mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 04:03:35 +08:00
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
@@ -1,60 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_eeprom.h
|
||||
*
|
||||
* Config for the non-MTD EEPROM driver.
|
||||
*/
|
||||
|
||||
/* IMPORTANT: Adjust this number! */
|
||||
#define MAX_EEPROMS 2
|
||||
|
||||
/* FMU onboard */
|
||||
#define FMU_BASEBOARD_EEPROM_ADDRESS 0x57
|
||||
#define FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES 128
|
||||
#define FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES 8
|
||||
#define FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US 3300
|
||||
#define FMU_BASEBOARD_EEPROM_BUS_CLOCK 400000 ///< 400 KHz max. clock
|
||||
|
||||
/**
|
||||
* @brief i2c I2C bus struct
|
||||
* @brief device_address The device address as stated in the datasheet, e.g. for a Microchip 24XX128 0x50 with all ID pins tied to GND
|
||||
* @brief total_size_bytes The total size in bytes, e.g. 16K = 16000 bytes for the Microchip 24XX128
|
||||
* @brief page_size_bytes The size of one page, e.g. 64 bytes for the Microchip 24XX128
|
||||
* @brief device_name The device name to register this device to, e.g. /dev/eeprom
|
||||
* @brief fail_if_missing Returns error if the EEPROM was not found. This is helpful if the EEPROM might be attached later when the board is running
|
||||
*/
|
||||
extern int
|
||||
eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing);
|
||||
|
||||
@@ -1,51 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#define _LEDCBASE 0x6800
|
||||
#define LEDC(_x) _IOC(_LEDCBASE, _x)
|
||||
|
||||
/* set the LED identified by the argument */
|
||||
#define LED_ON LEDC(1)
|
||||
|
||||
/* clear the LED identified by the argument */
|
||||
#define LED_OFF LEDC(2)
|
||||
|
||||
///* toggle the LED identified by the argument */
|
||||
//#define LED_TOGGLE LEDC(3)
|
||||
|
||||
#define LED_BLUE 0 /* Led on first port */
|
||||
#define LED_AMBER 1 /* Led on second port */
|
||||
|
||||
extern int px4fmu_led_init(void);
|
||||
@@ -52,7 +52,6 @@ CONFIGURED_APPS += systemcmds/top
|
||||
CONFIGURED_APPS += systemcmds/boardinfo
|
||||
CONFIGURED_APPS += systemcmds/mixer
|
||||
CONFIGURED_APPS += systemcmds/eeprom
|
||||
CONFIGURED_APPS += systemcmds/led
|
||||
CONFIGURED_APPS += systemcmds/param
|
||||
CONFIGURED_APPS += systemcmds/bl_update
|
||||
#CONFIGURED_APPS += systemcmds/calibration
|
||||
@@ -94,6 +93,7 @@ CONFIGURED_APPS += drivers/bma180
|
||||
CONFIGURED_APPS += drivers/l3gd20
|
||||
CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/px4fmu
|
||||
|
||||
|
||||
@@ -40,9 +40,7 @@ CFLAGS += -I$(TOPDIR)/sched
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = up_leds.c \
|
||||
drv_led.c drv_eeprom.c
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
@@ -69,6 +67,7 @@ libboard$(LIBEXT): $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $@, $${obj}); \
|
||||
done ; )
|
||||
touch $@
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
|
||||
@@ -1,522 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Generic driver for I2C EEPROMs with 8 bit or 16 bit addressing
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/i2c.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
|
||||
/* Split I2C transfers into smaller chunks to make sure to stay within tight timeout limits */
|
||||
|
||||
/* check defines */
|
||||
#ifndef MAX_EEPROMS
|
||||
#error MAX_EEPROMS number must be defined (1-3)
|
||||
#endif
|
||||
|
||||
#if (MAX_EEPROMS > 3)
|
||||
#error Currently only a maximum of three EEPROMS is supported, add missing code around here: __FILE__:__LINE__
|
||||
#endif
|
||||
static int eeprom_open0(FAR struct file *filp);
|
||||
static int eeprom_close0(FAR struct file *filp);
|
||||
static ssize_t eeprom_read0(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write0(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence);
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int eeprom_open1(FAR struct file *filp);
|
||||
static int eeprom_close1(FAR struct file *filp);
|
||||
static ssize_t eeprom_read1(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write1(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence);
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int eeprom_open2(FAR struct file *filp);
|
||||
static int eeprom_close2(FAR struct file *filp);
|
||||
static ssize_t eeprom_read2(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write2(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence);
|
||||
#endif
|
||||
|
||||
static const struct file_operations eeprom_fops[MAX_EEPROMS] = {{
|
||||
.open = eeprom_open0,
|
||||
.close = eeprom_close0,
|
||||
.read = eeprom_read0,
|
||||
.write = eeprom_write0,
|
||||
.seek = eeprom_seek0,
|
||||
.ioctl = 0,
|
||||
#ifndef CONFIG_DISABLE_POLL
|
||||
.poll = 0
|
||||
#endif
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
,{
|
||||
.open = eeprom_open1,
|
||||
.close = eeprom_close1,
|
||||
.read = eeprom_read1,
|
||||
.write = eeprom_write1,
|
||||
.seek = eeprom_seek1,
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
,{
|
||||
.open = eeprom_open2,
|
||||
.close = eeprom_close2,
|
||||
.read = eeprom_read2,
|
||||
.write = eeprom_write2,
|
||||
.seek = eeprom_seek2,
|
||||
}
|
||||
#endif
|
||||
};
|
||||
|
||||
static FAR struct eeprom_dev_s
|
||||
{
|
||||
struct i2c_dev_s *i2c;
|
||||
uint8_t eeprom_address;
|
||||
uint16_t eeprom_size_bytes;
|
||||
uint16_t eeprom_page_size_bytes;
|
||||
uint16_t eeprom_page_write_time;
|
||||
off_t offset;
|
||||
bool is_open;
|
||||
} eeprom_dev[MAX_EEPROMS];
|
||||
|
||||
static int
|
||||
eeprom_open0(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[0].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[0].is_open = true;
|
||||
eeprom_dev[0].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int
|
||||
eeprom_open1(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[1].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[1].is_open = true;
|
||||
eeprom_dev[1].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int
|
||||
eeprom_open2(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[2].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[2].is_open = true;
|
||||
eeprom_dev[2].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
static int
|
||||
eeprom_close0(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[0].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int
|
||||
eeprom_close1(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[1].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int
|
||||
eeprom_close2(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[2].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
static int
|
||||
eeprom_read_internal(int dev, uint16_t len, uint8_t *data)
|
||||
{
|
||||
/* abort if the number of requested bytes exceeds the EEPROM size */
|
||||
if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
|
||||
{
|
||||
errno = ENOSPC;
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
/* set device address */
|
||||
I2C_SETADDRESS(eeprom_dev[dev].i2c, eeprom_dev[dev].eeprom_address, 7);
|
||||
|
||||
uint8_t cmd[2] = {0, 0}; /* first (or only) part of address */
|
||||
/* second part of address, omitted if eeprom has 256 bytes or less */
|
||||
int ret = 0;
|
||||
int remaining = len;
|
||||
int readcounts = 0;
|
||||
|
||||
while (remaining > 0)
|
||||
{
|
||||
/* read all requested bytes over potentially multiple pages */
|
||||
//int readlen = (remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
int read_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* set read length to page border */
|
||||
int readlen = eeprom_dev[dev].eeprom_page_size_bytes - (read_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* cap read length if not a full page read is needed */
|
||||
if (readlen > remaining) readlen = remaining;
|
||||
|
||||
if (eeprom_dev[dev].eeprom_size_bytes <= 256)
|
||||
{
|
||||
cmd[0] = (read_offset); /* set at first byte */
|
||||
/* 8 bit addresses */
|
||||
ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 1, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 16 bit addresses */
|
||||
/* EEPROM: first address high, then address low */
|
||||
cmd[0] = (((uint16_t)read_offset) >> 8);
|
||||
cmd[1] = (((uint8_t)read_offset));
|
||||
ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 2, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
|
||||
}
|
||||
|
||||
/* abort on error */
|
||||
if (ret < 0) break;
|
||||
|
||||
/* handled another chunk */
|
||||
remaining -= readlen;
|
||||
readcounts++;
|
||||
}
|
||||
|
||||
/* use the negated value from I2C_TRANSFER to fill errno */
|
||||
errno = -ret;
|
||||
|
||||
/* return len if data was read, < 0 else */
|
||||
if (ret == OK)
|
||||
eeprom_dev[dev].offset += len;
|
||||
return len;
|
||||
|
||||
/* no data, return negated value from I2C_TRANSFER */
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int
|
||||
eeprom_write_internal(int dev, uint16_t len, const uint8_t *data)
|
||||
{
|
||||
/* abort if the number of requested bytes exceeds the EEPROM size */
|
||||
if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
|
||||
{
|
||||
errno = ENOSPC;
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
int ret = 0;
|
||||
int remaining = len;
|
||||
int write_counts = 0;
|
||||
|
||||
uint8_t write_buf[2];
|
||||
|
||||
while (remaining > 0)
|
||||
{
|
||||
/* write all requested bytes over potentially multiple pages */
|
||||
int write_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* set write length to page border */
|
||||
int writelen = eeprom_dev[dev].eeprom_page_size_bytes - (write_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* cap write length if not a full page write is requested */
|
||||
if (writelen > remaining) writelen = remaining;
|
||||
|
||||
if (eeprom_dev[dev].eeprom_size_bytes <= 256)
|
||||
{
|
||||
write_buf[0] = (write_offset); /* set at first byte */
|
||||
/* 8 bit addresses */
|
||||
|
||||
const uint8_t* data_ptr = (data+(write_offset));
|
||||
|
||||
struct i2c_msg_s msgv_eeprom_write[2] = {
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = write_buf,
|
||||
.length = 1
|
||||
},
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = (uint8_t*)data_ptr,
|
||||
.length = writelen
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
|
||||
{
|
||||
//printf("SUCCESS WRITING EEPROM 8BIT ADDR: %d, bytes: %d\n", ret, writelen);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 16 bit addresses */
|
||||
/* EEPROM: first address high, then address low */
|
||||
write_buf[0] = (((uint16_t)write_offset) >> 8);
|
||||
write_buf[1] = (((uint8_t)write_offset));
|
||||
|
||||
const uint8_t* data_ptr = data+(write_counts*eeprom_dev[dev].eeprom_page_size_bytes);
|
||||
|
||||
struct i2c_msg_s msgv_eeprom_write[2] = {
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = write_buf,
|
||||
.length = 2
|
||||
},
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = (uint8_t*)data_ptr,
|
||||
.length = writelen
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
|
||||
{
|
||||
//printf("SUCCESS WRITING EEPROM 16BIT ADDR: %d, bytes: %d\n", ret, writelen);
|
||||
}
|
||||
}
|
||||
|
||||
/* abort on error */
|
||||
if (ret < 0) break;
|
||||
|
||||
/* handled another chunk */
|
||||
remaining -= writelen;
|
||||
write_counts++;
|
||||
/* wait for the device to write the page */
|
||||
usleep(eeprom_dev[dev].eeprom_page_write_time);
|
||||
}
|
||||
|
||||
/* use the negated value from I2C_TRANSFER to fill errno */
|
||||
errno = -ret;
|
||||
|
||||
/* return length if data was written, < 0 else */
|
||||
if (ret == OK)
|
||||
eeprom_dev[dev].offset += len;
|
||||
return len;
|
||||
|
||||
/* no data, return negated value from I2C_TRANSFER */
|
||||
return ret;
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
eeprom_read0(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(0, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static ssize_t
|
||||
eeprom_read1(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(1, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static ssize_t
|
||||
eeprom_read2(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(2, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
|
||||
static ssize_t
|
||||
eeprom_write0(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(0, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static ssize_t
|
||||
eeprom_write1(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(1, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static ssize_t
|
||||
eeprom_write2(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(2, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
|
||||
static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[0].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[0].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[0].offset + offset < eeprom_dev[0].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[0].offset = eeprom_dev[0].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[0].offset;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[1].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[1].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[1].offset + offset < eeprom_dev[1].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[1].offset = eeprom_dev[1].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[1].offset;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[2].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[2].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[2].offset + offset < eeprom_dev[2].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[2].offset = eeprom_dev[2].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[2].offset;
|
||||
}
|
||||
#endif
|
||||
|
||||
int
|
||||
eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing)
|
||||
{
|
||||
static int eeprom_dev_counter = 0;
|
||||
eeprom_dev[eeprom_dev_counter].i2c = i2c;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_address = device_address;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_size_bytes = total_size_bytes;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_page_size_bytes = page_size_bytes;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_page_write_time = page_write_time_us;
|
||||
eeprom_dev[eeprom_dev_counter].offset = 0;
|
||||
eeprom_dev[eeprom_dev_counter].is_open = false;
|
||||
|
||||
int ret;
|
||||
|
||||
if (fail_if_missing) {
|
||||
/* read first value */
|
||||
uint8_t read_test;
|
||||
ret = (eeprom_read_internal(eeprom_dev_counter, 1, &read_test) == 1) ? OK : ERROR;
|
||||
} else {
|
||||
ret = OK;
|
||||
}
|
||||
|
||||
/* make ourselves available */
|
||||
if (ret == OK)
|
||||
{
|
||||
register_driver(device_name, &(eeprom_fops[eeprom_dev_counter]), 0666, NULL);
|
||||
eeprom_dev_counter++;
|
||||
}
|
||||
|
||||
/* Return 0 for device found, error number else */
|
||||
return ret;
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* led driver for PX4FMU
|
||||
*
|
||||
* This is something of an experiment currently (ha, get it?)
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
static int px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg);
|
||||
static ssize_t px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
|
||||
static const struct file_operations px4fmu_led_fops = {
|
||||
.read = px4fmu_led_pseudoread,
|
||||
.ioctl = px4fmu_led_ioctl,
|
||||
};
|
||||
|
||||
int
|
||||
px4fmu_led_init(void)
|
||||
{
|
||||
/* register the driver */
|
||||
return register_driver("/dev/led", &px4fmu_led_fops, 0666, NULL);
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int
|
||||
px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg)
|
||||
{
|
||||
int result = 0;
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case LED_ON:
|
||||
switch (arg) {
|
||||
case 0:
|
||||
case 1:
|
||||
up_ledon(arg);
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case LED_OFF:
|
||||
switch (arg) {
|
||||
case 0:
|
||||
case 1:
|
||||
up_ledoff(arg);
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
@@ -1,166 +0,0 @@
|
||||
/****************************************************************************************************
|
||||
* configs/px4fmu/src/px4fmu_internal.h
|
||||
* arch/arm/src/board/px4fmu_internal.n
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
|
||||
#define __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
# error "SPI2 is not supported on this board"
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1)
|
||||
# warning "CAN1 is not supported on this board"
|
||||
#endif
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||
|
||||
/* External interrupts */
|
||||
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||
// XXX MPU6000 DRDY?
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO0-1 are the buffered high-power GPIOs.
|
||||
* GPIO2-5 are the USART2 pins.
|
||||
* GPIO6-7 are the CAN2 pins.
|
||||
*/
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* The PX4FMU has five PWM outputs, of which only the output on
|
||||
* pin PC8 is fixed assigned to this function. The other four possible
|
||||
* pwm sources are the TX, RX, RTS and CTS pins of USART2
|
||||
*
|
||||
* Alternate function mapping:
|
||||
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_PWM
|
||||
# if defined(CONFIG_STM32_TIM3_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 3
|
||||
# elif defined(CONFIG_STM32_TIM8_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 8
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: px4fmu_gpio_init
|
||||
*
|
||||
* Description:
|
||||
* Called to configure the PX4FMU user GPIOs
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void px4fmu_gpio_init(void);
|
||||
|
||||
|
||||
// XXX additional SPI chipselect functions required?
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H */
|
||||
|
||||
@@ -1,127 +0,0 @@
|
||||
/****************************************************************************
|
||||
* configs/px4fmu/src/up_leds.c
|
||||
* arch/arm/src/board/up_leds.c
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
#include "up_internal.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Enables debug output from this file (needs CONFIG_DEBUG with
|
||||
* CONFIG_DEBUG_VERBOSE too)
|
||||
*/
|
||||
|
||||
#undef LED_DEBUG /* Define to enable debug */
|
||||
|
||||
#ifdef LED_DEBUG
|
||||
# define leddbg lldbg
|
||||
# define ledvdbg llvdbg
|
||||
#else
|
||||
# define leddbg(x...)
|
||||
# define ledvdbg(x...)
|
||||
#endif
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledinit
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
void up_ledinit(void)
|
||||
{
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledon
|
||||
****************************************************************************/
|
||||
|
||||
void up_ledon(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledoff
|
||||
****************************************************************************/
|
||||
|
||||
void up_ledoff(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CONFIG_ARCH_LEDS */
|
||||
Reference in New Issue
Block a user