mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 04:43:34 +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
116 lines
3.2 KiB
C
116 lines
3.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file led.c
|
|
*
|
|
* PX4 fmu-v6rt LED backend.
|
|
*/
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
|
|
#include <stdbool.h>
|
|
|
|
#include "chip.h"
|
|
#include <hardware/imxrt_gpio.h>
|
|
#include "board_config.h"
|
|
|
|
#include <arch/board/board.h>
|
|
|
|
/*
|
|
* Ideally we'd be able to get these from arm_internal.h,
|
|
* but since we want to be able to disable the NuttX use
|
|
* of leds for system indication at will and there is no
|
|
* separate switch, we need to build independent of the
|
|
* CONFIG_ARCH_LEDS configuration switch.
|
|
*/
|
|
__BEGIN_DECLS
|
|
extern void led_init(void);
|
|
extern void led_on(int led);
|
|
extern void led_off(int led);
|
|
extern void led_toggle(int led);
|
|
__END_DECLS
|
|
|
|
|
|
static uint32_t g_ledmap[] = {
|
|
GPIO_nLED_BLUE, // Indexed by LED_BLUE
|
|
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
|
|
GPIO_LED_SAFETY, // Indexed by LED_SAFETY
|
|
GPIO_nLED_GREEN, // Indexed by LED_GREEN
|
|
};
|
|
|
|
__EXPORT void led_init(void)
|
|
{
|
|
/* Configure LED GPIOs for output */
|
|
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
|
if (g_ledmap[l] != 0) {
|
|
imxrt_config_gpio(g_ledmap[l]);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void phy_set_led(int led, bool state)
|
|
{
|
|
/* Drive Low to switch on */
|
|
|
|
if (g_ledmap[led] != 0) {
|
|
imxrt_gpio_write(g_ledmap[led], !state);
|
|
}
|
|
}
|
|
|
|
static bool phy_get_led(int led)
|
|
{
|
|
|
|
if (g_ledmap[led] != 0) {
|
|
return imxrt_gpio_read(!g_ledmap[led]);
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
__EXPORT void led_on(int led)
|
|
{
|
|
phy_set_led(led, true);
|
|
}
|
|
|
|
__EXPORT void led_off(int led)
|
|
{
|
|
phy_set_led(led, false);
|
|
}
|
|
|
|
__EXPORT void led_toggle(int led)
|
|
{
|
|
|
|
phy_set_led(led, !phy_get_led(led));
|
|
}
|