mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 17:01:35 +08:00
David Sidrane
e90e8ae0ea
nxp/rt117x:Fix Pin IRQ
nxp/rt117x:Support 4 i2c busses
nxp/rt117x:Add px4io_serial support
nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4
px4_fmu-6xrt:Using imxrt_flexspi_nor_octal
px4_fmu-6xrt:Entry is start
px4_fmu-6xrt:Add Proper MTD
px4_fmu-6xrt:Set I2C Buses
px4_fmu-6xrt:Proper SPI usage
px4_fmu-6xrt:Adjust memory Map to use the 2 MB
px4_fmu-6xrt:Bring in ROMAPI
px4_fmu-6xrt:Push FLASH to 200Mhz
px4_fmu-6xrt:Use BOARD_I2C_LATEINIT
px4_fmu-6xrt:Clock Config remove unused devices
px4_fmu-6xrt:Remove EVK SDRAM IO
px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE
px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI
px4_fmu-6xrt:Manifest
px4_fmu-6xrt:Restore board_peripheral_reset
px4_fmu-6xrt:Set I2C buss Interna/Externa and startup
nxp/rt117x:Set 6 I2C busses
px4_fmu-6xrt:Correct Clock Sources and Freqency Settings
px4_fmu-6xrt:Correct ADC Settings
px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning
px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata
Current config
1KB Prefetch .rodata
3KB Prefetch .text
px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers
px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable
px4_fmu-6xrt:Octal spi boot/debug problem bypass
px4_fmu-6xrt:Add PWM test
px4_fmu-6xrt:Fix clockconfig and USB vbus sense
px4_fmu-6xrt: Use TCM
px4_fmu-6xrt: Ethernet bringup
imxrt: use unique_id register for board_identity
px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0
px4_fmu-6xrt:correct rotation icm42688p onboard imu
rt117x: Add SSARC HP RAM driver for memory dumps
px4_fmu-6xrt: Enable hardfault_log
px4_fmu-6xrt: Enable DMA pool
px4_fmu-6xrt: fix uart mapping
px4_fmu-6xrt: enable SocketCAN & DroneCAN
px4_fmu-6xrt:Command line history TAB completion
px4_fmu-6xrt:Fix pinning duplication
px4_fmu-6xrt:Support conditional PHY address based on selected PHY
px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS
px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max
px4_fmu-6xrt::Set TELEM Buffers add HW HS
px4_fmu-6xrt:Turn off DMA poll
px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!
px4_fmu-6xrt: bootloader (#22228)
* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes
px4_fmu-6xrt:Default to use LAN8742A PHY
px4_fmu-v6xrt:VID Set to Drone Code
board_reset:Enable ability to write RTC GP regs
px4_fmu-6xrt:Fix CMP0079 error
rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT
px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders
fmu-v6xrt: increase 5v down time
fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.
imxrt:board_hw_rev_ver Rework for 3.893V Ref
px4_fmu-v6xrt:Move ADC to Port3
130 lines
4.0 KiB
C
130 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file can.c
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*
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* Board-specific CAN functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can/can.h>
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#include <arch/board/board.h>
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#include <chip.h>
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#include "arm_internal.h"
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#include "board_config.h"
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#ifdef CONFIG_CAN
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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#if defined(CONFIG_IMXRT_FLEXCAN1) && defined(CONFIG_IMXRT_FLEXCAN2) \
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&& defined(CONFIG_IMXRT_FLEXCAN3)
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# warning "CAN1 and CAN2 and CAN2 are enabled. Assuming only CAN1."
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#endif
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#ifdef CONFIG_IMXRT_FLEXCAN1
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# define CAN_PORT 1
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#else
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# define CAN_PORT 2
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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int can_devinit(void);
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/************************************************************************************
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* Name: can_devinit
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*
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* Description:
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* All architectures must provide the following interface to work with
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* examples/can.
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*
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************************************************************************************/
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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if (!initialized) {
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/* Call imxrt_caninitialize() to get an instance of the CAN interface */
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can = imxrt_can_initialize(CAN_PORT);
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if (can == NULL) {
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canerr("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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/* Register the CAN driver at "/dev/can0" */
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ret = can_register("/dev/can0", can);
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if (ret < 0) {
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canerr("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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#endif
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