Merge branch 'fmuv2_bringup' of https://github.com/cvg/Firmware_Private into fmuv2_bringup

4 files changed, 353 insertions, 0 deletions

diff --git a/apps/drivers/boards/px4iov2/Makefile b/apps/drivers/boards/px4iov2/Makefile
new file mode 100644
index 000000000..85806fe6f
--- /dev/null
+++ b/apps/drivers/boards/px4iov2/Makefile
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Board-specific startup code for the PX4IO
+#
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+LIBNAME		 = brd_px4io
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/boards/px4iov2/module.mk b/apps/drivers/boards/px4iov2/module.mk
new file mode 100644
index 000000000..d596ce4db
--- /dev/null
+++ b/apps/drivers/boards/px4iov2/module.mk
@@ -0,0 +1,5 @@
+#
+# Board-specific startup code for the PX4IOv2
+#
+
+SRCS		 = px4iov2_init.c
diff --git a/apps/drivers/boards/px4iov2/px4iov2_init.c b/apps/drivers/boards/px4iov2/px4iov2_init.c
new file mode 100644
index 000000000..711bee425
--- /dev/null
+++ b/apps/drivers/boards/px4iov2/px4iov2_init.c
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   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 px4iov2_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.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+
+#include "stm32_internal.h"
+#include "px4iov2_internal.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+
+    /* configure GPIOs */
+
+    /* turn off - all leds are active low */
+	stm32_gpiowrite(BOARD_GPIO_LED1, true);
+	stm32_gpiowrite(BOARD_GPIO_LED2, true);
+	stm32_gpiowrite(BOARD_GPIO_LED3, true);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED1));
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED2));
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED3));
+
+
+	stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_BTN_SAFETY));
+
+    /* spektrum power enable is active high - disable it by default */
+	stm32_gpiowrite(BOARD_GPIO_SPEKTRUM_PWR_EN, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SPEKTRUM_PWR_EN));
+
+    /* servo power enable is active low, and has a pull down resistor
+     * to keep it low during boot (since it may power the whole board.)
+     */
+	stm32_gpiowrite(BOARD_GPIO_SERVO_PWR_EN, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SERVO_PWR_EN));
+
+	stm32_configgpio(BOARD_GPIO_INPUT_PUP(BOARD_GPIO_SERVO_FAULT_DETECT));
+
+	stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_TIM_RSSI)); /* xxx alternate function */
+	stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_RSSI));
+	stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_VSERVO));
+
+	stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_SBUS_INPUT)); /* xxx alternate function */
+
+	stm32_gpiowrite(BOARD_GPIO_SBUS_OUTPUT, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OUTPUT));
+    /* sbus output enable is active low - disable it by default */
+	stm32_gpiowrite(BOARD_GPIO_SBUS_OENABLE, true);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OENABLE));
+
+
+	stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_PPM)); /* xxx alternate function */
+
+	stm32_gpiowrite(BOARD_GPIO_PWM1, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM1));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM2, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM2));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM3, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM3));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM4, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM4));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM5, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM5));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM6, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM6));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM7, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM7));
+
+	stm32_gpiowrite(BOARD_GPIO_PWM8, false);
+	stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM8));
+
+//	message("[boot] Successfully initialized px4iov2 gpios\n");
+
+	return OK;
+}
diff --git a/apps/drivers/boards/px4iov2/px4iov2_internal.h b/apps/drivers/boards/px4iov2/px4iov2_internal.h
new file mode 100644
index 000000000..9675c6f36
--- /dev/null
+++ b/apps/drivers/boards/px4iov2/px4iov2_internal.h
@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   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 px4iov2_internal.h
+ *
+ * PX4IOV2 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32_internal.h>
+
+ 
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/******************************************************************************
+ * GPIOS
+ ******************************************************************************/
+
+#define BOARD_GPIO_OUTPUT(pin) (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
+                                GPIO_OUTPUT_CLEAR|(pin))
+#define BOARD_GPIO_INPUT_FLOAT(pin)  (GPIO_INPUT|GPIO_CNF_INFLOAT|\
+                                      GPIO_MODE_INPUT|(pin))
+#define BOARD_GPIO_INPUT_PUP(pin) (GPIO_INPUT|GPIO_CNF_INPULLUP|\
+                                   GPIO_MODE_INPUT|(pin))
+#define BOARD_GPIO_INPUT_ANALOG(pin) (GPIO_INPUT|GPIO_CNF_ANALOGIN|\
+                                   GPIO_MODE_INPUT|(pin))
+
+/* LEDS  **********************************************************************/
+
+#define BOARD_GPIO_LED1 (GPIO_PORTB|GPIO_PIN14)
+#define BOARD_GPIO_LED2 (GPIO_PORTB|GPIO_PIN15)
+#define BOARD_GPIO_LED3 (GPIO_PORTB|GPIO_PIN13)
+
+#define BOARD_GPIO_LED_BLUE   BOARD_GPIO_LED1
+#define BOARD_GPIO_LED_AMBER  BOARD_GPIO_LED2
+#define BOARD_GPIO_LED_SAFETY BOARD_GPIO_LED3
+
+/* Safety switch button *******************************************************/
+
+#define BOARD_GPIO_BTN_SAFETY (GPIO_PORTB|GPIO_PIN5)
+
+/* Power switch controls ******************************************************/
+
+#define BOARD_GPIO_SPEKTRUM_PWR_EN (GPIO_PORTC|GPIO_PIN13)
+
+#define BOARD_GPIO_SERVO_PWR_EN (GPIO_PORTC|GPIO_PIN15)
+
+#define BOARD_GPIO_SERVO_FAULT_DETECT (GPIO_PORTB|GPIO_PIN13)
+
+
+/* Analog inputs **************************************************************/
+
+#define BOARD_GPIO_ADC_VSERVO (GPIO_PORTA|GPIO_PIN4)
+/* the same rssi signal goes to both an adc and a timer input */
+#define BOARD_GPIO_ADC_RSSI   (GPIO_PORTA|GPIO_PIN5)
+#define BOARD_GPIO_TIM_RSSI   (GPIO_PORTA|GPIO_PIN12)
+
+/* PWM pins  **************************************************************/
+
+#define BOARD_GPIO_PPM (GPIO_PORTA|GPIO_PIN8)
+
+#define BOARD_GPIO_PWM1 (GPIO_PORTA|GPIO_PIN0)
+#define BOARD_GPIO_PWM2 (GPIO_PORTA|GPIO_PIN1)
+#define BOARD_GPIO_PWM3 (GPIO_PORTB|GPIO_PIN8)
+#define BOARD_GPIO_PWM4 (GPIO_PORTB|GPIO_PIN9)
+#define BOARD_GPIO_PWM5 (GPIO_PORTA|GPIO_PIN6)
+#define BOARD_GPIO_PWM6 (GPIO_PORTA|GPIO_PIN7)
+#define BOARD_GPIO_PWM7 (GPIO_PORTB|GPIO_PIN0)
+#define BOARD_GPIO_PWM8 (GPIO_PORTB|GPIO_PIN1)
+
+/* SBUS pins  *************************************************************/
+
+#define BOARD_GPIO_SBUS_INPUT   (GPIO_PORTB|GPIO_PIN11)
+#define BOARD_GPIO_SBUS_OUTPUT  (GPIO_PORTB|GPIO_PIN10)
+#define BOARD_GPIO_SBUS_OENABLE (GPIO_PORTB|GPIO_PIN4)
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS