Cleanup and refactor of the PX4IO firmware and board support. Builds, not tested yet.

1 files changed, 100 insertions, 0 deletions

diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h
new file mode 100644
index 000000000..a0342ac8a
--- /dev/null
+++ b/apps/drivers/boards/px4io/px4io_internal.h
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   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 PX4IO hardware definitions.
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_internal.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* PX4IO GPIOs **********************************************************************/
+/* LEDs */
+
+#define GPIO_LED1       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED2       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_LED3       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+
+/* R/C in/out channels **************************************************************/
+
+/* XXX just GPIOs for now - eventually timer pins */
+
+#define GPIO_CH1_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_CH2_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_CH3_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_CH4_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_CH5_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_CH6_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_CH7_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_CH8_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
+
+#define GPIO_CH1_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_CH2_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_CH3_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_CH4_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_CH5_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_CH6_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_CH7_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_CH8_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+
+/* Safety switch button *************************************************************/
+
+#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
+
+/* Power switch controls ************************************************************/
+
+#define GPIO_ACC1_PWR_EN  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_ACC2_PWR_EN  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+
+#define GPIO_ACC_OC_DETECT   (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
+
+#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
+#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)