mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 06:03:34 +08:00
Initial omnibusf4sd target support
Flight tested: ekf2 w/ mag and compass by @nathantsoi: https://logs.px4.io/plot_app?log=79b81031-cf1e-41f0-890b-d6cd7d559766 NOTE: external I2C devices need a pullup. I have tested with a 3.3v 2.2k pullup. Working: - mpu6000, bench tested and verified via nsh - fmu - all 6 ch output bench tested w/ pwm and oneshot via nsh - ppm input bench tested - dsm input bench tested - bmp280, bench tested and verified via nsh - hmc5883, bench tested and verified via nsh, but requires an external i2c pullup - gps on uart6 - startuplog, nsh, mavlink on uart4, but params are not sent for some reason. RSSI pin is TX, MOTOR 5 is RX (normal mode, 57600 baud) - rgbled over i2c, bench tested and workingp - sbus via the shared sbus/ppm pin (which includes an inverter to the mcu SBUS in pin), remove the solder bridge or jumper to the ppm pin before use Not yet implemented: - ADC - OSD: passthrough video is untested, use at your own risk until a basic driver is implemented.
This commit is contained in:
nathan
@@ -584,8 +584,12 @@ struct bmp280_bus_option {
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#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
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{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
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#endif
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#ifdef PX4_SPIDEV_BARO
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#if defined(PX4_SPIDEV_BARO)
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# if defined(PX4_SPIDEV_BARO_BUS)
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{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
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# else
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{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
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# endif
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#endif
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#ifdef PX4_I2C_OBDEV_BMP280
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{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, false, NULL },
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@@ -73,7 +73,7 @@
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
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# error microSD DMA support requires CONFIG_GRAN
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# error microSD DMA support requires CONFIG_GRAN and CONFIG_FAT_DMAMEMORY
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# endif
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static GRAN_HANDLE dma_allocator;
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@@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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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 PX4 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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px4_add_library(drivers_board
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init.c
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led.c
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spi.c
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timer_config.c
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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drivers__led # drv_led_start
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nuttx_apps # up_cxxinitialize
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nuttx_arch # sdio
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nuttx_drivers # sdio
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parameters # param_init
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)
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@@ -0,0 +1,340 @@
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/****************************************************************************
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*
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* Copyright (c) 2018, 2014 PX4 Development Team. All rights reserved.
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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 PX4 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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/**
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* @file board_config.h
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*
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* omnibusf4sd internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* omnibusf4sd GPIOs ***********************************************************************************/
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/* LEDs */
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// power - green
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// LED1 - PB5 - blue
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_LED_BLUE GPIO_LED1
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/* GPS
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* UART6
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*/
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#define GPS_DEFAULT_UART_PORT "/dev/ttyS2"
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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*/
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// TODO: ADCs, eg. pixracer
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//#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
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// Placeholder
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#define ADC_BATTERY_VOLTAGE_CHANNEL ((uint8_t)(-1))
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#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
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// TODO: ADCs
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//#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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//#define ADC_BATTERY_CURRENT_CHANNEL 3
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//#define ADC_5V_RAIL_SENSE 4
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//#define ADC_RC_RSSI_CHANNEL 11
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/* Define Battery 1 Voltage Divider and A per V
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*/
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// TODO:
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//#define BOARD_BATTERY1_V_DIV (13.653333333f)
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//#define BOARD_BATTERY1_A_PER_V (36.367515152f)
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/* User GPIOs
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*
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* GPIO0-5 are the PWM servo outputs.
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* GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
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* GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
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* GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
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* GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
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* GPIO_TIM5_CH2OUT GPIO_TIM5_CH2OUT_1 //PA1 S5_OUT
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* GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 //PA8 S6_OUT
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*/
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#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
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#define GPIO_GPIO0_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH3IN)
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#define GPIO_GPIO1_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH4IN)
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#define GPIO_GPIO2_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH4IN)
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#define GPIO_GPIO3_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH3IN)
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//#define GPIO_GPIO4_INPUT _MK_GPIO_INPUT(GPIO_TIM5_CH2IN)
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//#define GPIO_GPIO5_INPUT _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
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#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
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#define GPIO_GPIO0_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH3OUT)
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#define GPIO_GPIO1_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH4OUT)
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#define GPIO_GPIO2_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT)
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#define GPIO_GPIO3_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH3OUT)
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//#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
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//#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
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/*----------------------------------------------------------*/
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/* OMNIBUSF4SD SPI chip selects and DRDY */
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/*----------------------------------------------------------*/
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/* SPI chip selects */
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/*
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* Define the Chip Selects for SPI1
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*
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* MPU6000: PA4
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*
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*/
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#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
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/*
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* Define the Chip Selects for SPI2
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*
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* SD Card: PB12
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*
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*/
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#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
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/*
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* Define the Chip Selects for SPI3
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*
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* BMP280: PB3
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* ABT7456: PA15
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*
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*/
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#define GPIO_SPI3_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
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#define GPIO_SPI3_CS_OSD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* SPI 1 bus off */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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/* SPI 1 CS's off */
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#define GPIO_SPI1_CS_MEMS_OFF _PIN_OFF(GPIO_SPI_CS_MEMS)
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/* SPI 2 bus off */
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#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
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#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
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#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
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/* SPI 2 CS's off */
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#define GPIO_SPI2_CS_SDCARD_OFF _PIN_OFF(GPIO_SPI_CS_SDCARD)
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/* SPI 3 bus off */
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#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
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#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
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#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
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/* SPI 3 CS's off */
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#define GPIO_SPI3_CS_BARO_OFF _PIN_OFF(GPIO_SPI3_CS_BARO)
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// One device per bus
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU 1
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#define PX4_SPIDEV_BARO_BUS 3
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#define PX4_SPIDEV_BARO 1
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
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/*----------------------------------------------------------*/
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/* End OMNIBUSF4SD SPI chip selects and DRDY */
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/*----------------------------------------------------------*/
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#define PX4_SPI_BUS_BARO 3
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#define PX4_I2C_BUS_EXPANSION 2
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/* PWM
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*
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* 6 PWM outputs are configured.
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*
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* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
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*
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* Pins:
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*
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* INPUTS:
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* CH1 : PB8 : TIM10_CH1 // PPM
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* CH2 : PB9 : TIM4_CH4
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* CH3 : PC6 : TIM8_CH1 // OR UART6_TX
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* CH4 : PC7 : TIM8_CH2 // OR UART6_RX
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* CH5 : PC8 : TIM8_CH3
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* CH6 : PC9 : TIM8_CH4
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*
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* OUTPUTS:
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* M1 : PB0 : TIM3_CH3
|
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* M2 : PB1 : TIM3_CH4
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* M3 : PA3 : TIM2_CH3
|
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* M4 : PA2 : TIM2_CH4
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* M5 : PA1 : TIM5_CH2 // UART4_RX
|
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* M6 : PA8 : TIM1_CH1 // USART2_TX
|
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*/
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#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
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#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
|
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#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
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#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
|
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|
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
|
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|
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#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
|
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#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
|
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#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
|
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#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
|
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|
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#define DIRECT_INPUT_TIMER_CHANNELS 4
|
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|
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// Has pwm outputs
|
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
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|
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/* High-resolution timer */
|
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#define HRT_TIMER 4 // T4C1
|
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#define HRT_TIMER_CHANNEL 1 // use capture/compare channel 1
|
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|
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#define HRT_PPM_CHANNEL 3 // capture/compare channel 3
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
|
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|
||||
#define RC_SERIAL_PORT "/dev/ttyS0"
|
||||
|
||||
/*
|
||||
* One RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PB8 T4CH3
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
|
||||
* The FMU can drive GPIO PPM_IN as an output
|
||||
*/
|
||||
// TODO?
|
||||
//#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
|
||||
//#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||||
//#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
||||
//#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||||
|
||||
#define BOARD_NAME "OMNIBUS_F4SD"
|
||||
|
||||
#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}, }
|
||||
|
||||
/*
|
||||
* PX4FMUv4 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 */
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB IO.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,507 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* omnibusf4sd-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "platform/cxxinitialize.h"
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <stm32_uart.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <systemlib/hardfault_log.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <parameters/param.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_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
stm32_configgpio(GPIO_GPIO0_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO1_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO2_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO3_OUTPUT);
|
||||
//stm32_configgpio(GPIO_GPIO4_OUTPUT);
|
||||
//stm32_configgpio(GPIO_GPIO5_OUTPUT);
|
||||
|
||||
/* On resets invoked from system (not boot) insure we establish a low
|
||||
* output state (discharge the pins) on PWM pins before they become inputs.
|
||||
*/
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(400);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
/* Reset all PWM to Low outputs */
|
||||
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
|
||||
//TODO: ADCs
|
||||
///* configure ADC pins */
|
||||
//stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
|
||||
|
||||
// TODO: power peripherals
|
||||
///* configure power supply control/sense pins */
|
||||
//stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
//stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
//stm32_configgpio(GPIO_VDD_USB_VALID);
|
||||
|
||||
// TODO: 3v3 Sensor?
|
||||
///* Start with Sensor voltage off We will enable it
|
||||
// * in board_app_initialize
|
||||
// */
|
||||
//stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
// TODO: SBUS inversion? SPEK power?
|
||||
//stm32_configgpio(GPIO_SBUS_INV);
|
||||
//stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
// TODO: $$$ Unused?
|
||||
//stm32_configgpio(GPIO_8266_GPIO0);
|
||||
//stm32_configgpio(GPIO_8266_PD);
|
||||
//stm32_configgpio(GPIO_8266_RST);
|
||||
|
||||
/* Safety - led don in led driver */
|
||||
|
||||
// TODO: unused?
|
||||
//stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
// TODO: RSSI
|
||||
//stm32_configgpio(GPIO_RSSI_IN);
|
||||
|
||||
stm32_configgpio(GPIO_PPM_IN);
|
||||
|
||||
/* configure SPI all interfaces GPIO */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct spi_dev_s *spi3;
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure 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 */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
#if defined(CONFIG_STM32_BBSRAM)
|
||||
|
||||
/* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA
|
||||
*/
|
||||
|
||||
/* Using Battery Backed Up SRAM */
|
||||
|
||||
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
|
||||
|
||||
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
|
||||
|
||||
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
|
||||
|
||||
/* Panic Logging in Battery Backed Up Files */
|
||||
|
||||
/*
|
||||
* In an ideal world, if a fault happens in flight the
|
||||
* system save it to BBSRAM will then reboot. Upon
|
||||
* rebooting, the system will log the fault to disk, recover
|
||||
* the flight state and continue to fly. But if there is
|
||||
* a fault on the bench or in the air that prohibit the recovery
|
||||
* or committing the log to disk, the things are too broken to
|
||||
* fly. So the question is:
|
||||
*
|
||||
* Did we have a hard fault and not make it far enough
|
||||
* through the boot sequence to commit the fault data to
|
||||
* the SD card?
|
||||
*/
|
||||
|
||||
/* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD
|
||||
*/
|
||||
int hadCrash = hardfault_check_status("boot");
|
||||
|
||||
if (hadCrash == OK) {
|
||||
|
||||
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
|
||||
" while booting to halt the system!\n");
|
||||
|
||||
/* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD
|
||||
*/
|
||||
|
||||
int reboots = hardfault_increment_reboot("boot", false);
|
||||
|
||||
/* Also end the misery for a user that holds for a key down on the console */
|
||||
|
||||
int bytesWaiting;
|
||||
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
|
||||
|
||||
if (reboots > 2 || bytesWaiting != 0) {
|
||||
|
||||
/* Since we can not commit the fault dump to disk. Display it
|
||||
* to the console.
|
||||
*/
|
||||
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
|
||||
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
|
||||
reboots,
|
||||
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
|
||||
|
||||
|
||||
/* For those of you with a debugger set a break point on up_assert and
|
||||
* then set dbgContinue = 1 and go.
|
||||
*/
|
||||
|
||||
/* Clear any key press that got us here */
|
||||
|
||||
static volatile bool dbgContinue = false;
|
||||
int c = '>';
|
||||
|
||||
while (!dbgContinue) {
|
||||
|
||||
switch (c) {
|
||||
|
||||
case EOF:
|
||||
|
||||
|
||||
case '\n':
|
||||
case '\r':
|
||||
case ' ':
|
||||
continue;
|
||||
|
||||
default:
|
||||
|
||||
putchar(c);
|
||||
putchar('\n');
|
||||
|
||||
switch (c) {
|
||||
|
||||
case 'D':
|
||||
case 'd':
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
break;
|
||||
|
||||
case 'C':
|
||||
case 'c':
|
||||
hardfault_rearm("boot");
|
||||
hardfault_increment_reboot("boot", true);
|
||||
break;
|
||||
|
||||
case 'B':
|
||||
case 'b':
|
||||
dbgContinue = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
} // Inner Switch
|
||||
|
||||
message("\nEnter B - Continue booting\n" \
|
||||
"Enter C - Clear the fault log\n" \
|
||||
"Enter D - Dump fault log\n\n?>");
|
||||
fflush(stdout);
|
||||
|
||||
if (!dbgContinue) {
|
||||
c = getchar();
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
} // outer switch
|
||||
} // for
|
||||
|
||||
} // inner if
|
||||
} // outer if
|
||||
|
||||
#endif // CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif // CONFIG_STM32_BBSRAM
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_BLUE);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
// SPI1: MPU6000
|
||||
spi1 = stm32_spibus_initialize(1);
|
||||
|
||||
if (!spi1) {
|
||||
message("[boot] FAILED to initialize SPI port 1\n");
|
||||
board_autoled_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// SPI2: SDCard
|
||||
/* Get the SPI port for the microSD slot */
|
||||
spi2 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi2) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SPI interface to the MMCSD driver */
|
||||
int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi2);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
up_udelay(20);
|
||||
|
||||
|
||||
// SPI3: OSD / Baro
|
||||
spi3 = stm32_spibus_initialize(3);
|
||||
|
||||
if (!spi3) {
|
||||
message("[boot] FAILED to initialize SPI port 3\n");
|
||||
board_autoled_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Copied from fmu-v4
|
||||
* Default SPI3 to 12MHz and de-assert the known chip selects.
|
||||
* MS5611 has max SPI clock speed of 20MHz
|
||||
*/
|
||||
|
||||
// BMP280 max SPI speed is 10 MHz
|
||||
SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
|
||||
SPI_SETBITS(spi3, 8);
|
||||
SPI_SETMODE(spi3, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
|
||||
up_udelay(20);
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,125 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* omnibusf4sd LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/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[] = {
|
||||
GPIO_LED_BLUE,
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_initialize(void)
|
||||
{
|
||||
/* Configure LED1 GPIO for output */
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_on(int led)
|
||||
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 1) {
|
||||
if (stm32_gpioread(GPIO_LED1)) {
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
|
||||
} else {
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,184 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 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 spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* 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 <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize()
|
||||
{
|
||||
stm32_configgpio(GPIO_SPI_CS_MEMS);
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
stm32_configgpio(GPIO_SPI3_CS_BARO);
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
UNUSED(devid);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MEMS, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
UNUSED(devid);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
UNUSED(devid);
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
px4_arch_gpiowrite(GPIO_SPI3_CS_BARO, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
// TODO: DRDY
|
||||
///* disable SPI bus 1 DRDY */
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTD_PIN15);
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTC_PIN14);
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTE_PIN12);
|
||||
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTD_PIN15, 0);
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTC_PIN14, 0);
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTE_PIN12, 0);
|
||||
|
||||
/* disable SPI bus 1 CS */
|
||||
stm32_configgpio(GPIO_SPI1_CS_MEMS_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI1_CS_MEMS_OFF, 0);
|
||||
|
||||
/* disable SPI bus 2 CS */
|
||||
stm32_configgpio(GPIO_SPI2_CS_SDCARD_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_SDCARD_OFF, 0);
|
||||
|
||||
/* disable SPI bus 3 CS */
|
||||
stm32_configgpio(GPIO_SPI3_CS_BARO_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI3_CS_BARO_OFF, 0);
|
||||
|
||||
/* disable SPI bus 1*/
|
||||
stm32_configgpio(GPIO_SPI1_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
|
||||
|
||||
/* disable SPI bus 2*/
|
||||
stm32_configgpio(GPIO_SPI2_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI2_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI2_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI2_MOSI_OFF, 0);
|
||||
|
||||
/* disable SPI bus 3*/
|
||||
stm32_configgpio(GPIO_SPI3_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI3_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI3_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI3_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI3_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI3_MOSI_OFF, 0);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
// TODO: why do we not enable SPI2 here?
|
||||
|
||||
stm32_configgpio(GPIO_SPI3_SCK);
|
||||
stm32_configgpio(GPIO_SPI3_MISO);
|
||||
stm32_configgpio(GPIO_SPI3_MOSI);
|
||||
}
|
||||
@@ -0,0 +1,120 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 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 timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 1,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = STM32_IRQ_TIM2
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.first_channel_index = 2,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = STM32_IRQ_TIM3
|
||||
}
|
||||
};
|
||||
/*
|
||||
* OUTPUTS:
|
||||
* M3 : PA3 : TIM2_CH3
|
||||
* M4 : PA2 : TIM2_CH4
|
||||
* M1 : PB0 : TIM3_CH3
|
||||
* M2 : PB1 : TIM3_CH4
|
||||
*/
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
//PB0 S1_OUT D1_ST7
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH3OUT,
|
||||
.gpio_in = GPIO_TIM3_CH3IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
//PB1 S2_OUT D1_ST2
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
||||
.gpio_in = GPIO_TIM3_CH4IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
//PA3 S3_OUT D1_ST6
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH4OUT,
|
||||
.gpio_in = GPIO_TIM2_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
//PA2 S4_OUT D1_ST1
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH3OUT,
|
||||
.gpio_in = GPIO_TIM2_CH3IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_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 <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the omnibusf4sd board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
@@ -1144,7 +1144,9 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
|
||||
|
||||
void PX4FMU::rc_io_invert(bool invert)
|
||||
{
|
||||
#ifdef INVERT_RC_INPUT
|
||||
INVERT_RC_INPUT(invert);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user