mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 02:50:35 +08:00
David Sidrane
98394afcc7
This commit is the groundwork to fix the power LED
blinking on V5
Background:
----------
Early boards only had an AMBER LED that was used to
indicate a High Load condition.
This change defines the new logical inteface
the LED_<color> should not be used in application
code moving forward, only the minipulator macros
should be used.
Logical usage Legacy default
------------------------+-------------
BOARD_OVERLOAD_LED | LED_RED
Later boards defined BOARD_HAS_CONTROL_STATUS_LEDS
and added the use of a BLUE and GREEN LED that were
used as follows:
Logical usage Legacy default
------------------------+-------------
BOARD_ARMED_LED | LED_BLUE
BOARD_ARMED_STATE_LED | LED_GREEN
With this PR a board may now define _only_ a subset
the leds and map them at the board level to the
color LED it wants to use.
Logical usage Legacy default
------------------------+-------------
BOARD_OVERLOAD_LED | LED_RED
when BOARD_HAS_CONTROL_STATUS_LEDS is defined
BOARD_ARMED_LED | LED_BLUE
BOARD_ARMED_STATE_LED | LED_GREEN
If any of the BOARD_{OVERLOAD|ARMED|ARMED_STATE}_LED are not
defined. The code output generates a null action for that
LED.
1112 lines
41 KiB
C
1112 lines
41 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name 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_common.h
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*
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* Provide the the common board interfaces
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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 <errno.h>
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#include <stdint.h>
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#include <stdbool.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* SPI bus defining tools
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*
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* For new boards we use a board_config.h to define all the SPI functionality
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* A board provides SPI bus definitions and a set of buses that should be
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* enumerated as well as chip selects that will be iterateable
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*
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* We will use these in macros place of the uint32_t enumeration to select a
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* specific SPI device on given SPI1 bus.
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*
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* These macros will define BUS:DEV For clarity and indexing
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*
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* The board config then defines:
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* 1) PX4_SPI_BUS_xxx Ids -the buses as a 1 based PX4_SPI_BUS_xxx as n+1 aping to SPI n
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* where n is {1-highest SPI supported by SoC}
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* 2) PX4_SPIDEV_yyyy handles - PX4_SPIDEV_xxxxx handles using the macros below.
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* 3) PX4_xxxx_BUS_CS_GPIO - a set of chip selects that are indexed by the handles. and of set to 0 are
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* ignored.
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* 4) PX4_xxxx_BUS_FIRST_CS and PX4_xxxxx_BUS_LAST_CS as PX4_SPIDEV_lll for the first CS and
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* PX4_SPIDEV_hhhh as the last CS
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*
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* Example:
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*
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* The PX4_SPI_BUS_xxx
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* #define PX4_SPI_BUS_SENSORS 1
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* #define PX4_SPI_BUS_MEMORY 2
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*
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* the PX4_SPIDEV_yyyy
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* #define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
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* #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
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* #define PX4_SPIDEV_BMI055_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
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*
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* The PX4_xxxx_BUS_CS_GPIO
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* #define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR,...
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*
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* The PX4_xxxx_BUS_FIRST_CS and PX4_xxxxx_BUS_LAST_CS
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* #define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
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* #define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACCEL
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*
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*
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*/
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#define PX4_SPIDEV_ID(type, index) ((((type) & 0xffff) << 16) | ((index) & 0xffff))
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#define PX4_SPI_DEVICE_ID (1 << 12)
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#define PX4_MK_SPI_SEL(b,d) PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, ((((b) & 0xff) << 8) | ((d) & 0xff)))
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#define PX4_SPI_BUS_ID(devid) (((devid) >> 8) & 0xff)
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#define PX4_SPI_DEV_ID(devid) ((devid) & 0xff)
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#define PX4_CHECK_ID(devid) ((devid) & PX4_SPI_DEVICE_ID)
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/* I2C PX4 clock configuration
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*
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* A board may override BOARD_NUMBER_I2C_BUSES and BOARD_I2C_BUS_CLOCK_INIT
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* simply by defining the #defines.
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*
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* If none are provided the default number of I2C busses will be taken from
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* the px4 micro hal and the init will be from the legacy values of 100K.
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*/
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#if !defined(BOARD_NUMBER_I2C_BUSES)
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# define BOARD_NUMBER_I2C_BUSES PX4_NUMBER_I2C_BUSES
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#endif
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#if !defined(BOARD_I2C_BUS_CLOCK_INIT)
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# if (BOARD_NUMBER_I2C_BUSES) == 1
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# define BOARD_I2C_BUS_CLOCK_INIT {100000}
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# elif (BOARD_NUMBER_I2C_BUSES) == 2
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# define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000}
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# elif (BOARD_NUMBER_I2C_BUSES) == 3
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# define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000}
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# elif (BOARD_NUMBER_I2C_BUSES) == 4
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# define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
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# else
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# error BOARD_NUMBER_I2C_BUSES not supported
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# endif
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#endif
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/* ADC defining tools
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* We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
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*/
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/* Provide overrideable defaults ADC Full scale ranges and Divider ratios
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* If the board has a different ratio or full scale range for any voltage sensing
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* the board_congig.h file should define the constants that differ from these
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* defaults
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*/
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#if !defined(ADC_V5_V_FULL_SCALE)
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#define ADC_V5_V_FULL_SCALE (6.6f) // 5 volt Rail full scale voltage
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#endif
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#if !defined(ADC_V5_SCALE)
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#define ADC_V5_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
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#endif
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#if !defined(ADC_3V3_V_FULL_SCALE)
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#define ADC_3V3_V_FULL_SCALE (3.6f) // 3.3V volt Rail full scale voltage
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#endif
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#if !defined(ADC_3V3_SCALE)
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#define ADC_3V3_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
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#endif
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/* Provide define for Bricks and Battery */
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/* Define the default maximum voltage resulting from the bias on ADC termination */
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#if !defined(BOARD_ADC_OPEN_CIRCUIT_V)
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# define BOARD_ADC_OPEN_CIRCUIT_V (1.5f)
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#endif
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/* Define the default Under voltage Window on the LTC4417 as set by resistors on the
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* board. Default is that of the FMUv2 at 3.7V
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*/
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#if !defined(BOARD_VALID_UV)
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# define BOARD_VALID_UV (3.7f)
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#endif
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/* Legacy default */
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#if !defined(BOARD_NUMBER_BRICKS)
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# define BOARD_NUMBER_BRICKS 1
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# if !defined(BOARD_ADC_BRICK_VALID)
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# define BOARD_ADC_BRICK_VALID (1)
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# endif
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#endif
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#if BOARD_NUMBER_BRICKS == 0
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/* allow SITL to disable all bricks */
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#elif BOARD_NUMBER_BRICKS == 1
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# define BOARD_BATT_V_LIST {ADC_BATTERY_VOLTAGE_CHANNEL}
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# define BOARD_BATT_I_LIST {ADC_BATTERY_CURRENT_CHANNEL}
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# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK_VALID}
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#elif BOARD_NUMBER_BRICKS == 2
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# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
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# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
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# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID}
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#elif BOARD_NUMBER_BRICKS == 3
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# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL}
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# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL}
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# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID}
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#elif BOARD_NUMBER_BRICKS == 4
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# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL, ADC_BATTERY4_VOLTAGE_CHANNEL}
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# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL, ADC_BATTERY4_CURRENT_CHANNEL}
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# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID, BOARD_ADC_BRICK4_VALID}
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#else
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# error Unsuported BOARD_NUMBER_BRICKS number.
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#endif
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/* Choose the source for ADC_SCALED_V5_SENSE */
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#if defined(ADC_5V_RAIL_SENSE)
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#define ADC_SCALED_V5_SENSE ADC_5V_RAIL_SENSE
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#else
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# if defined(ADC_SCALED_V5_CHANNEL)
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# define ADC_SCALED_V5_SENSE ADC_SCALED_V5_CHANNEL
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# endif
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#endif
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/* Define the source for ADC_SCALED_V3V3_SENSORS_SENSE */
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#if defined(ADC_SCALED_VDD_3V3_SENSORS_CHANNEL)
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# define ADC_SCALED_V3V3_SENSORS_SENSE ADC_SCALED_VDD_3V3_SENSORS_CHANNEL
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#endif
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/* Define an overridable default of 0.0f V for batery v div
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* This is done to ensure the missing default trips a low
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* voltage lockdown
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*/
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#if !defined(BOARD_BATTERY1_V_DIV)
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#define BOARD_BATTERY1_V_DIV 0.0f
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#endif
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#if !defined(BOARD_BATTERY2_V_DIV)
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#define BOARD_BATTERY2_V_DIV 0.0f
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#endif
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/* Define an overridable default of 0.0f for A per V
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* This is done to ensure the default leads to an
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* unrealistic current value
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*/
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#if !defined(BOARD_BATTERY1_A_PER_V)
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#define BOARD_BATTERY1_A_PER_V 0.0f
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#endif
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#if !defined(BOARD_BATTERY2_A_PER_V)
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#define BOARD_BATTERY2_A_PER_V 0.0f
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#endif
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/* Conditional use of FMU GPIO
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* If the board use the PX4FMU driver and the board provides
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* BOARD_FMU_GPIO_TAB then we publish the logical BOARD_HAS_FMU_GPIO
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*/
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#if defined(BOARD_FMU_GPIO_TAB)
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# define BOARD_HAS_FMU_GPIO
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#endif
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/* Conditional use of PX4 PIO is Used to determine if the board
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* has a PX4IO processor.
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* We then publish the logical BOARD_USES_PX4IO
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*/
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#if defined(BOARD_USES_PX4IO_VERSION)
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# define BOARD_USES_PX4IO 1
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# if defined(BOARD_HAS_STATIC_MANIFEST) && BOARD_HAS_STATIC_MANIFEST == 1
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# define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 1
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# endif
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/* Allow a board_config to override the PX4IO FW search paths */
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# if defined(BOARD_PX4IO_FW_SEARCH_PATHS)
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# define PX4IO_FW_SEARCH_PATHS BOARD_PX4IO_FW_SEARCH_PATHS
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# else
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/* Use PX4IO FW search paths defaults based on version */
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# if BOARD_USES_PX4IO_VERSION == 2
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# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v2.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
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# endif
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# endif
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#endif
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/* Provide an overridable default nop
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* for BOARD_EEPROM_WP_CTRL
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*/
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#if !defined(BOARD_EEPROM_WP_CTRL)
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# define BOARD_EEPROM_WP_CTRL(on_true)
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#endif
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/*
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* Defined when a board has capture and uses channels.
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*/
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#if defined(DIRECT_INPUT_TIMER_CHANNELS) && DIRECT_INPUT_TIMER_CHANNELS > 0
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#define BOARD_HAS_CAPTURE 1
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#endif
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/*
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* Defined when a supports version and type API.
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*/
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#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
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# define BOARD_HAS_VERSIONING 1
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# define HW_VER_SIMPLE(s) 0x90000+(s)
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# define HW_VER_FMUV2 HW_VER_SIMPLE(HW_VER_FMUV2_STATE)
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# define HW_VER_FMUV3 HW_VER_SIMPLE(HW_VER_FMUV3_STATE)
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# define HW_VER_FMUV2MINI HW_VER_SIMPLE(HW_VER_FMUV2MINI_STATE)
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# define HW_VER_FMUV2X HW_VER_SIMPLE(HW_VER_FMUV2X_STATE)
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#endif
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#if defined(BOARD_HAS_HW_VERSIONING)
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# define BOARD_HAS_VERSIONING 1
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#endif
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/* Default LED logical to color mapping */
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#if defined(BOARD_OVERLOAD_LED)
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# define BOARD_OVERLOAD_LED_TOGGLE() led_toggle(BOARD_OVERLOAD_LED)
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# define BOARD_OVERLOAD_LED_OFF() led_off(BOARD_OVERLOAD_LED)
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#else
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# define BOARD_OVERLOAD_LED_TOGGLE()
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# define BOARD_OVERLOAD_LED_OFF()
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#endif
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#if defined(BOARD_HAS_CONTROL_STATUS_LEDS)
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# if defined(BOARD_ARMED_LED)
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# define BOARD_ARMED_LED_TOGGLE() led_toggle(BOARD_ARMED_LED)
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# define BOARD_ARMED_LED_OFF() led_off(BOARD_ARMED_LED)
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# define BOARD_ARMED_LED_ON() led_on(BOARD_ARMED_LED)
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# else
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# define BOARD_ARMED_LED_TOGGLE()
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# define BOARD_ARMED_LED_OFF()
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# define BOARD_ARMED_LED_ON()
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# endif
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# if defined(BOARD_ARMED_STATE_LED)
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# define BOARD_ARMED_STATE_LED_TOGGLE() led_toggle(BOARD_ARMED_STATE_LED)
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# define BOARD_ARMED_STATE_LED_OFF() led_off(BOARD_ARMED_STATE_LED)
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# define BOARD_ARMED_STATE_LED_ON() led_on(BOARD_ARMED_STATE_LED)
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# else
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# define BOARD_ARMED_STATE_LED_TOGGLE()
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# define BOARD_ARMED_STATE_LED_OFF()
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# define BOARD_ARMED_STATE_LED_ON()
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# endif
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#endif //
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/************************************************************************************
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* Public Data
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************************************************************************************/
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/* board reset control */
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typedef enum board_reset_e {
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board_reset_normal = 0, /* Perform a normal reset */
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board_reset_extended = 1, /* Perform an extend reset as defined by board */
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board_reset_power_off = 2, /* Reset to the boot loader, signaling a power off */
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board_reset_enter_bootloader = 3 /* Perform a reset to the boot loader */
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} board_reset_e;
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/* board power button state notification */
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typedef enum board_power_button_state_notification_e {
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PWR_BUTTON_IDEL, /* Button went up without meeting shutdown button down time */
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PWR_BUTTON_DOWN, /* Button went Down */
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PWR_BUTTON_UP, /* Button went Up */
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PWR_BUTTON_REQUEST_SHUT_DOWN, /* Button went up after meeting shutdown button down time */
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PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING, /* Response from call back board code does nothing the
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* expectation is that board_shutdown will be called.
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*/
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PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW, /* Response from call back board code does shutdown now. */
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} board_power_button_state_notification_e;
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/* board call back signature */
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typedef int (*power_button_state_notification_t)(board_power_button_state_notification_e request);
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/* PX4_SOC_ARCH_ID is monotonic ordinal number assigned by PX4 to a chip
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* architecture. The 2 bytes are used to create a globally unique ID when
|
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* prepended to a padded Soc ID.
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*/
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typedef enum PX4_SOC_ARCH_ID_t {
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PX4_SOC_ARCH_ID_UNUSED = 0x0000,
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|
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PX4_SOC_ARCH_ID_STM32F4 = 0x0001,
|
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PX4_SOC_ARCH_ID_STM32F7 = 0x0002,
|
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PX4_SOC_ARCH_ID_KINETISK66 = 0x0003,
|
|
PX4_SOC_ARCH_ID_SAMV7 = 0x0004,
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|
|
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PX4_SOC_ARCH_ID_EAGLE = 0x1001,
|
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PX4_SOC_ARCH_ID_QURT = 0x1002,
|
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PX4_SOC_ARCH_ID_OCPOC = 0x1003,
|
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PX4_SOC_ARCH_ID_RPI = 0x1004,
|
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PX4_SOC_ARCH_ID_SIM = 0x1005,
|
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PX4_SOC_ARCH_ID_SITL = 0x1006,
|
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PX4_SOC_ARCH_ID_BEBOP = 0x1007,
|
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PX4_SOC_ARCH_ID_BBBLUE = 0x1008,
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|
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} PX4_SOC_ARCH_ID_t;
|
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|
|
|
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/* UUID
|
|
*
|
|
* Define the types used for board UUID, MFG UID and PX4 GUID
|
|
*
|
|
* A type suitable for holding the byte format of the UUID
|
|
*
|
|
* The original PX4 stm32 (legacy) based implementation **displayed** the
|
|
* UUID as: ABCD EFGH IJKL
|
|
* Where:
|
|
* A was bit 31 and D was bit 0
|
|
* E was bit 63 and H was bit 32
|
|
* I was bit 95 and L was bit 64
|
|
*
|
|
* Since the string was used by some manufactures to identify the units
|
|
* it must be preserved. DEPRECATED - This will be removed in PX4 Release
|
|
* 1.7.0.
|
|
*
|
|
* For new targets moving forward we will use an 18 byte globally unique
|
|
* PX4 GUID in the form:
|
|
*
|
|
* <ARCH MSD><ARCH LSD>[MNOP] IJKL EFGH ABCD
|
|
*
|
|
* Where <ARCH MSD><ARCH LSD> are a monotonic ordinal number assigned by
|
|
* PX4 to a chip architecture (PX4_SOC_ARCH_ID). The 2 bytes are used to
|
|
* create a globally unique ID when prepended to a padded CPU UUID.
|
|
*
|
|
* In the case where the MFG UUID is shorter than 16 bytes it will be
|
|
* padded with 0's starting at offset [2] until
|
|
* PX4_GUID_BYTE_LENGTH-PX4_CPU_UUID_BYTE_LENGTH -1
|
|
*
|
|
* I.E. For the STM32
|
|
* offset:0 1 2 3 4 5 6 - 17
|
|
* <ARCH MSD><ARCH LSD>[0][0][0][0]<MSD CPU UUID>...<LSD CPU UUID>
|
|
*
|
|
* I.E. For the Kinetis
|
|
* offset:0 1 2 - 17
|
|
* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
|
*/
|
|
|
|
/* Define the PX4 Globally unique ID (GUID) length and format size */
|
|
#define PX4_GUID_BYTE_LENGTH 18
|
|
#define PX4_GUID_FORMAT_SIZE ((2*PX4_GUID_BYTE_LENGTH)+1)
|
|
|
|
/* DEPRICATED as of 1.7.0 A type suitable for defining the 8 bit format of the CPU UUID */
|
|
typedef uint8_t uuid_byte_t[PX4_CPU_UUID_BYTE_LENGTH];
|
|
|
|
/* DEPRICATED as of 1.7.0 A type suitable for defining the 32bit format of the CPU UUID */
|
|
typedef uint32_t uuid_uint32_t[PX4_CPU_UUID_WORD32_LENGTH];
|
|
|
|
/* A type suitable for defining the 8 bit format of the MFG UID
|
|
* This is always returned as MSD @ index 0 -LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
|
|
*/
|
|
typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
|
|
|
|
/* A type suitable for defining the 8 bit format of the px4 globally unique
|
|
* PX4 GUID. This is always returned as MSD @ index 0 -LSD @ index
|
|
* PX4_CPU_GUID_BYTE_LENGTH-1
|
|
*/
|
|
typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
|
|
|
|
/************************************************************************************
|
|
* Private Functions
|
|
************************************************************************************/
|
|
|
|
/************************************************************************************
|
|
* Public Functions
|
|
************************************************************************************/
|
|
__BEGIN_DECLS
|
|
|
|
/* Provide an interface for determining if a board supports single wire */
|
|
|
|
/************************************************************************************
|
|
* Name: board_supports_single_wire
|
|
*
|
|
* Description:
|
|
* A board may provide serial ports that supports single wire.
|
|
* This interface will call into the board support code to determine
|
|
* if the interface is available at runtime, on this version of the
|
|
* hardware.
|
|
*
|
|
* Input Parameters:
|
|
* uxart_base - the base address of the UxART.
|
|
*
|
|
* Returned Value:
|
|
* true the hardware supports this interface.
|
|
* false if not.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if !defined(BOARD_HAS_SINGLE_WIRE)
|
|
# define board_supports_single_wire(_uxart_base) false
|
|
#else
|
|
__EXPORT bool board_supports_single_wire(uint32_t uxart_base);
|
|
#endif
|
|
|
|
|
|
/* Provide an interface for reading the connected state of VBUS */
|
|
|
|
/************************************************************************************
|
|
* Name: board_read_VBUS_state
|
|
*
|
|
* Description:
|
|
* All boards must provide a way to read the state of VBUS, this my be simple
|
|
* digital input on a GPIO. Or something more complicated like a Analong input
|
|
* or reading a bit from a USB controller register.
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* 0 if connected.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(GPIO_OTGFS_VBUS)
|
|
# define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
|
|
#else
|
|
int board_read_VBUS_state(void);
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_dma_alloc_init
|
|
*
|
|
* Description:
|
|
* All boards may optionally provide this API to instantiate a pool of
|
|
* memory for uses with FAST FS DMA operations.
|
|
*
|
|
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) is returned on success; a negated errno value is returned on failure
|
|
* EPERM - board does not support function
|
|
* ENOMEM - There is not enough memory to satisfy allocation.
|
|
*
|
|
************************************************************************************/
|
|
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
|
|
__EXPORT int board_dma_alloc_init(void);
|
|
#else
|
|
#define board_dma_alloc_init() (-EPERM)
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_dma_usage
|
|
*
|
|
* Description:
|
|
* All boards may optionally provide this API to supply instrumentation for a pool of
|
|
* memory used for DMA operations.
|
|
*
|
|
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
|
|
*
|
|
* Input Parameters:
|
|
* dma_total - A pointer to receive the total allocation size of the memory
|
|
* allocated with board_dma_alloc_init. It should be equal to
|
|
* BOARD_DMA_ALLOC_POOL_SIZE.
|
|
* dma_used - A pointer to receive the current allocation in use.
|
|
* dma_peak_used - A pointer to receive the peak allocation used.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) is returned on success;
|
|
*
|
|
************************************************************************************/
|
|
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
|
|
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used);
|
|
#else
|
|
#define board_get_dma_usage(dma_total,dma_used, dma_peak_used) (-ENOMEM)
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_rc_input
|
|
*
|
|
* Description:
|
|
* All boards my optionally provide this API to invert the Serial RC input.
|
|
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
|
|
* and external XOR controlled by a GPIO
|
|
*
|
|
* Input Parameters:
|
|
* invert_on - A positive logic value, that when true (on) will set the HW in
|
|
* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
************************************************************************************/
|
|
|
|
/* Provide an interface for Inversion of serial data
|
|
*
|
|
* Case 1:Board does provide UxART based inversion
|
|
* Use it, and it will define RC_UXART_BASE
|
|
*
|
|
* Case 1:Board does provide GPIO inversion
|
|
* Use it and let board determine active state
|
|
* Define RC_UXART_BASE as empty
|
|
*
|
|
* Case 3:Board does not provide any inversions
|
|
* Default to nop
|
|
* Define RC_UXART_BASE as empty
|
|
*/
|
|
|
|
#if defined(RC_UXART_BASE)
|
|
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base);
|
|
# define INVERT_RC_INPUT(_invert_true, _rc_uxart) board_rc_input((_invert_true), (_rc_uxart));
|
|
#endif
|
|
|
|
#if defined(BOARD_INVERT_RC_INPUT)
|
|
# define INVERT_RC_INPUT BOARD_INVERT_RC_INPUT
|
|
# define RC_UXART_BASE 0
|
|
#endif
|
|
|
|
#if !defined(INVERT_RC_INPUT)
|
|
# define INVERT_RC_INPUT(_invert_true, _na) while(0)
|
|
# define RC_UXART_BASE 0
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* 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.
|
|
* For example setting PWM outputs to the off state to avoid
|
|
* triggering a motor spin.
|
|
*
|
|
* As a workaround for the bug seen on some ESC, the code will delay
|
|
* rebooting the flight controller to insure that the 3.2 ms pulse
|
|
* that occurs from the delay from reset to GPIO init due to memory
|
|
* initialization is pushed out from the last PWM by > 6 Ms.
|
|
*
|
|
* Input Parameters:
|
|
* status - 1 Resetting to boot loader
|
|
* 0 Just resetting CPU
|
|
* -1 used internally by board init to to initialize
|
|
* PWM IO pins with delay.
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_NO_RESET) || !defined(BOARD_HAS_ON_RESET)
|
|
# define board_on_reset(status)
|
|
#else
|
|
__EXPORT void board_on_reset(int status);
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_reset
|
|
*
|
|
* Description:
|
|
* All boards my optionally provide this API to reset the board
|
|
*
|
|
* Input Parameters:
|
|
* status - 1 Resetting to boot loader
|
|
* 0 Just resetting CPU
|
|
*
|
|
* Returned Value:
|
|
* If function is supported by board it will not return.
|
|
* If not supported it is a noop.
|
|
*
|
|
************************************************************************************/
|
|
#if defined(BOARD_HAS_NO_RESET)
|
|
# define board_system_reset(status)
|
|
#else
|
|
__EXPORT void board_system_reset(int status) noreturn_function;
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_set_bootload_mode
|
|
*
|
|
* Description:
|
|
* All boards my optionally provide this API to enter configure the entry to
|
|
* boot loader mode on the next system reset.
|
|
*
|
|
* Input Parameters:
|
|
* mode - is an board_reset_e that controls the type of reset.
|
|
* board_reset_normal Perform a normal reset
|
|
* board_reset_extended Perform an extend reset as defined by board
|
|
* board_reset_power_off Reset to the boot loader, signaling a power off
|
|
* board_reset_enter_bootloader Perform a reset to the boot loader
|
|
*
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) is returned on success; a negated EINVAL value is returned if an
|
|
* invalid mode is requested.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_NO_BOOTLOADER)
|
|
# define board_set_bootload_mode(mode)
|
|
#else
|
|
__EXPORT int board_set_bootload_mode(board_reset_e mode);
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_query_manifest
|
|
*
|
|
* Description:
|
|
* Optional returns manifest item.
|
|
*
|
|
* Input Parameters:
|
|
* manifest_id - the ID for the manifest item to retrieve
|
|
*
|
|
* Returned Value:
|
|
* 0 - item is not in manifest => assume legacy operations
|
|
* pointer to a manifest item
|
|
*
|
|
************************************************************************************/
|
|
|
|
typedef enum {
|
|
PX4_MFT_PX4IO = 0,
|
|
} px4_hw_mft_item_id_t;
|
|
|
|
typedef enum {
|
|
px4_hw_con_unknown = 0,
|
|
px4_hw_con_onboard = 1,
|
|
px4_hw_con_connector = 3,
|
|
} px4_hw_connection_t;
|
|
|
|
|
|
typedef struct {
|
|
unsigned int present: 1; /* 1 if this board have this item */
|
|
unsigned int mandatory: 1; /* 1 if this item has to be present and working */
|
|
unsigned int connection: 2; /* See px4_hw_connection_t */
|
|
} px4_hw_mft_item_t;
|
|
|
|
typedef const px4_hw_mft_item_t *px4_hw_mft_item;
|
|
#define px4_hw_mft_uninitialized (px4_hw_mft_item) -1
|
|
#define px4_hw_mft_unsupported (px4_hw_mft_item) 0
|
|
|
|
#if defined(BOARD_HAS_VERSIONING)
|
|
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id);
|
|
|
|
# define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present)
|
|
# define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory)
|
|
# define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard)
|
|
# define PX4_MFT_HW_IS_OFFBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_connector)
|
|
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (board_query_manifest((ID))->connection != px4_hw_con_unknown)
|
|
#elif defined(BOARD_HAS_STATIC_MANIFEST) && BOARD_HAS_STATIC_MANIFEST == 1
|
|
/* Board has a static configuration and will supply what it has */
|
|
# define PX4_MFT_HW_SUPPORTED(ID) PX4_MFT_HW_SUPPORTED_##ID
|
|
# define PX4_MFT_HW_REQUIRED(ID) PX4_MFT_HW_REQUIRED_##ID
|
|
# define PX4_MFT_HW_IS_ONBOARD(ID) PX4_MFT_HW_IS_ONBOARD_##ID
|
|
# define PX4_MFT_HW_IS_OFFBOARD(ID) PX4_MFT_HW_IS_OFFBOARD_##ID
|
|
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) PX4_MFT_HW_IS_CONNECTION_KNOWN_##ID
|
|
# define board_query_manifest(_na) px4_hw_mft_unsupported
|
|
#else
|
|
/* Default are Not Supported */
|
|
# define PX4_MFT_HW_SUPPORTED(ID) (0)
|
|
# define PX4_MFT_HW_REQUIRED(ID) (0)
|
|
# define PX4_MFT_HW_IS_ONBOARD(ID) (0)
|
|
# define PX4_MFT_HW_IS_OFFBOARD(ID) (0)
|
|
# define PX4_MFT_HW_IS_CONNECTION_KNOWN(ID) (0)
|
|
# define board_query_manifest(_na) px4_hw_mft_unsupported
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_hw_type_name
|
|
*
|
|
* Description:
|
|
* Optional returns a 0 terminated string defining the HW type.
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* a 0 terminated string defining the HW type. This may be a 0 length string ""
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_VERSIONING)
|
|
__EXPORT const char *board_get_hw_type_name(void);
|
|
#else
|
|
#define board_get_hw_type_name() ""
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_hw_version
|
|
*
|
|
* Description:
|
|
* Optional returns a integer HW version
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* An integer value of this boards hardware version.
|
|
* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
|
|
* A value of 0 is the default for boards supporting the API but not having version.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_VERSIONING)
|
|
__EXPORT int board_get_hw_version(void);
|
|
#else
|
|
#define board_get_hw_version() (-1)
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_hw_revision
|
|
*
|
|
* Description:
|
|
* Optional returns a integer HW revision
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* An integer value of this boards hardware revision.
|
|
* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
|
|
* A value of 0 is the default for boards supporting the API but not having revision.
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_VERSIONING)
|
|
__EXPORT int board_get_hw_revision(void);
|
|
#else
|
|
#define board_get_hw_revision() (-1)
|
|
#endif
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_uuid DEPRICATED use board_get_px4_guid
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to read a uuid of PX4_CPU_UUID_BYTE_LENGTH
|
|
* from PX4_CPU_UUID_ADDRESS in the SoC's address space OR define
|
|
* BOARD_OVERRIDE_UUID as an array of bytes that is PX4_CPU_UUID_BYTE_LENGTH
|
|
*
|
|
* Input Parameters:
|
|
* uuid_bytes - uuid_byte_t and array of bytes PX4_CPU_UUID_BYTE_LENGTH in length.
|
|
*
|
|
* Returned Value:
|
|
* The uuid_bytes array is populated with the CPU uuid in the legacy format for
|
|
* STM32.
|
|
*
|
|
************************************************************************************/
|
|
|
|
__EXPORT void board_get_uuid(uuid_byte_t uuid_bytes); // DEPRICATED use board_get_px4_guid
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_uuid32 DEPRICATED use board_get_px4_guid
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to read a uuid of PX4_CPU_UUID_WORD32_LENGTH
|
|
* from PX4_CPU_UUID_ADDRESS in the Soc's address space OR define
|
|
* BOARD_OVERRIDE_UUID as an array of bytes that is PX4_CPU_UUID_BYTE_LENGTH
|
|
* On Legacy (stm32) targets the uuid_words format is the result of coping
|
|
* returning the 32bit words from low memory to high memory. On new targets the result
|
|
* will be an array of words with the MSW at index 0 and the LSW: at index
|
|
* PX4_CPU_UUID_WORD32_LENGTH-1.
|
|
*
|
|
* Input Parameters:
|
|
* uuid_words - a uuid_uint32_t and array of 32 bit words PX4_CPU_UUID_WORD32_
|
|
* LENGTH in length.
|
|
*
|
|
* Returned Value:
|
|
* The uuid_words array is populated with the CPU uuid.
|
|
*
|
|
************************************************************************************/
|
|
__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use board_get_px4_guid
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_uuid32_formated DEPRICATED use board_get_px4_guid_formated
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve a uuid and format it
|
|
* or define BOARD_OVERRIDE_UUID
|
|
* This function is used to populate a buffer with the UUID to be a printed
|
|
* with the optional separator
|
|
*
|
|
* Input Parameters:
|
|
* format_buffer - A pointer to a bufferer of at least PX4_CPU_UUID_WORD32_FORMAT_SIZE
|
|
* that will contain a 0 terminated string formated as described
|
|
* the format string and optional separator.
|
|
* size - The size of the buffer (should be atleaset PX4_CPU_UUID_WORD32_FORMAT_SIZE)
|
|
* format - The fort mat specifier for the hex digit see CPU_UUID_FORMAT
|
|
* separator - Optional pointer to a 0 terminated string or NULL:
|
|
* With separator = ":"
|
|
* 31-00:63-32:95-64
|
|
* 32383336:412038:33355110
|
|
* With separator = " "
|
|
* 31-00:63-32:95-64
|
|
* 32383336 412038 33355110
|
|
* With separator = NULL
|
|
* 31-00:63-32:95-64
|
|
* 3238333641203833355110
|
|
*
|
|
* Returned Value:
|
|
* The format buffer is populated with a 0 terminated string formated as described.
|
|
* Zero (OK) is returned on success;
|
|
*
|
|
************************************************************************************/
|
|
__EXPORT int board_get_uuid32_formated(char *format_buffer, int size,
|
|
const char *format,
|
|
const char *seperator); // DEPRICATED use board_get_px4_guid_formated
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_mfguid
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve a manufactures Unique ID or
|
|
* define BOARD_OVERRIDE_UUID.
|
|
* The MFGUID is returned as an array of bytes in
|
|
* MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
|
|
*
|
|
* Input Parameters:
|
|
* mfgid - mfguid_t and array of bytes PX4_CPU_MFGUID_BYTE_LENGTH in length.
|
|
*
|
|
* Returned Value:
|
|
* The mfguid_t array is populated with the CPU uuid with the MSD @ index 0
|
|
* and the LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1.
|
|
*
|
|
************************************************************************************/
|
|
|
|
int board_get_mfguid(mfguid_t mfgid);
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_mfguid_formated DEPRICATED use board_get_px4_guid_formated
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve a formatted string of the
|
|
* manufactures unique ID or define BOARD_OVERRIDE_MFGUID
|
|
*
|
|
* Input Parameters:
|
|
* format_buffer - A pointer to a bufferer of at least PX4_CPU_MFGUID_FORMAT_SIZE
|
|
* that will contain a 0 terminated string formated as 0 prefixed
|
|
* lowercase hex. 2 charaters per digit of the mfguid_t.
|
|
*
|
|
* Returned Value:
|
|
* format_buffer is populated with a 0 terminated string of hex digits. The
|
|
* return value is the number of printable in the string.
|
|
* Usually PX4_CPU_MFGUID_FORMAT_SIZE-1
|
|
*
|
|
************************************************************************************/
|
|
|
|
int board_get_mfguid_formated(char *format_buffer, int size); // DEPRICATED use board_get_px4_guid_formated
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_px4_guid
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve a PX4 Globally unique ID or
|
|
* define BOARD_OVERRIDE_UUID.
|
|
*
|
|
* The form of the GUID is as follows:
|
|
* offset:0 1 2 - 17
|
|
* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
|
*
|
|
* Where <ARCH MSD><ARCH LSD> are a monotonic ordinal number assigned by
|
|
* PX4 to a chip architecture (PX4_SOC_ARCH_ID). The 2 bytes are used to
|
|
* create a globally unique ID when prepended to a padded CPU ID.
|
|
*
|
|
* In the case where the CPU's UUID is shorter than 16 bytes it will be
|
|
* padded with 0's starting at offset [2] until
|
|
* PX4_CPU_MFGUID_BYTE_LENGTH-PX4_CPU_UUID_BYTE_LENGTH -1
|
|
* I.E. For the STM32
|
|
* offset:0 1 2 3 4 5 6 - 17
|
|
* <ARCH MSD><ARCH LSD>[0][0][0][0]<MSD CPU UUID>...<LSD CPU UUID>
|
|
*
|
|
* I.E. For as CPU with a 16 byte UUID
|
|
* offset:0 1 2 - 17
|
|
* <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
|
*
|
|
* Input Parameters:
|
|
* guid - a px4_guid_t which is byte array of PX4_GUID_BYTE_LENGTH length.
|
|
*
|
|
* Returned Value:
|
|
* guid is populated as <ARCH MSD><ARCH LSD><MSD CPU UUID>...<LSD CPU UUID>
|
|
* the return value is PX4_GUID_BYTE_LENGTH
|
|
*
|
|
************************************************************************************/
|
|
|
|
int board_get_px4_guid(px4_guid_t guid);
|
|
|
|
/************************************************************************************
|
|
* Name: board_get_mfguid_formated
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve a formatted string of the
|
|
* manufactures Unique ID or define BOARD_OVERRIDE_PX4_GUID
|
|
*
|
|
* Input Parameters:
|
|
* format_buffer - A buffer to receive the 0 terminated formated px4
|
|
* guid string.
|
|
* size - Size of the buffer provided. Normally this would
|
|
* be PX4_GUID_FORMAT_SIZE.
|
|
* If the size is less than PX4_GUID_FORMAT_SIZE the string
|
|
* returned will be truncated from the MSD end and even
|
|
* in length.
|
|
*
|
|
* Returned Value:
|
|
* The number of printable characters. This value will be even and one less the
|
|
* the size passed in.
|
|
*
|
|
************************************************************************************/
|
|
|
|
int board_get_px4_guid_formated(char *format_buffer, int size);
|
|
|
|
/************************************************************************************
|
|
* Name: board_mcu_version
|
|
*
|
|
* Description:
|
|
* All boards either provide a way to retrieve the cpu revision
|
|
* Or define BOARD_OVERRIDE_CPU_VERSION
|
|
*
|
|
* Input Parameters:
|
|
* rev - The silicon revision character
|
|
* revstr - The full chip name string
|
|
* errata -The eratta if any.
|
|
*
|
|
* Returned Value:
|
|
* The silicon revision / version number as integer
|
|
* or -1 on error and rev, revstr and errata will
|
|
* not be set
|
|
*/
|
|
#if defined(BOARD_OVERRIDE_CPU_VERSION)
|
|
#define board_mcu_version(rev, revstr, errata) BOARD_OVERRIDE_CPU_VERSION
|
|
#else
|
|
__EXPORT int board_mcu_version(char *rev, const char **revstr, const char **errata);
|
|
#endif // !defined(BOARD_OVERRIDE_CPU_VERSION)
|
|
|
|
#if defined(BOARD_HAS_POWER_CONTROL)
|
|
/************************************************************************************
|
|
* Name: board_register_power_state_notification_cb
|
|
*
|
|
* Description:
|
|
* boards may provide a function to register a power button state notification
|
|
* call back.
|
|
*
|
|
* N.B. this call back may be called off an interrupt. Do not attempt to block
|
|
* or run any long threads.
|
|
*
|
|
* Input Parameters:
|
|
* cb - A pointer to a power button state notification function.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) is returned on success;
|
|
*/
|
|
|
|
int board_register_power_state_notification_cb(power_button_state_notification_t cb);
|
|
|
|
/************************************************************************************
|
|
* Name: board_shutdown
|
|
*
|
|
* Description:
|
|
* boards may provide a function to power off the board.
|
|
*
|
|
* Input Parameters:
|
|
* None.
|
|
* Returned Value:
|
|
* - If supported the function will not return.
|
|
* OK, or -EINVAL if unsupported.
|
|
*/
|
|
int board_shutdown(void);
|
|
|
|
#else
|
|
static inline int board_register_power_state_notification_cb(power_button_state_notification_t cb) { return 0; }
|
|
static inline int board_shutdown(void) { return -EINVAL; }
|
|
#endif
|
|
__END_DECLS
|
|
|
|
/************************************************************************************
|
|
* Name: px4_i2c_bus_external
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
|
|
|
|
__EXPORT bool px4_i2c_bus_external(int bus);
|
|
|
|
#else
|
|
|
|
#ifdef PX4_I2C_BUS_ONBOARD
|
|
#define px4_i2c_bus_external(bus) (bus != PX4_I2C_BUS_ONBOARD)
|
|
#else
|
|
#define px4_i2c_bus_external(bus) true
|
|
#endif /* PX4_I2C_BUS_ONBOARD */
|
|
|
|
#endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
|
|
|
|
|
|
/************************************************************************************
|
|
* Name: px4_spi_bus_external
|
|
*
|
|
************************************************************************************/
|
|
|
|
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
|
|
|
|
__EXPORT bool px4_spi_bus_external(int bus);
|
|
|
|
#else
|
|
|
|
#ifdef PX4_SPI_BUS_EXT
|
|
#define px4_spi_bus_external(bus) (bus == PX4_SPI_BUS_EXT)
|
|
#else
|
|
#define px4_spi_bus_external(bus) false
|
|
#endif /* PX4_SPI_BUS_EXT */
|
|
|
|
#endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
|
|
|
|
/************************************************************************************
|
|
* Name: board_hardfault_init
|
|
*
|
|
* Description:
|
|
* boards may provide a to determine if a hard fault occurred
|
|
* call back.
|
|
*
|
|
* Input Parameters:
|
|
* display_to_console - one less then the number of boots with an unsaved hard fault.
|
|
* can can occur with displaying the hard fault data to the screen.
|
|
* INT_MAX - Never display.
|
|
* n-1 - n boots with out a save.
|
|
*
|
|
* allow_prompt - if false will not stop on boot, even if a hardfault has happened
|
|
* and there are characters waiting on STDIN.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) is returned on success: No hardfaults
|
|
* >0 - There is a hardfault logged.
|
|
* -EIO - there is a Problem with the bbsram
|
|
* -ENOSPC - There have been no boots that reset the hard fault count in the last
|
|
* 32000 resets.
|
|
*/
|
|
int board_hardfault_init(int display_to_console, bool allow_prompt);
|
|
|
|
#include "board_internal_common.h"
|