Remove the px4-v2_upstream configuration. Moved to misc/Obsoleted/configs.

This is not the official configuration for the PX4 board and has led to confusion by NuttX users.  The board configuration also requires some ongoing maintenance and customization to support ongoing PX4 testing and evaluation.  It is best retained the PX4 repositories where it can be properly maintained and not in the upstream NuttX repository.

1 files changed, 297 insertions, 0 deletions

diff --git a/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c b/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c
new file mode 100644
index 000000000..e2813c89f
--- /dev/null
+++ b/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c
@@ -0,0 +1,297 @@
+/****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start
+ * required subsystems and perform board-specific initialisation.
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <math.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifdef CONFIG_FAT_DMAMEMORY
+# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
+#  error microSD DMA support requires CONFIG_GRAN
+# endif
+#endif
+
+/* PX4 LED colour codes */
+
+#define LED_AMBER      1
+#define LED_RED        1  /* Some boards have red rather than amber */
+#define LED_BLUE       0
+#define LED_SAFETY     2
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_FAT_DMAMEMORY
+static GRAN_HANDLE dma_allocator;
+
+/* The DMA heap size constrains the total number of things that can be
+ * ready to do DMA at a time.
+ *
+ * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
+ * one sector-sized buffer per file.
+ *
+ * We use a fundamental alignment / granule size of 64B; this is sufficient
+ * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
+ */
+
+static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
+#endif
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct sdio_dev_s *sdio;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_FAT_DMAMEMORY
+static void dma_alloc_init(void)
+{
+  dma_allocator =
+    gran_initialize(g_dma_heap,
+                    sizeof(g_dma_heap),
+                    7,  /* 128B granule - must be > alignment (XXX bug?) */
+                    6); /* 64B alignment */
+
+  if (dma_allocator == NULL)
+    {
+      syslog(LOG_INFO, "[boot] DMA allocator setup FAILED");
+    }
+}
+#else
+# define dma_alloc_init()
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_FAT_DMAMEMORY
+/* DMA-aware allocator stubs for the FAT filesystem. */
+
+void *fat_dma_alloc(size_t size)
+{
+  return gran_alloc(dma_allocator, size);
+}
+
+void fat_dma_free(FAR void *memory, size_t size)
+{
+  gran_free(dma_allocator, memory, size);
+}
+
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+void stm32_boardinitialize(void)
+{
+  /* Configure SPI interfaces */
+
+  stm32_spiinitialize();
+
+  /* Configure LEDs */
+
+  board_led_initialize();
+}
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+int nsh_archinitialize(void)
+{
+#ifdef CONFIG_MMCSD
+  int ret;
+#endif
+
+  /* Configure ADC pins */
+
+  stm32_configgpio(GPIO_ADC1_IN2);   /* BATT_VOLTAGE_SENS */
+  stm32_configgpio(GPIO_ADC1_IN3);   /* BATT_CURRENT_SENS */
+  stm32_configgpio(GPIO_ADC1_IN4);   /* VDD_5V_SENS */
+//stm32_configgpio(GPIO_ADC1_IN10);  /* used by VBUS valid */
+//stm32_configgpio(GPIO_ADC1_IN11);  /* unused */
+//stm32_configgpio(GPIO_ADC1_IN12);  /* used by MPU6000 CS */
+  stm32_configgpio(GPIO_ADC1_IN13);  /* FMU_AUX_ADC_1 */
+  stm32_configgpio(GPIO_ADC1_IN14);  /* FMU_AUX_ADC_2 */
+  stm32_configgpio(GPIO_ADC1_IN15);  /* PRESSURE_SENS */
+
+  /* Configure power supply control/sense pins */
+
+  stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+  stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+  stm32_configgpio(GPIO_VDD_BRICK_VALID);
+  stm32_configgpio(GPIO_VDD_SERVO_VALID);
+  stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+  stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+
+  /* Configure the DMA allocator */
+
+  dma_alloc_init();
+
+  /* Configure CPU load estimation */
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+  cpuload_initialize_once();
+#endif
+
+  /* Initial LED state */
+
+  led_off(LED_AMBER);
+
+  /* Configure SPI-based devices */
+
+  spi1 = up_spiinitialize(1);
+  if (!spi1)
+    {
+      syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
+      board_led_on(LED_AMBER);
+      return -ENODEV;
+    }
+
+  /* Default SPI1 to 1MHz and de-assert the known chip selects. */
+
+  SPI_SETFREQUENCY(spi1, 10000000);
+  SPI_SETBITS(spi1, 8);
+  SPI_SETMODE(spi1, SPIDEV_MODE3);
+  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+  up_udelay(20);
+
+  syslog(LOG_INFO, "[boot] Initialized SPI port 1 (SENSORS)\n");
+
+  /* Get the SPI port for the FRAM */
+
+  spi2 = up_spiinitialize(2);
+  if (!spi2)
+    {
+      syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
+      board_led_on(LED_AMBER);
+      return -ENODEV;
+    }
+
+  /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+   * and de-assert the known chip selects.
+   */
+
+  // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+
+  SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
+  SPI_SETBITS(spi2, 8);
+  SPI_SETMODE(spi2, SPIDEV_MODE3);
+  SPI_SELECT(spi2, SPIDEV_FLASH, false);
+
+  syslog(LOG_INFO, "[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
+
+#ifdef CONFIG_MMCSD
+  /* First, get an instance of the SDIO interface */
+
+  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+  if (!sdio)
+    {
+      syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+             CONFIG_NSH_MMCSDSLOTNO);
+      return -ENODEV;
+    }
+
+  /* Now bind the SDIO interface to the MMC/SD driver */
+
+  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+      return ret;
+    }
+
+  /* Then let's guess and say that there is a card in the slot. There is no
+   * card detect GPIO.
+   */
+
+  sdio_mediachange(sdio, true);
+
+  syslog(LOG_INFO, "[boot] Initialized SDIO\n");
+#endif
+
+  return OK;
+}