
||||
|
||||
#define GPIO_GPIO0_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH0OUT) /* FMU_CH1 */
|
||||
#define GPIO_GPIO1_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH3OUT) /* FMU_CH2 */
|
||||
#define GPIO_GPIO2_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH4OUT) /* FMU_CH3 */
|
||||
#define GPIO_GPIO3_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH5OUT) /* FMU_CH4 */
|
||||
#define GPIO_GPIO4_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH6OUT) /* FMU_CH5 */
|
||||
#define GPIO_GPIO5_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH7OUT) /* FMU_CH6 */
|
||||
|
||||
#define GPIO_GPIO6_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH0OUT) /* U_TRI */
|
||||
#define GPIO_GPIO7_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM2_CH0OUT) /* U_ECHO */
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH0OUT) /* FMU_CH1 */
|
||||
#define GPIO_GPIO1_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH3OUT) /* FMU_CH2 */
|
||||
#define GPIO_GPIO2_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH4OUT) /* FMU_CH3 */
|
||||
#define GPIO_GPIO3_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH5OUT) /* FMU_CH4 */
|
||||
#define GPIO_GPIO4_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH6OUT) /* FMU_CH5 */
|
||||
#define GPIO_GPIO5_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH7OUT) /* FMU_CH6 */
|
||||
|
||||
#define GPIO_GPIO6_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH0OUT) /* U_TRI */
|
||||
#define GPIO_GPIO7_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM2_CH0OUT) /* U_ECHO */
|
||||
|
||||
/* P13 Ultrasonic Sensors
|
||||
* Timer Capture driver the the Trigger and sample the response on Echo
|
||||
*/
|
||||
|
||||
#define GPIO_TRI GPIO_GPIO6_OUTPUT
|
||||
#define GPIO_ECH GPIO_GPIO7_INPUT
|
||||
|
||||
/* Timer I/O PWM and capture
|
||||
*
|
||||
* 14 PWM outputs are configured.
|
||||
* 14 Timer inputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
* Defined in board.h
|
||||
*/
|
||||
// todo:Design this!
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
// None
|
||||
|
||||
#define GPIO_PERIPH_3V3_EN 0
|
||||
|
||||
|
||||
/* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
|
||||
* It is driving a NPN
|
||||
*/
|
||||
#define TONE_ALARM_TIMER 2 /* timer */
|
||||
#define TONE_ALARM_CHANNEL 1 /* channel */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN11)
|
||||
#define GPIO_TONE_ALARM (PIN_TPM2_CH1_1)
|
||||
|
||||
/* USB
|
||||
*
|
||||
* VBUS detection is on 29 ADC_DPM0 and PTE8
|
||||
*/
|
||||
#define GPIO_USB_VBUS_VALID /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)
|
||||
|
||||
/* PWM input driver. Use FMU PWM14 pin
|
||||
* todo:desing this
|
||||
*/
|
||||
#define PWMIN_TIMER 0
|
||||
#define PWMIN_TIMER_CHANNEL 2
|
||||
#define GPIO_PWM_IN GPIO_FTM0_CH2IN
|
||||
|
||||
#define BOARD_NAME "NXPHLITE_V3"
|
||||
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
|
||||
#define VDD_ETH_EN(on_true) px4_arch_gpiowrite(nGPIO_ETHERNET_P_EN, !(on_true))
|
||||
// Do not have #define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
|
||||
// Do not have #define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
|
||||
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_SENSOR_P_EN, !(on_true))
|
||||
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_P_EN, !(on_true))
|
||||
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_SPEKTRUM_P_EN)
|
||||
// Do not have #define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
|
||||
// Do not have #define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
|
||||
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(SD_CAED_P_EN, !(on_true))
|
||||
|
||||
/* Map to control term used in RC lib */
|
||||
#define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))
|
||||
|
||||
|
||||
/*
|
||||
* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
|
||||
#define BOARD_ADC_BRICK_VALID (1)
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_FMU_GPIO_TAB { \
|
||||
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
|
||||
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
|
||||
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
|
||||
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
|
||||
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
|
||||
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
|
||||
{0, GPIO_TRI, 0}, \
|
||||
{GPIO_ECH, 0, 0}, \
|
||||
}
|
||||
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
|
||||
#define LED_TIM3_CH1OUT /* PTD1 RGB_R */ PIN_FTM3_CH1_1
|
||||
#define LED_TIM3_CH5OUT /* PTC9 RGB_G */ PIN_FTM3_CH5_1
|
||||
#define LED_TIM3_CH4OUT /* PTC8 RGB_B */ PIN_FTM3_CH4_1
|
||||
|
||||
|
||||
/*
|
||||
* GPIO numbers.
|
||||
*
|
||||
* There are no alternate functions on this board.
|
||||
*/
|
||||
#define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
||||
#define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
||||
#define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
||||
#define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
||||
#define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
|
||||
#define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
|
||||
#define GPIO_SERVO_7 (1<<6) /**< servo 7 output U_TRI */
|
||||
#define GPIO_SERVO_8 (1<<6) /**< servo 8 output U_ECH */
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define PX4_GPIO_PWM_INIT_LIST { \
|
||||
GPIO_GPIO5_INPUT, \
|
||||
GPIO_GPIO4_INPUT, \
|
||||
GPIO_GPIO3_INPUT, \
|
||||
GPIO_GPIO2_INPUT, \
|
||||
GPIO_GPIO1_INPUT, \
|
||||
GPIO_GPIO0_INPUT, \
|
||||
GPIO_TRI, \
|
||||
}
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
GPIO_LED_R, \
|
||||
GPIO_LED_G, \
|
||||
GPIO_LED_B, \
|
||||
GPIO_SENSOR_P_EN, \
|
||||
SD_CAED_P_EN, \
|
||||
nGPIO_ETHERNET_P_EN, \
|
||||
GPIO_SPEKTRUM_P_EN, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_GM_nRST, \
|
||||
GPIO_A_RST, \
|
||||
GPIO_USB_VBUS_VALID, \
|
||||
GPIO_ECH, \
|
||||
GPIO_ENET_RST, \
|
||||
GPIO_ENET_EN, \
|
||||
GPIO_ENET_INH, \
|
||||
GPIO_ENET_CONFIG0, \
|
||||
GPIO_ENET_CONFIG1, \
|
||||
PIN_CAN0_RX, \
|
||||
PIN_CAN0_TX, \
|
||||
PIN_CAN1_RX, \
|
||||
PIN_CAN1_TX, \
|
||||
GPIO_CAN0_STB, \
|
||||
GPIO_CAN1_STB, \
|
||||
GPIO_BTN_SAFETY, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_NFC_IO, \
|
||||
GPIO_LED_1, \
|
||||
GPIO_LED_2 \
|
||||
}
|
||||
|
||||
/* Automounter */
|
||||
|
||||
#define HAVE_MMCSD 1
|
||||
#define HAVE_AUTOMOUNTER 1
|
||||
#if !defined(CONFIG_FS_AUTOMOUNTER) || !defined(HAVE_MMCSD)
|
||||
# undef HAVE_AUTOMOUNTER
|
||||
# undef CONFIG_NXPHLITE_SDHC_AUTOMOUNT
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT
|
||||
# undef HAVE_AUTOMOUNTER
|
||||
#endif
|
||||
|
||||
/* Automounter defaults */
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
|
||||
# ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT_FSTYPE
|
||||
# define CONFIG_NXPHLITE_SDHC_AUTOMOUNT_FSTYPE "vfat"
|
||||
# endif
|
||||
|
||||
# ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT_BLKDEV
|
||||
# define CONFIG_NXPHLITE_SDHC_AUTOMOUNT_BLKDEV "/dev/mmcds0"
|
||||
# endif
|
||||
|
||||
# ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT_MOUNTPOINT
|
||||
# define CONFIG_NXPHLITE_SDHC_AUTOMOUNT_MOUNTPOINT "/mnt/sdcard"
|
||||
# endif
|
||||
|
||||
# ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT_DDELAY
|
||||
# define CONFIG_NXPHLITE_SDHC_AUTOMOUNT_DDELAY 1000
|
||||
# endif
|
||||
|
||||
# ifndef CONFIG_NXPHLITE_SDHC_AUTOMOUNT_UDELAY
|
||||
# define CONFIG_NXPHLITE_SDHC_AUTOMOUNT_UDELAY 2000
|
||||
# endif
|
||||
#endif /* HAVE_AUTOMOUNTER */
|
||||
|
||||
#define BOARD_HAS_NOISY_FXOS8700_MAG 1 // Disable internal MAG
|
||||
|
||||
/************************************************************************************
|
||||
* Public data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXPHlite-v3 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void nxphlite_spidev_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI Buses.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int nxphlite_spi_bus_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: board_spi_reset board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
* Called to reset SPI and the perferal bus
|
||||
*
|
||||
****************************************************************************************************/
|
||||
void board_spi_reset(int ms);
|
||||
void board_peripheral_reset(int ms);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_bringup
|
||||
*
|
||||
* Description:
|
||||
* Bring up board features
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
|
||||
int nxphlite_bringup(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_sdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Inititialize the SDHC SD card slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int nxphlite_sdhc_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_cardinserted
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the SDHC slot
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool nxphlite_cardinserted(void);
|
||||
#else
|
||||
# define nxphlite_cardinserted() (false)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_writeprotected
|
||||
*
|
||||
* Description:
|
||||
* Check if the card in the MMC/SD slot is write protected
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool nxphlite_writeprotected(void);
|
||||
#else
|
||||
# define nxphlite_writeprotected() (false)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_automount_initialize
|
||||
*
|
||||
* Description:
|
||||
* Configure auto-mounter for the configured SDHC slot
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
void nxphlite_automount_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_automount_event
|
||||
*
|
||||
* Description:
|
||||
* The SDHC card detection logic has detected an insertion or removal event. It
|
||||
* has already scheduled the MMC/SD block driver operations. Now we need to
|
||||
* schedule the auto-mount event which will occur with a substantial delay to make
|
||||
* sure that everything has settle down.
|
||||
*
|
||||
* Input Parameters:
|
||||
* inserted - True if the card is inserted in the slot. False otherwise.
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Interrupts are disabled.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
void nxphlite_automount_event(bool inserted);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_timer_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure the FTM to provide 1 Mhz
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void nxphlite_timer_initialize(void);
|
||||
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,129 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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 nxphlite_can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <chip.h>
|
||||
#include <kinetis.h>
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(KINETIS_FLEXCAN0) && defined(KINETIS_FLEXCAN1)
|
||||
# warning "Both CAN0 and CAN1 are enabled. Assuming only CAN0."
|
||||
# undef KINETIS_FLEXCAN0
|
||||
#endif
|
||||
|
||||
#ifdef KINETIS_FLEXCAN0
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int can_devinit(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All 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 kinetis_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = kinetis_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 +1,362 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 nxphlite_init.c
|
||||
*
|
||||
* NXPHLITEV1v2-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 <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "platform/cxxinitialize.h"
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <kinetis.h>
|
||||
#include <kinetis_uart.h>
|
||||
#include <chip/kinetis_uart.h>
|
||||
#include "board_config.h"
|
||||
|
||||
#include "up_arch.h"
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
/****************************************************************************
|
||||
* 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
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
*
|
||||
* Description:
|
||||
* All boards must provide a way to read the state of VBUS, this my be simple
|
||||
* digital input on a GPIO. Or something more complicated like a Analong input
|
||||
* or reading a bit from a USB controller register.
|
||||
*
|
||||
* Returns - 0 if connected.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_read_VBUS_state(void)
|
||||
{
|
||||
return BOARD_ADC_USB_CONNECTED ? 0 : 1;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_rc_input
|
||||
*
|
||||
* Description:
|
||||
* All boards my optionally provide this API to invert the Serial RC input.
|
||||
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
|
||||
* and external XOR controlled by a GPIO
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
|
||||
{
|
||||
|
||||
irqstate_t irqstate = px4_enter_critical_section();
|
||||
|
||||
uint8_t s2 = getreg8(KINETIS_UART_S2_OFFSET + uxart_base);
|
||||
uint8_t c3 = getreg8(KINETIS_UART_C3_OFFSET + uxart_base);
|
||||
|
||||
/* {R|T}XINV bit fields can written any time */
|
||||
|
||||
if (invert_on) {
|
||||
s2 |= (UART_S2_RXINV);
|
||||
c3 |= (UART_C3_TXINV);
|
||||
|
||||
} else {
|
||||
s2 &= ~(UART_S2_RXINV);
|
||||
c3 &= ~(UART_C3_TXINV);
|
||||
}
|
||||
|
||||
putreg8(s2, KINETIS_UART_S2_OFFSET + uxart_base);
|
||||
putreg8(c3, KINETIS_UART_C3_OFFSET + uxart_base);
|
||||
|
||||
leave_critical_section(irqstate);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
warnx("reset done, %d ms", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All Kinetis architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
kinetis_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
nxphlite_timer_initialize();
|
||||
|
||||
/* Power on Spektrum */
|
||||
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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)
|
||||
{
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
nxphlite_spidev_initialize();
|
||||
|
||||
VDD_ETH_EN(true);
|
||||
|
||||
#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
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
#ifdef SERIAL_HAVE_DMA
|
||||
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)kinetis_serial_dma_poll,
|
||||
NULL);
|
||||
#endif
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_GREEN);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
int ret = nxphlite_sdhc_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
board_autoled_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
/* Initialize the auto-mounter */
|
||||
|
||||
nxphlite_automount_initialize();
|
||||
#endif
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
#ifdef CONFIG_SPI
|
||||
ret = nxphlite_spi_bus_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
board_autoled_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,115 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 nxphlite_led.c
|
||||
*
|
||||
* NXPHLITEV1 LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "kinetis.h"
|
||||
#include "chip.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
|
||||
|
||||
|
||||
static uint32_t g_ledmap[] = {
|
||||
0, // Indexed by LED_BLUE
|
||||
GPIO_LED_1, // Indexed by LED_RED, LED_AMBER
|
||||
GPIO_LED_SAFETY, // Indexed by LED_SAFETY
|
||||
GPIO_LED_2, // Indexed by LED_GREEN
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
kinetis_pinconfig(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive High to switch on */
|
||||
|
||||
if (g_ledmap[led] != 0) {
|
||||
kinetis_gpiowrite(g_ledmap[led], state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
if (g_ledmap[led] != 0) {
|
||||
return kinetis_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
@@ -0,0 +1,250 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2017 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/* A micro Secure Digital (SD) card slot is available on the board connected to
|
||||
* the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
|
||||
* format SD memory cards. The SD card detect pin (PTE6) is an open switch that
|
||||
* shorts with VDD when card is inserted.
|
||||
*
|
||||
* ------------ ------------- --------
|
||||
* SD Card Slot Board Signal K66 Pin
|
||||
* ------------ ------------- --------
|
||||
* DAT0 SDHC0_D0 PTE1
|
||||
* DAT1 SDHC0_D1 PTE0
|
||||
* DAT2 SDHC0_D2 PTE5
|
||||
* CD/DAT3 SDHC0_D3 PTE4
|
||||
* CMD SDHC0_CMD PTE3
|
||||
* CLK SDHC0_DCLK PTE2
|
||||
* SWITCH D_CARD_DETECT PTE6
|
||||
* ------------ ------------- --------
|
||||
*
|
||||
* There is no Write Protect pin available to the K66.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "kinetis.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_KINETIS_SDHC
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
/* This structure holds static information unique to one SDHC peripheral */
|
||||
|
||||
struct nxphlite_sdhc_state_s {
|
||||
struct sdio_dev_s *sdhc; /* R/W device handle */
|
||||
bool inserted; /* TRUE: card is inserted */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/* HSCMI device state */
|
||||
|
||||
static struct nxphlite_sdhc_state_s g_sdhc;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_mediachange
|
||||
****************************************************************************/
|
||||
|
||||
static void nxphlite_mediachange(struct nxphlite_sdhc_state_s *sdhc)
|
||||
{
|
||||
bool inserted;
|
||||
|
||||
/* Get the current value of the card detect pin. This pin is pulled up on
|
||||
* board. So low means that a card is present.
|
||||
*/
|
||||
|
||||
inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
|
||||
mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
|
||||
|
||||
/* Has the pin changed state? */
|
||||
|
||||
if (inserted != sdhc->inserted) {
|
||||
mcinfo("Media change: %d->%d\n", sdhc->inserted, inserted);
|
||||
|
||||
/* Yes.. perform the appropriate action (this might need some debounce). */
|
||||
|
||||
sdhc->inserted = inserted;
|
||||
sdhc_mediachange(sdhc->sdhc, inserted);
|
||||
|
||||
#ifdef CONFIG_NXPHLITE_SDHC_AUTOMOUNT
|
||||
/* Let the automounter know about the insertion event */
|
||||
|
||||
nxphlite_automount_event(nxphlite_cardinserted());
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_cdinterrupt
|
||||
****************************************************************************/
|
||||
|
||||
static int nxphlite_cdinterrupt(int irq, FAR void *context, FAR void *args)
|
||||
{
|
||||
/* All of the work is done by nxphlite_mediachange() */
|
||||
|
||||
nxphlite_mediachange((struct nxphlite_sdhc_state_s *) args);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_sdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Inititialize the SDHC SD card slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int nxphlite_sdhc_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
struct nxphlite_sdhc_state_s *sdhc = &g_sdhc;
|
||||
/* Configure GPIO pins */
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
|
||||
kinetis_pinconfig(GPIO_SD_CARDDETECT);
|
||||
|
||||
/* Attached the card detect interrupt (but don't enable it yet) */
|
||||
|
||||
kinetis_pinirqattach(GPIO_SD_CARDDETECT, nxphlite_cdinterrupt, sdhc);
|
||||
|
||||
/* Configure the write protect GPIO -- None */
|
||||
|
||||
/* Mount the SDHC-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDHC interface */
|
||||
|
||||
mcinfo("Initializing SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
sdhc->sdhc = sdhc_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdhc->sdhc) {
|
||||
mcerr("ERROR: Failed to initialize SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDHC interface to the MMC/SD driver */
|
||||
|
||||
mcinfo("Bind SDHC to the MMC/SD driver, minor=%d\n", CONFIG_NSH_MMCSDMINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdhc->sdhc);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
syslog(LOG_INFO, "Successfully bound SDHC to the MMC/SD driver\n");
|
||||
|
||||
/* Handle the initial card state */
|
||||
|
||||
nxphlite_mediachange(sdhc);
|
||||
|
||||
/* Enable CD interrupts to handle subsequent media changes */
|
||||
|
||||
kinetis_pinirqenable(GPIO_SD_CARDDETECT);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_cardinserted
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the SDHC slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool nxphlite_cardinserted(void)
|
||||
{
|
||||
bool inserted;
|
||||
|
||||
/* Get the current value of the card detect pin. This pin is pulled up on
|
||||
* board. So low means that a card is present.
|
||||
*/
|
||||
|
||||
inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
|
||||
mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
|
||||
return inserted;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nxphlite_writeprotected
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the SDHC slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool nxphlite_writeprotected(void)
|
||||
{
|
||||
/* There are no write protect pins */
|
||||
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAVE_MMCSD */
|
||||
@@ -0,0 +1,392 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
//#include <unistd.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include <kinetis.h>
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || \
|
||||
defined(CONFIG_KINETIS_SPI2)
|
||||
|
||||
#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
|
||||
|
||||
/* Define CS GPIO array */
|
||||
static const uint32_t spi0selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
|
||||
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
|
||||
static const uint32_t spi2selects_gpio[] = PX4_EXTERNAL_BUS_CS_GPIO;
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
|
||||
/* First float the A_MISO line tied to SA0 to ensure SPI Auto selection*/
|
||||
|
||||
kinetis_pinconfig(PX4_MK_GPIO(PIN_SPI1_SIN, GPIO_OPENDRAIN));
|
||||
kinetis_gpiowrite(PIN_SPI1_SIN, 1);
|
||||
|
||||
/* Next Change CS to inputs with pull downs */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(PX4_MK_GPIO(spi1selects_gpio[cs], GPIO_PULLDOWN));
|
||||
}
|
||||
}
|
||||
|
||||
/* Turn all the int inputs to inputs with pull down */
|
||||
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_GYRO_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_GYRO_INT2, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_ACCEL_MAG_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_ACCEL_MAG_INT2, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_BARO_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_BARO_INT2, GPIO_PULLDOWN));
|
||||
|
||||
/* Drive the Reset Pins LOW
|
||||
* For the Gyro FXAS21002C this is RESET
|
||||
* for the Accel FXOS8700CQ this is not RESET */
|
||||
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, false);
|
||||
kinetis_gpiowrite(GPIO_A_RST, false);
|
||||
|
||||
/* Power Down The Sensors */
|
||||
|
||||
VDD_3V3_SENSORS_EN(false);
|
||||
up_mdelay(ms);
|
||||
|
||||
/* Power Up The Sensors */
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
up_mdelay(2);
|
||||
|
||||
/* Restore all the CS to ouputs inactive */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi1selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
/* Restore all the int inputs to inputs */
|
||||
|
||||
kinetis_pinconfig(GPIO_EXTI_GYRO_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_GYRO_INT2);
|
||||
kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT2);
|
||||
kinetis_pinconfig(GPIO_EXTI_BARO_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_BARO_INT2);
|
||||
|
||||
/* Set Rests Active */
|
||||
|
||||
/* Accel Assert Reset to reset the FXOS8700CQ */
|
||||
/* The Gyro was reset above */
|
||||
|
||||
kinetis_gpiowrite(GPIO_A_RST, true);
|
||||
up_mdelay(ms);
|
||||
|
||||
/* Accel & Gyro release Reset */
|
||||
|
||||
kinetis_gpiowrite(GPIO_A_RST, false);
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, true);
|
||||
|
||||
/* Allow the Accel time to see PIN_SPI1_SIN as a float */
|
||||
|
||||
up_mdelay(2);
|
||||
|
||||
kinetis_pinconfig(PIN_SPI1_SIN);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: nxphlite_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXPHlite-v3 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void nxphlite_spidev_initialize(void)
|
||||
{
|
||||
board_spi_reset(10);
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi0selects_gpio); cs++) {
|
||||
if (spi0selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi0selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi1selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi2selects_gpio); cs++) {
|
||||
if (spi2selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi2selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXPHLITEV1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
static struct spi_dev_s *spi_sensors;
|
||||
static struct spi_dev_s *spi_memory;
|
||||
static struct spi_dev_s *spi_ext;
|
||||
|
||||
__EXPORT int nxphlite_spi_bus_initialize(void)
|
||||
{
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi_sensors = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
|
||||
|
||||
if (!spi_sensors) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_sensors, 8);
|
||||
SPI_SETMODE(spi_sensors, SPIDEV_MODE0);
|
||||
|
||||
for (int cs = PX4_SENSOR_BUS_FIRST_CS; cs <= PX4_SENSOR_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_sensors, cs, false);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the Memory */
|
||||
|
||||
spi_memory = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
|
||||
|
||||
if (!spi_memory) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_memory, 8);
|
||||
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_memory, cs, false);
|
||||
}
|
||||
|
||||
/* Configure EXTERNAL SPI-based devices */
|
||||
|
||||
spi_ext = px4_spibus_initialize(PX4_SPI_BUS_EXTERNAL);
|
||||
|
||||
if (!spi_ext) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_ext, 8);
|
||||
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_EXTERNAL_BUS_FIRST_CS; cs <= PX4_EXTERNAL_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_ext, cs, false);
|
||||
}
|
||||
|
||||
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_spi[n]select, kinetis_spi[n]status, and kinetis_spi[n]cmddata
|
||||
*
|
||||
* Description:
|
||||
* These external functions must be provided by board-specific logic. They are
|
||||
* implementations of the select, status, and cmddata methods of the SPI interface
|
||||
* defined by struct spi_ops_s (see include/nuttx/spi/spi.h). All other methods
|
||||
* including kinetis_spibus_initialize()) are provided by common Kinetis logic.
|
||||
* To use this common SPI logic on your board:
|
||||
*
|
||||
* 1. Provide logic in kinetis_boardinitialize() to configure SPI chip select
|
||||
* pins.
|
||||
* 2. Provide kinetis_spi[n]select() and kinetis_spi[n]status() functions
|
||||
* in your board-specific logic. These functions will perform chip selection
|
||||
* and status operations using GPIOs in the way your board is configured.
|
||||
* 2. If CONFIG_SPI_CMDDATA is defined in the NuttX configuration, provide
|
||||
* kinetis_spi[n]cmddata() functions in your board-specific logic. These
|
||||
* functions will perform cmd/data selection operations using GPIOs in the way
|
||||
* your board is configured.
|
||||
* 3. Add a call to kinetis_spibus_initialize() in your low level application
|
||||
* initialization logic
|
||||
* 4. The handle returned by kinetis_spibus_initialize() may then be used to bind the
|
||||
* SPI driver to higher level logic (e.g., calling
|
||||
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
|
||||
* the SPI MMC/SD driver).
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
uint32_t sel = devid;
|
||||
|
||||
if (devid == SPIDEV_FLASH(0)) {
|
||||
sel = PX4_SPIDEV_MEMORY;
|
||||
}
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi0selects_gpio) > 1 && cs < arraySize(spi0selects_gpio); cs++) {
|
||||
if (spi0selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi0selects_gpio[cs], 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi0selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
void kinetis_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi1selects_gpio[cs], 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
void kinetis_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
|
||||
if (spi2selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi2selects_gpio[cs], 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#endif /* CONFIG_KINETIS_SPI0 || CONFIG_KINETIS_SPI1 || CONFIG_KINETIS_SPI2 */
|
||||
@@ -0,0 +1,250 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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 nxphlite_timer_config.c
|
||||
*
|
||||
* Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
// TODO:Stubbed out for now
|
||||
#include <stdint.h>
|
||||
|
||||
#include <kinetis.h>
|
||||
#include "chip/kinetis_sim.h"
|
||||
#include "chip/kinetis_ftm.h"
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/kinetis/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = KINETIS_FTM0_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC6,
|
||||
.clock_bit = SIM_SCGC6_FTM0,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = KINETIS_IRQ_FTM0,
|
||||
|
||||
},
|
||||
{
|
||||
.base = KINETIS_FTM3_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM3,
|
||||
.first_channel_index = 4,
|
||||
.last_channel_index = 5,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = KINETIS_IRQ_FTM3,
|
||||
},
|
||||
{
|
||||
.base = KINETIS_FTM2_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM2,
|
||||
.first_channel_index = 6,
|
||||
.last_channel_index = 7,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = KINETIS_IRQ_FTM2,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH0OUT, // FMU_CH1
|
||||
.gpio_in = GPIO_FTM0_CH0IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1, // physical channel number +1
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH3OUT, // FMU_CH2
|
||||
.gpio_in = GPIO_FTM0_CH3IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH4OUT, // FMU_CH3
|
||||
.gpio_in = GPIO_FTM0_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 5,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH5OUT, // FMU_CH4
|
||||
.gpio_in = GPIO_FTM0_CH5IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 6,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH6OUT, // FMU_CH5
|
||||
.gpio_in = GPIO_FTM3_CH6IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 7,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH7OUT, // FMU_CH6
|
||||
.gpio_in = GPIO_FTM3_CH7IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 8,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH0OUT, // U_TRI
|
||||
.gpio_in = GPIO_FTM3_CH0IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM2_CH0OUT,
|
||||
.gpio_in = GPIO_FTM2_CH0IN, // U_ECH
|
||||
.timer_index = 2,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
};
|
||||
|
||||
__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
||||
{
|
||||
.base = KINETIS_FTM3_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM3,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 2,
|
||||
.vectorno = 0,
|
||||
},
|
||||
};
|
||||
|
||||
__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH5OUT, // RGB_G
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 6,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH1OUT, // RGB_R
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH4OUT, // RGB_B
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 5,
|
||||
},
|
||||
};
|
||||
|
||||
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
|
||||
|
||||
/* Timer register accessors */
|
||||
|
||||
#define REG(t, _reg) _REG(KINETIS_FTM##t##_BASE + (_reg))
|
||||
|
||||
#define rSC(t) REG(t,KINETIS_FTM_SC_OFFSET)
|
||||
#define rCNT(t) REG(t,KINETIS_FTM_CNT_OFFSET)
|
||||
#define rMOD(t) REG(t,KINETIS_FTM_MOD_OFFSET)
|
||||
#define rC0SC(t) REG(t,KINETIS_FTM_C0SC_OFFSET)
|
||||
#define rC0V(t) REG(t,KINETIS_FTM_C0V_OFFSET)
|
||||
#define rC1SC(t) REG(t,KINETIS_FTM_C1SC_OFFSET)
|
||||
#define rC1V(t) REG(t,KINETIS_FTM_C1V_OFFSET)
|
||||
#define rC2SC(t) REG(t,KINETIS_FTM_C2SC_OFFSET)
|
||||
#define rC2V(t) REG(t,KINETIS_FTM_C2V_OFFSET)
|
||||
#define rC3SC(t) REG(t,KINETIS_FTM_C3SC_OFFSET)
|
||||
#define rC3V(t) REG(t,KINETIS_FTM_C3V_OFFSET)
|
||||
#define rC4SC(t) REG(t,KINETIS_FTM_C4SC_OFFSET)
|
||||
#define rC4V(t) REG(t,KINETIS_FTM_C4V_OFFSET)
|
||||
#define rC5SC(t) REG(t,KINETIS_FTM_C5SC_OFFSET)
|
||||
#define rC5V(t) REG(t,KINETIS_FTM_C5V_OFFSET)
|
||||
#define rC6SC(t) REG(t,KINETIS_FTM_C6SC_OFFSET)
|
||||
#define rC6V(t) REG(t,KINETIS_FTM_C6V_OFFSET)
|
||||
#define rC7SC(t) REG(t,KINETIS_FTM_C7SC_OFFSET)
|
||||
#define rC7V(t) REG(t,KINETIS_FTM_C7V_OFFSET)
|
||||
|
||||
#define rCNTIN(t) REG(t,KINETIS_FTM_CNTIN_OFFSET)
|
||||
#define rSTATUS(t) REG(t,KINETIS_FTM_STATUS_OFFSET)
|
||||
#define rMODE(t) REG(t,KINETIS_FTM_MODE_OFFSET)
|
||||
#define rSYNC(t) REG(t,KINETIS_FTM_SYNC_OFFSET)
|
||||
#define rOUTINIT(t) REG(t,KINETIS_FTM_OUTINIT_OFFSET)
|
||||
#define rOUTMASK(t) REG(t,KINETIS_FTM_OUTMASK_OFFSET)
|
||||
#define rCOMBINE(t) REG(t,KINETIS_FTM_COMBINE_OFFSET)
|
||||
#define rDEADTIME(t) REG(t,KINETIS_FTM_DEADTIME_OFFSET)
|
||||
#define rEXTTRIG(t) REG(t,KINETIS_FTM_EXTTRIG_OFFSET)
|
||||
#define rPOL(t) REG(t,KINETIS_FTM_POL_OFFSET)
|
||||
#define rFMS(t) REG(t,KINETIS_FTM_FMS_OFFSET)
|
||||
#define rFILTER(t) REG(t,KINETIS_FTM_FILTER_OFFSET)
|
||||
#define rFLTCTRL(t) REG(t,KINETIS_FTM_FLTCTRL_OFFSET)
|
||||
#define rQDCTRL(t) REG(t,KINETIS_FTM_QDCTRL_OFFSET)
|
||||
#define rCONF(t) REG(t,KINETIS_FTM_CONF_OFFSET)
|
||||
#define rFLTPOL(t) REG(t,KINETIS_FTM_FLTPOL_OFFSET)
|
||||
#define rSYNCONF(t) REG(t,KINETIS_FTM_SYNCONF_OFFSET)
|
||||
#define rINVCTRL(t) REG(t,KINETIS_FTM_INVCTRL_OFFSET)
|
||||
#define rSWOCTRL(t) REG(t,KINETIS_FTM_SWOCTRL_OFFSET)
|
||||
#define rPWMLOAD(t) REG(t,KINETIS_FTM_PWMLOAD_OFFSET)
|
||||
|
||||
#if !defined(BOARD_PWM_SRC_CLOCK_FREQ)
|
||||
#define BOARD_PWM_SRC_CLOCK_FREQ 16000000
|
||||
#endif
|
||||
|
||||
|
||||
__EXPORT void nxphlite_timer_initialize(void)
|
||||
{
|
||||
|
||||
|
||||
/* Y1 is 16 Mhz used to driver the FTM_CLKIN0 (PCT12) */
|
||||
|
||||
|
||||
/* Enable PCT12 as FTM_CLKIN0 */
|
||||
|
||||
kinetis_pinconfig(PIN_FTM_CLKIN0_3);
|
||||
|
||||
/* Select FTM_CLKIN0 as source for FTM0, FTM2, and FTM3 */
|
||||
|
||||
uint32_t regval = _REG(KINETIS_SIM_SOPT4);
|
||||
regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM2CLKSEL | SIM_SOPT4_FTM3CLKSEL);
|
||||
_REG(KINETIS_SIM_SOPT4) = regval;
|
||||
|
||||
|
||||
/* Enabled System Clock Gating Control for FTM 0 and 2*/
|
||||
|
||||
regval = _REG(KINETIS_SIM_SCGC6);
|
||||
regval |= SIM_SCGC6_FTM0 | SIM_SCGC6_FTM2;
|
||||
_REG(KINETIS_SIM_SCGC6) = regval;
|
||||
|
||||
/* Enabled System Clock Gating Control for FTM 2 and 3 */
|
||||
|
||||
regval = _REG(KINETIS_SIM_SCGC3);
|
||||
regval |= SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
|
||||
_REG(KINETIS_SIM_SCGC3) = regval;
|
||||
|
||||
}
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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 nxphlite_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <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 <up_arch.h>
|
||||
#include <kinetis.h>
|
||||
#include <kinetis_usbotg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_usbpullup
|
||||
*
|
||||
* Description:
|
||||
* If USB is supported and the board supports a pullup via GPIO (for USB software
|
||||
* connect and disconnect), then the board software must provide kinetis_usbpullup.
|
||||
* See include/nuttx/usb/usbdev.h for additional description of this method.
|
||||
* Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
|
||||
* NULL.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT
|
||||
int kinetis_usbpullup(FAR struct usbdev_s *dev, bool enable)
|
||||
{
|
||||
usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
|
||||
|
||||
if (enable) {
|
||||
putreg8(USB_CONTROL_DPPULLUPNONOTG, KINETIS_USB0_CONTROL);
|
||||
|
||||
} else {
|
||||
putreg8(0, KINETIS_USB0_CONTROL);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the kinetis_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 kinetis_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Reference in New Issue
Block a user