diff options
author | px4dev <px4@purgatory.org> | 2012-10-31 00:37:15 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-10-31 00:37:15 -0700 |
commit | 34a3b260f34398994a315388b3ffed22a1fe22fb (patch) | |
tree | cbea6c3fff4e2701921827b122df9d348c38ac1c /apps/drivers | |
parent | b685d46dbfc583a26a92f1466dca64f9d45c3c4e (diff) | |
download | px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.tar.gz px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.tar.bz2 px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.zip |
Move the last of the board-specific code for PX4FMU out of the NuttX tree. Now it's just configuration.
Diffstat (limited to 'apps/drivers')
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 64 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_led.c | 88 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c | 10 | ||||
-rw-r--r-- | apps/drivers/drv_led.h | 64 | ||||
-rw-r--r-- | apps/drivers/led/Makefile | 38 | ||||
-rw-r--r-- | apps/drivers/led/led.cpp | 115 |
6 files changed, 311 insertions, 68 deletions
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c index 38a284017..568d861c9 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ b/apps/drivers/boards/px4fmu/px4fmu_init.c @@ -64,9 +64,9 @@ #include "stm32_uart.h" #include <arch/board/board.h> -#include <arch/board/drv_led.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_led.h> #include <systemlib/cpuload.h> @@ -131,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void) static struct spi_dev_s *spi1; static struct spi_dev_s *spi3; -static struct i2c_dev_s *i2c1; -static struct i2c_dev_s *i2c2; -static struct i2c_dev_s *i2c3; #include <math.h> @@ -153,10 +150,6 @@ __EXPORT int nsh_archinitialize(void) { int result; - /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */ - - /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */ - /* configure the high-resolution time/callout interface */ #ifdef CONFIG_HRT_TIMER hrt_init(); @@ -190,14 +183,12 @@ __EXPORT int nsh_archinitialize(void) message("\r\n"); + // initial LED state + drv_led_start(); up_ledoff(LED_BLUE); up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); - /* Configure user-space led driver */ - px4fmu_led_init(); - /* Configure SPI-based devices */ spi1 = up_spiinitialize(1); @@ -219,38 +210,6 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully initialized SPI port 1\r\n"); -#if 0 - /* initialize I2C2 bus */ - - i2c2 = up_i2cinitialize(2); - - if (!i2c2) { - message("[boot] FAILED to initialize I2C bus 2\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C2 speed */ - I2C_SETFREQUENCY(i2c2, 400000); - - - i2c3 = up_i2cinitialize(3); - - if (!i2c3) { - message("[boot] FAILED to initialize I2C bus 3\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C3 speed */ - I2C_SETFREQUENCY(i2c3, 400000); - - /* try to attach, don't fail if device is not responding */ - (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS, - FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES, - FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES, - FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1); -#endif #if defined(CONFIG_STM32_SPI3) /* Get the SPI port */ @@ -276,24 +235,7 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); #endif /* SPI3 */ -#if 0 - /* initialize I2C1 bus */ - - i2c1 = up_i2cinitialize(1); - if (!i2c1) { - message("[boot] FAILED to initialize I2C bus 1\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C1 speed */ - I2C_SETFREQUENCY(i2c1, 400000); - - /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */ - - /* Get board information if available */ -#endif #ifdef CONFIG_ADC int adc_state = adc_devinit(); diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/apps/drivers/boards/px4fmu/px4fmu_led.c new file mode 100644 index 000000000..fd1e159aa --- /dev/null +++ b/apps/drivers/boards/px4fmu/px4fmu_led.c @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * 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 px4fmu_led.c + * + * PX4FMU LED backend. + */ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <stdbool.h> +#include <debug.h> + +#include <arch/board/board.h> + +#include "chip.h" +#include "up_arch.h" +#include "up_internal.h" +#include "stm32_internal.h" +#include "px4fmu_internal.h" + +__EXPORT void up_ledinit() +{ + /* Configure LED1-2 GPIOs for output */ + + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); +} + +__EXPORT void up_ledon(int led) +{ + if (led == 0) + { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_LED1, false); + } + if (led == 1) + { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_LED2, false); + } +} + +__EXPORT void up_ledoff(int led) +{ + if (led == 0) + { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_LED1, true); + } + if (led == 1) + { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_LED2, true); + } +} diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c index d1ff8c112..cb8918306 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c +++ b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c @@ -46,13 +46,9 @@ #include <arch/board/board.h> #include <drivers/drv_pwm_output.h> -#include "chip.h" -#include "up_internal.h" -#include "up_arch.h" - -#include "stm32_internal.h" -#include "stm32_gpio.h" -#include "stm32_tim.h" +#include <stm32_internal.h> +#include <stm32_gpio.h> +#include <stm32_tim.h> __EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { { diff --git a/apps/drivers/drv_led.h b/apps/drivers/drv_led.h new file mode 100644 index 000000000..bf21787f2 --- /dev/null +++ b/apps/drivers/drv_led.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * 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 drv_led.h + * + * LED driver API + */ + +#pragma once + +#include <stdint.h> +#include <sys/ioctl.h> + +#define LED_DEVICE_PATH "/dev/led" + +#define _LED_BASE 0x2800 + +/* PX4 LED colour codes */ +#define LED_AMBER 0 +#define LED_RED 0 /* some boards have red rather than amber */ +#define LED_BLUE 1 + +#define LED_ON _IOC(_LED_BASE, 0) +#define LED_OFF _IOC(_LED_BASE, 1) + +__BEGIN_DECLS + +/* + * Initialise the LED driver. + */ +__EXPORT extern void drv_led_start(); + +__END_DECLS diff --git a/apps/drivers/led/Makefile b/apps/drivers/led/Makefile new file mode 100644 index 000000000..7de188259 --- /dev/null +++ b/apps/drivers/led/Makefile @@ -0,0 +1,38 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Makefile to build the LED driver. +# + +include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/led/led.cpp b/apps/drivers/led/led.cpp new file mode 100644 index 000000000..12d864be2 --- /dev/null +++ b/apps/drivers/led/led.cpp @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * 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 led.cpp + * + * LED driver. + */ + +#include <nuttx/config.h> +#include <drivers/device/device.h> +#include <drivers/drv_led.h> + +/* Ideally we'd be able to get these from up_internal.h */ +//#include <up_internal.h> +__BEGIN_DECLS +extern void up_ledinit(); +extern void up_ledon(int led); +extern void up_ledoff(int led); +__END_DECLS + +class LED : device::CDev +{ +public: + LED(); + ~LED(); + + virtual int init(); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); +}; + +LED::LED() : + CDev("led", LED_DEVICE_PATH) +{ + // force immediate init/device registration + init(); +} + +LED::~LED() +{ +} + +int +LED::init() +{ + CDev::init(); + up_ledinit(); + + return 0; +} + +int +LED::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int result = OK; + + switch (cmd) { + case LED_ON: + up_ledon(arg); + break; + + case LED_OFF: + up_ledoff(arg); + break; + + default: + result = CDev::ioctl(filp, cmd, arg); + } + return result; +} + +namespace +{ +LED *gLED; +} + +void +drv_led_start() +{ + if (gLED == nullptr) { + gLED = new LED; + if (gLED != nullptr) + gLED->init(); + } +}
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