diff options
author | px4dev <px4@purgatory.org> | 2013-08-02 23:11:04 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-08-02 23:11:04 -0700 |
commit | ecc7bc5bca40e9d5e0a7271105dea9b3441af0a8 (patch) | |
tree | 2dbe20984da5cc24405e00ab43a88664e8fdc757 /nuttx-configs/px4io-v1 | |
parent | 9d6ec6b3655fcd902be7a7fe4f2a24033c714afb (diff) | |
download | px4-firmware-ecc7bc5bca40e9d5e0a7271105dea9b3441af0a8.tar.gz px4-firmware-ecc7bc5bca40e9d5e0a7271105dea9b3441af0a8.tar.bz2 px4-firmware-ecc7bc5bca40e9d5e0a7271105dea9b3441af0a8.zip |
Clean out unused trash from the NuttX configs.
Diffstat (limited to 'nuttx-configs/px4io-v1')
-rw-r--r-- | nuttx-configs/px4io-v1/Kconfig | 21 | ||||
-rwxr-xr-x | nuttx-configs/px4io-v1/README.txt | 806 | ||||
-rw-r--r-- | nuttx-configs/px4io-v1/common/Make.defs | 171 | ||||
-rwxr-xr-x | nuttx-configs/px4io-v1/common/setenv.sh | 47 | ||||
-rw-r--r-- | nuttx-configs/px4io-v1/include/drv_i2c_device.h | 42 | ||||
-rw-r--r-- | nuttx-configs/px4io-v1/nsh/Make.defs | 165 | ||||
-rwxr-xr-x | nuttx-configs/px4io-v1/scripts/ld.script (renamed from nuttx-configs/px4io-v1/common/ld.script) | 0 | ||||
-rw-r--r-- | nuttx-configs/px4io-v1/src/README.txt | 1 | ||||
-rw-r--r-- | nuttx-configs/px4io-v1/src/drv_i2c_device.c | 618 |
9 files changed, 164 insertions, 1707 deletions
diff --git a/nuttx-configs/px4io-v1/Kconfig b/nuttx-configs/px4io-v1/Kconfig deleted file mode 100644 index fbf74d7f0..000000000 --- a/nuttx-configs/px4io-v1/Kconfig +++ /dev/null @@ -1,21 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# - -if ARCH_BOARD_PX4IO_V1 - -config HRT_TIMER - bool "High resolution timer support" - default y - ---help--- - Enable high resolution timer for PPM capture and system clocks. - -config HRT_PPM - bool "PPM input capture" - default y - depends on HRT_TIMER - ---help--- - Enable PPM input capture via HRT (for CPPM / PPM sum RC inputs) - -endif diff --git a/nuttx-configs/px4io-v1/README.txt b/nuttx-configs/px4io-v1/README.txt deleted file mode 100755 index 9b1615f42..000000000 --- a/nuttx-configs/px4io-v1/README.txt +++ /dev/null @@ -1,806 +0,0 @@ -README -====== - -This README discusses issues unique to NuttX configurations for the -STMicro STM3210E-EVAL development board. - -Contents -======== - - - Development Environment - - GNU Toolchain Options - - IDEs - - NuttX buildroot Toolchain - - DFU and JTAG - - OpenOCD - - LEDs - - Temperature Sensor - - RTC - - STM3210E-EVAL-specific Configuration Options - - Configurations - -Development Environment -======================= - - Either Linux or Cygwin on Windows can be used for the development environment. - The source has been built only using the GNU toolchain (see below). Other - toolchains will likely cause problems. Testing was performed using the Cygwin - environment because the Raisonance R-Link emulatator and some RIDE7 development tools - were used and those tools works only under Windows. - -GNU Toolchain Options -===================== - - The NuttX make system has been modified to support the following different - toolchain options. - - 1. The CodeSourcery GNU toolchain, - 2. The devkitARM GNU toolchain, - 3. Raisonance GNU toolchain, or - 4. The NuttX buildroot Toolchain (see below). - - All testing has been conducted using the NuttX buildroot toolchain. However, - the make system is setup to default to use the devkitARM toolchain. To use - the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to - add one of the following configuration options to your .config (or defconfig) - file: - - CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows - CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux - CONFIG_STM32_DEVKITARM=y : devkitARM under Windows - CONFIG_STM32_RAISONANCE=y : Raisonance RIDE7 under Windows - CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) - - If you are not using CONFIG_STM32_BUILDROOT, then you may also have to modify - the PATH in the setenv.h file if your make cannot find the tools. - - NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are - Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot - toolchains are Cygwin and/or Linux native toolchains. There are several limitations - to using a Windows based toolchain in a Cygwin environment. The three biggest are: - - 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are - performed automatically in the Cygwin makefiles using the 'cygpath' utility - but you might easily find some new path problems. If so, check out 'cygpath -w' - - 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links - are used in Nuttx (e.g., include/arch). The make system works around these - problems for the Windows tools by copying directories instead of linking them. - But this can also cause some confusion for you: For example, you may edit - a file in a "linked" directory and find that your changes had no effect. - That is because you are building the copy of the file in the "fake" symbolic - directory. If you use a Windows toolchain, you should get in the habit of - making like this: - - make clean_context all - - An alias in your .bashrc file might make that less painful. - - 3. Dependencies are not made when using Windows versions of the GCC. This is - because the dependencies are generated using Windows pathes which do not - work with the Cygwin make. - - Support has been added for making dependencies with the windows-native toolchains. - That support can be enabled by modifying your Make.defs file as follows: - - - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - + MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)" - - If you have problems with the dependency build (for example, if you are not - building on C:), then you may need to modify tools/mkdeps.sh - - NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization - level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with - -Os. - - NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that - the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM - path or will get the wrong version of make. - -IDEs -==== - - NuttX is built using command-line make. It can be used with an IDE, but some - effort will be required to create the project (There is a simple RIDE project - in the RIDE subdirectory). - - Makefile Build - -------------- - Under Eclipse, it is pretty easy to set up an "empty makefile project" and - simply use the NuttX makefile to build the system. That is almost for free - under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty - makefile project in order to work with Windows (Google for "Eclipse Cygwin" - - there is a lot of help on the internet). - - Native Build - ------------ - Here are a few tips before you start that effort: - - 1) Select the toolchain that you will be using in your .config file - 2) Start the NuttX build at least one time from the Cygwin command line - before trying to create your project. This is necessary to create - certain auto-generated files and directories that will be needed. - 3) Set up include pathes: You will need include/, arch/arm/src/stm32, - arch/arm/src/common, arch/arm/src/armv7-m, and sched/. - 4) All assembly files need to have the definition option -D __ASSEMBLY__ - on the command line. - - Startup files will probably cause you some headaches. The NuttX startup file - is arch/arm/src/stm32/stm32_vectors.S. With RIDE, I have to build NuttX - one time from the Cygwin command line in order to obtain the pre-built - startup object needed by RIDE. - -NuttX buildroot Toolchain -========================= - - A GNU GCC-based toolchain is assumed. The files */setenv.sh should - be modified to point to the correct path to the Cortex-M3 GCC toolchain (if - different from the default in your PATH variable). - - If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX - SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573). - This GNU toolchain builds and executes in the Linux or Cygwin environment. - - 1. You must have already configured Nuttx in <some-dir>/nuttx. - - cd tools - ./configure.sh stm3210e-eval/<sub-dir> - - 2. Download the latest buildroot package into <some-dir> - - 3. unpack the buildroot tarball. The resulting directory may - have versioning information on it like buildroot-x.y.z. If so, - rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot. - - 4. cd <some-dir>/buildroot - - 5. cp configs/cortexm3-defconfig-4.3.3 .config - - 6. make oldconfig - - 7. make - - 8. Edit setenv.h, if necessary, so that the PATH variable includes - the path to the newly built binaries. - - See the file configs/README.txt in the buildroot source tree. That has more - detailed PLUS some special instructions that you will need to follow if you are - building a Cortex-M3 toolchain for Cygwin under Windows. - -DFU and JTAG -============ - - Enbling Support for the DFU Bootloader - -------------------------------------- - The linker files in these projects can be configured to indicate that you - will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU) - loader or via some JTAG emulator. You can specify the DFU bootloader by - adding the following line: - - CONFIG_STM32_DFU=y - - to your .config file. Most of the configurations in this directory are set - up to use the DFU loader. - - If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning - of FLASH (0x08000000) but will be offset to 0x08003000. This offset is needed - to make space for the DFU loader and 0x08003000 is where the DFU loader expects - to find new applications at boot time. If you need to change that origin for some - other bootloader, you will need to edit the file(s) ld.script.dfu for each - configuration. - - The DFU SE PC-based software is available from the STMicro website, - http://www.st.com. General usage instructions: - - 1. Convert the NuttX Intel Hex file (nuttx.ihx) into a special DFU - file (nuttx.dfu)... see below for details. - 2. Connect the STM3210E-EVAL board to your computer using a USB - cable. - 3. Start the DFU loader on the STM3210E-EVAL board. You do this by - resetting the board while holding the "Key" button. Windows should - recognize that the DFU loader has been installed. - 3. Run the DFU SE program to load nuttx.dfu into FLASH. - - What if the DFU loader is not in FLASH? The loader code is available - inside of the Demo dirctory of the USBLib ZIP file that can be downloaded - from the STMicro Website. You can build it using RIDE (or other toolchains); - you will need a JTAG emulator to burn it into FLASH the first time. - - In order to use STMicro's built-in DFU loader, you will have to get - the NuttX binary into a special format with a .dfu extension. The - DFU SE PC_based software installation includes a file "DFU File Manager" - conversion program that a file in Intel Hex format to the special DFU - format. When you successfully build NuttX, you will find a file called - nutt.ihx in the top-level directory. That is the file that you should - provide to the DFU File Manager. You will need to rename it to nuttx.hex - in order to find it with the DFU File Manager. You will end up with - a file called nuttx.dfu that you can use with the STMicro DFU SE program. - - Enabling JTAG - ------------- - If you are not using the DFU, then you will probably also need to enable - JTAG support. By default, all JTAG support is disabled but there NuttX - configuration options to enable JTAG in various different ways. - - These configurations effect the setting of the SWJ_CFG[2:0] bits in the AFIO - MAPR register. These bits are used to configure the SWJ and trace alternate function I/Os. The SWJ (SerialWire JTAG) supports JTAG or SWD access to the - Cortex debug port. The default state in this port is for all JTAG support - to be disable. - - CONFIG_STM32_JTAG_FULL_ENABLE - sets SWJ_CFG[2:0] to 000 which enables full - SWJ (JTAG-DP + SW-DP) - - CONFIG_STM32_JTAG_NOJNTRST_ENABLE - sets SWJ_CFG[2:0] to 001 which enable - full SWJ (JTAG-DP + SW-DP) but without JNTRST. - - CONFIG_STM32_JTAG_SW_ENABLE - sets SWJ_CFG[2:0] to 010 which would set JTAG-DP - disabled and SW-DP enabled - - The default setting (none of the above defined) is SWJ_CFG[2:0] set to 100 - which disable JTAG-DP and SW-DP. - -OpenOCD -======= - -I have also used OpenOCD with the STM3210E-EVAL. In this case, I used -the Olimex USB ARM OCD. See the script in configs/stm3210e-eval/tools/oocd.sh -for more information. Using the script: - -1) Start the OpenOCD GDB server - - cd <nuttx-build-directory> - configs/stm3210e-eval/tools/oocd.sh $PWD - -2) Load Nuttx - - cd <nuttx-built-directory> - arm-none-eabi-gdb nuttx - gdb> target remote localhost:3333 - gdb> mon reset - gdb> mon halt - gdb> load nuttx - -3) Running NuttX - - gdb> mon reset - gdb> c - -LEDs -==== - -The STM3210E-EVAL board has four LEDs labeled LD1, LD2, LD3 and LD4 on the -board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is -defined. In that case, the usage by the board port is defined in -include/board.h and src/up_leds.c. The LEDs are used to encode OS-related -events as follows: - - SYMBOL Meaning LED1* LED2 LED3 LED4 - ---------------- ----------------------- ----- ----- ----- ----- - LED_STARTED NuttX has been started ON OFF OFF OFF - LED_HEAPALLOCATE Heap has been allocated OFF ON OFF OFF - LED_IRQSENABLED Interrupts enabled ON ON OFF OFF - LED_STACKCREATED Idle stack created OFF OFF ON OFF - LED_INIRQ In an interrupt** ON N/C N/C OFF - LED_SIGNAL In a signal handler*** N/C ON N/C OFF - LED_ASSERTION An assertion failed ON ON N/C OFF - LED_PANIC The system has crashed N/C N/C N/C ON - LED_IDLE STM32 is is sleep mode (Optional, not used) - - * If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot - and these LEDs will give you some indication of where the failure was - ** The normal state is LED3 ON and LED1 faintly glowing. This faint glow - is because of timer interupts that result in the LED being illuminated - on a small proportion of the time. -*** LED2 may also flicker normally if signals are processed. - -Temperature Sensor -================== - -Support for the on-board LM-75 temperature sensor is available. This supported -has been verified, but has not been included in any of the available the -configurations. To set up the temperature sensor, add the following to the -NuttX configuration file - - CONFIG_I2C=y - CONFIG_I2C_LM75=y - -Then you can implement logic like the following to use the temperature sensor: - - #include <nuttx/sensors/lm75.h> - #include <arch/board/board.h> - - ret = stm32_lm75initialize("/dev/temp"); /* Register the temperature sensor */ - fd = open("/dev/temp", O_RDONLY); /* Open the temperature sensor device */ - ret = ioctl(fd, SNIOC_FAHRENHEIT, 0); /* Select Fahrenheit */ - bytesread = read(fd, buffer, 8*sizeof(b16_t)); /* Read temperature samples */ - -More complex temperature sensor operations are also available. See the IOCTAL -commands enumerated in include/nuttx/sensors/lm75.h. Also read the descriptions -of the stm32_lm75initialize() and stm32_lm75attach() interfaces in the -arch/board/board.h file (sames as configs/stm3210e-eval/include/board.h). - -RTC -=== - - The STM32 RTC may configured using the following settings. - - CONFIG_RTC - Enables general support for a hardware RTC. Specific - architectures may require other specific settings. - CONFIG_RTC_HIRES - The typical RTC keeps time to resolution of 1 - second, usually supporting a 32-bit time_t value. In this case, - the RTC is used to "seed" the normal NuttX timer and the - NuttX timer provides for higher resoution time. If CONFIG_RTC_HIRES - is enabled in the NuttX configuration, then the RTC provides higher - resolution time and completely replaces the system timer for purpose of - date and time. - CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the - frequency of the high resolution RTC must be provided. If CONFIG_RTC_HIRES - is not defined, CONFIG_RTC_FREQUENCY is assumed to be one. - CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm. - A callback function will be executed when the alarm goes off - - In hi-res mode, the STM32 RTC operates only at 16384Hz. Overflow interrupts - are handled when the 32-bit RTC counter overflows every 3 days and 43 minutes. - A BKP register is incremented on each overflow interrupt creating, effectively, - a 48-bit RTC counter. - - In the lo-res mode, the RTC operates at 1Hz. Overflow interrupts are not handled - (because the next overflow is not expected until the year 2106. - - WARNING: Overflow interrupts are lost whenever the STM32 is powered down. The - overflow interrupt may be lost even if the STM32 is powered down only momentarily. - Therefore hi-res solution is only useful in systems where the power is always on. - -STM3210E-EVAL-specific Configuration Options -============================================ - - CONFIG_ARCH - Identifies the arch/ subdirectory. This should - be set to: - - CONFIG_ARCH=arm - - CONFIG_ARCH_family - For use in C code: - - CONFIG_ARCH_ARM=y - - CONFIG_ARCH_architecture - For use in C code: - - CONFIG_ARCH_CORTEXM3=y - - CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory - - CONFIG_ARCH_CHIP=stm32 - - CONFIG_ARCH_CHIP_name - For use in C code to identify the exact - chip: - - CONFIG_ARCH_CHIP_STM32F103ZET6 - - CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG - Enables special STM32 clock - configuration features. - - CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG=n - - CONFIG_ARCH_BOARD - Identifies the configs subdirectory and - hence, the board that supports the particular chip or SoC. - - CONFIG_ARCH_BOARD=stm3210e_eval (for the STM3210E-EVAL development board) - - CONFIG_ARCH_BOARD_name - For use in C code - - CONFIG_ARCH_BOARD_STM3210E_EVAL=y - - CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation - of delay loops - - CONFIG_ENDIAN_BIG - define if big endian (default is little - endian) - - CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case): - - CONFIG_DRAM_SIZE=0x00010000 (64Kb) - - CONFIG_DRAM_START - The start address of installed DRAM - - CONFIG_DRAM_START=0x20000000 - - CONFIG_DRAM_END - Last address+1 of installed RAM - - CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) - - CONFIG_ARCH_IRQPRIO - The STM32F103Z supports interrupt prioritization - - CONFIG_ARCH_IRQPRIO=y - - CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that - have LEDs - - CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt - stack. If defined, this symbol is the size of the interrupt - stack in bytes. If not defined, the user task stacks will be - used during interrupt handling. - - CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions - - CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. - - CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that - cause a 100 second delay during boot-up. This 100 second delay - serves no purpose other than it allows you to calibratre - CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure - the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until - the delay actually is 100 seconds. - - Individual subsystems can be enabled: - AHB - --- - CONFIG_STM32_DMA1 - CONFIG_STM32_DMA2 - CONFIG_STM32_CRC - CONFIG_STM32_FSMC - CONFIG_STM32_SDIO - - APB1 - ---- - CONFIG_STM32_TIM2 - CONFIG_STM32_TIM3 - CONFIG_STM32_TIM4 - CONFIG_STM32_TIM5 - CONFIG_STM32_TIM6 - CONFIG_STM32_TIM7 - CONFIG_STM32_WWDG - CONFIG_STM32_SPI2 - CONFIG_STM32_SPI4 - CONFIG_STM32_USART2 - CONFIG_STM32_USART3 - CONFIG_STM32_UART4 - CONFIG_STM32_UART5 - CONFIG_STM32_I2C1 - CONFIG_STM32_I2C2 - CONFIG_STM32_USB - CONFIG_STM32_CAN - CONFIG_STM32_BKP - CONFIG_STM32_PWR - CONFIG_STM32_DAC1 - CONFIG_STM32_DAC2 - CONFIG_STM32_USB - - APB2 - ---- - CONFIG_STM32_ADC1 - CONFIG_STM32_ADC2 - CONFIG_STM32_TIM1 - CONFIG_STM32_SPI1 - CONFIG_STM32_TIM8 - CONFIG_STM32_USART1 - CONFIG_STM32_ADC3 - - Timer and I2C devices may need to the following to force power to be applied - unconditionally at power up. (Otherwise, the device is powered when it is - initialized). - - CONFIG_STM32_FORCEPOWER - - Timer devices may be used for different purposes. One special purpose is - to generate modulated outputs for such things as motor control. If CONFIG_STM32_TIMn - is defined (as above) then the following may also be defined to indicate that - the timer is intended to be used for pulsed output modulation, ADC conversion, - or DAC conversion. Note that ADC/DAC require two definition: Not only do you have - to assign the timer (n) for used by the ADC or DAC, but then you also have to - configure which ADC or DAC (m) it is assigned to. - - CONFIG_STM32_TIMn_PWM Reserve timer n for use by PWM, n=1,..,8 - CONFIG_STM32_TIMn_ADC Reserve timer n for use by ADC, n=1,..,8 - CONFIG_STM32_TIMn_ADCm Reserve timer n to trigger ADCm, n=1,..,8, m=1,..,3 - CONFIG_STM32_TIMn_DAC Reserve timer n for use by DAC, n=1,..,8 - CONFIG_STM32_TIMn_DACm Reserve timer n to trigger DACm, n=1,..,8, m=1,..,2 - - For each timer that is enabled for PWM usage, we need the following additional - configuration settings: - - CONFIG_STM32_TIMx_CHANNEL - Specifies the timer output channel {1,..,4} - - NOTE: The STM32 timers are each capable of generating different signals on - each of the four channels with different duty cycles. That capability is - not supported by this driver: Only one output channel per timer. - - Alternate pin mappings (should not be used with the STM3210E-EVAL board): - - CONFIG_STM32_TIM1_FULL_REMAP - CONFIG_STM32_TIM1_PARTIAL_REMAP - CONFIG_STM32_TIM2_FULL_REMAP - CONFIG_STM32_TIM2_PARTIAL_REMAP_1 - CONFIG_STM32_TIM2_PARTIAL_REMAP_2 - CONFIG_STM32_TIM3_FULL_REMAP - CONFIG_STM32_TIM3_PARTIAL_REMAP - CONFIG_STM32_TIM4_REMAP - CONFIG_STM32_USART1_REMAP - CONFIG_STM32_USART2_REMAP - CONFIG_STM32_USART3_FULL_REMAP - CONFIG_STM32_USART3_PARTIAL_REMAP - CONFIG_STM32_SPI1_REMAP - CONFIG_STM32_SPI3_REMAP - CONFIG_STM32_I2C1_REMAP - CONFIG_STM32_CAN1_FULL_REMAP - CONFIG_STM32_CAN1_PARTIAL_REMAP - CONFIG_STM32_CAN2_REMAP - - JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): - CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) - CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) - but without JNTRST. - CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled - - STM32F103Z specific device driver settings - - CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=1,2,3) or UART - m (m=4,5) for the console and ttys0 (default is the USART1). - CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received. - This specific the size of the receive buffer - CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before - being sent. This specific the size of the transmit buffer - CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be - CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8. - CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity - CONFIG_U[S]ARTn_2STOP - Two stop bits - - CONFIG_STM32_SPI_INTERRUPTS - Select to enable interrupt driven SPI - support. Non-interrupt-driven, poll-waiting is recommended if the - interrupt rate would be to high in the interrupt driven case. - CONFIG_STM32_SPI_DMA - Use DMA to improve SPI transfer performance. - Cannot be used with CONFIG_STM32_SPI_INTERRUPT. - - CONFIG_SDIO_DMA - Support DMA data transfers. Requires CONFIG_STM32_SDIO - and CONFIG_STM32_DMA2. - CONFIG_SDIO_PRI - Select SDIO interrupt prority. Default: 128 - CONFIG_SDIO_DMAPRIO - Select SDIO DMA interrupt priority. - Default: Medium - CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode. Default: - 4-bit transfer mode. - - STM3210E-EVAL CAN Configuration - - CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or - CONFIG_STM32_CAN2 must also be defined) - CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default - Standard 11-bit IDs. - CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. - Default: 8 - CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. - Default: 4 - CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback - mode for testing. The STM32 CAN driver does support loopback mode. - CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined. - CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. - CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6 - CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 - CONFIG_CAN_REGDEBUG - If CONFIG_DEBUG is set, this will generate an - dump of all CAN registers. - - STM3210E-EVAL LCD Hardware Configuration - - CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape" - support. Default is this 320x240 "landscape" orientation - (this setting is informative only... not used). - CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait" - orientation support. In this orientation, the STM3210E-EVAL's - LCD ribbon cable is at the bottom of the display. Default is - 320x240 "landscape" orientation. - CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse - portrait" orientation support. In this orientation, the - STM3210E-EVAL's LCD ribbon cable is at the top of the display. - Default is 320x240 "landscape" orientation. - CONFIG_LCD_BACKLIGHT - Define to support a backlight. - CONFIG_LCD_PWM - If CONFIG_STM32_TIM1 is also defined, then an - adjustable backlight will be provided using timer 1 to generate - various pulse widthes. The granularity of the settings is - determined by CONFIG_LCD_MAXPOWER. If CONFIG_LCD_PWM (or - CONFIG_STM32_TIM1) is not defined, then a simple on/off backlight - is provided. - CONFIG_LCD_RDSHIFT - When reading 16-bit gram data, there appears - to be a shift in the returned data. This value fixes the offset. - Default 5. - - The LCD driver dynamically selects the LCD based on the reported LCD - ID value. However, code size can be reduced by suppressing support for - individual LCDs using: - - CONFIG_STM32_AM240320_DISABLE - CONFIG_STM32_SPFD5408B_DISABLE - CONFIG_STM32_R61580_DISABLE - -Configurations -============== - -Each STM3210E-EVAL configuration is maintained in a sudirectory and -can be selected as follow: - - cd tools - ./configure.sh stm3210e-eval/<subdir> - cd - - . ./setenv.sh - -Where <subdir> is one of the following: - - buttons: - -------- - - Uses apps/examples/buttons to exercise STM3210E-EVAL buttons and - button interrupts. - - CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows - - composite - --------- - - This configuration exercises a composite USB interface consisting - of a CDC/ACM device and a USB mass storage device. This configuration - uses apps/examples/composite. - - nsh and nsh2: - ------------ - Configure the NuttShell (nsh) located at examples/nsh. - - Differences between the two NSH configurations: - - =========== ======================= ================================ - nsh nsh2 - =========== ======================= ================================ - Toolchain: NuttX buildroot for Codesourcery for Windows (1) - Linux or Cygwin (1,2) - ----------- ----------------------- -------------------------------- - Loader: DfuSe DfuSe - ----------- ----------------------- -------------------------------- - Serial Debug output: USART1 Debug output: USART1 - Console: NSH output: USART1 NSH output: USART1 (3) - ----------- ----------------------- -------------------------------- - microSD Yes Yes - Support - ----------- ----------------------- -------------------------------- - FAT FS CONFIG_FAT_LCNAME=y CONFIG_FAT_LCNAME=y - Config CONFIG_FAT_LFN=n CONFIG_FAT_LFN=y (4) - ----------- ----------------------- -------------------------------- - Support for No Yes - Built-in - Apps - ----------- ----------------------- -------------------------------- - Built-in None apps/examples/nx - Apps apps/examples/nxhello - apps/examples/usbstorage (5) - =========== ======================= ================================ - - (1) You will probably need to modify nsh/setenv.sh or nsh2/setenv.sh - to set up the correct PATH variable for whichever toolchain you - may use. - (2) Since DfuSe is assumed, this configuration may only work under - Cygwin without modification. - (3) When any other device other than /dev/console is used for a user - interface, (1) linefeeds (\n) will not be expanded to carriage return - / linefeeds \r\n). You will need to configure your terminal program - to account for this. And (2) input is not automatically echoed so - you will have to turn local echo on. - (4) Microsoft holds several patents related to the design of - long file names in the FAT file system. Please refer to the - details in the top-level COPYING file. Please do not use FAT - long file name unless you are familiar with these patent issues. - (5) When built as an NSH add-on command (CONFIG_EXAMPLES_USBMSC_BUILTIN=y), - Caution should be used to assure that the SD drive is not in use when - the USB storage device is configured. Specifically, the SD driver - should be unmounted like: - - nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Card is mounted in NSH - ... - nsh> umount /mnd/sdcard # Unmount before connecting USB!!! - nsh> msconn # Connect the USB storage device - ... - nsh> msdis # Disconnect USB storate device - nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Restore the mount - - Failure to do this could result in corruption of the SD card format. - - nx: - --- - An example using the NuttX graphics system (NX). This example - focuses on general window controls, movement, mouse and keyboard - input. - - CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows - CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait - - nxlines: - ------ - Another example using the NuttX graphics system (NX). This - example focuses on placing lines on the background in various - orientations. - - CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows - CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait - - nxtext: - ------ - Another example using the NuttX graphics system (NX). This - example focuses on placing text on the background while pop-up - windows occur. Text should continue to update normally with - or without the popup windows present. - - CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin - CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait - - NOTE: When I tried building this example with the CodeSourcery - tools, I got a hardfault inside of its libgcc. I haven't - retested since then, but beware if you choose to change the - toolchain. - - ostest: - ------ - This configuration directory, performs a simple OS test using - examples/ostest. By default, this project assumes that you are - using the DFU bootloader. - - CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin - - RIDE - ---- - This configuration builds a trivial bring-up binary. It is - useful only because it words with the RIDE7 IDE and R-Link debugger. - - CONFIG_STM32_RAISONANCE=y : Raisonance RIDE7 under Windows - - usbserial: - --------- - This configuration directory exercises the USB serial class - driver at examples/usbserial. See examples/README.txt for - more information. - - CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin - - USB debug output can be enabled as by changing the following - settings in the configuration file: - - -CONFIG_DEBUG=n - -CONFIG_DEBUG_VERBOSE=n - -CONFIG_DEBUG_USB=n - +CONFIG_DEBUG=y - +CONFIG_DEBUG_VERBOSE=y - +CONFIG_DEBUG_USB=y - - -CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=n - -CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=n - -CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n - -CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n - -CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n - +CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=y - +CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=y - +CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=y - +CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=y - +CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=y - - By default, the usbserial example uses the Prolific PL2303 - serial/USB converter emulation. The example can be modified - to use the CDC/ACM serial class by making the following changes - to the configuration file: - - -CONFIG_PL2303=y - +CONFIG_PL2303=n - - -CONFIG_CDCACM=n - +CONFIG_CDCACM=y - - The example can also be converted to use the alternative - USB serial example at apps/examples/usbterm by changing the - following: - - -CONFIGURED_APPS += examples/usbserial - +CONFIGURED_APPS += examples/usbterm - - In either the original appconfig file (before configuring) - or in the final apps/.config file (after configuring). - - usbstorage: - ---------- - This configuration directory exercises the USB mass storage - class driver at examples/usbstorage. See examples/README.txt for - more information. - - CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin - diff --git a/nuttx-configs/px4io-v1/common/Make.defs b/nuttx-configs/px4io-v1/common/Make.defs deleted file mode 100644 index 74b183067..000000000 --- a/nuttx-configs/px4io-v1/common/Make.defs +++ /dev/null @@ -1,171 +0,0 @@ -############################################################################ -# configs/px4fmu/common/Make.defs -# -# Copyright (C) 2011 Gregory Nutt. All rights reserved. -# Author: Gregory Nutt <gnutt@nuttx.org> -# -# 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 NuttX 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. -# -############################################################################ - -# -# Generic Make.defs for the PX4FMU -# Do not specify/use this file directly - it is included by config-specific -# Make.defs in the per-config directories. -# - -include ${TOPDIR}/tools/Config.mk - -# -# We only support building with the ARM bare-metal toolchain from -# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. -# -CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI - -include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs - -CC = $(CROSSDEV)gcc -CXX = $(CROSSDEV)g++ -CPP = $(CROSSDEV)gcc -E -LD = $(CROSSDEV)ld -AR = $(CROSSDEV)ar rcs -NM = $(CROSSDEV)nm -OBJCOPY = $(CROSSDEV)objcopy -OBJDUMP = $(CROSSDEV)objdump - -MAXOPTIMIZATION = -O3 -ARCHCPUFLAGS = -mcpu=cortex-m3 \ - -mthumb \ - -march=armv7-m - -# use our linker script -LDSCRIPT = ld.script - -ifeq ($(WINTOOL),y) - # Windows-native toolchains - DIRLINK = $(TOPDIR)/tools/copydir.sh - DIRUNLINK = $(TOPDIR)/tools/unlink.sh - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" - ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" - ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}" -else - ifeq ($(PX4_WINTOOL),y) - # Windows-native toolchains (MSYS) - DIRLINK = $(TOPDIR)/tools/copydir.sh - DIRUNLINK = $(TOPDIR)/tools/unlink.sh - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx - ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) - else - # Linux/Cygwin-native toolchain - MKDEP = $(TOPDIR)/tools/mkdeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx - ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) - endif -endif - -# tool versions -ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} -ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} - -# optimisation flags -ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ - -fno-strict-aliasing \ - -fno-strength-reduce \ - -fomit-frame-pointer \ - -funsafe-math-optimizations \ - -fno-builtin-printf \ - -ffunction-sections \ - -fdata-sections - -ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") -ARCHOPTIMIZATION += -g -endif - -ARCHCFLAGS = -std=gnu99 -ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -ARCHWARNINGS = -Wall \ - -Wextra \ - -Wdouble-promotion \ - -Wshadow \ - -Wfloat-equal \ - -Wframe-larger-than=1024 \ - -Wpointer-arith \ - -Wlogical-op \ - -Wmissing-declarations \ - -Wpacked \ - -Wno-unused-parameter -# -Wcast-qual - generates spurious noreturn attribute warnings, try again later -# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code -# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives - -ARCHCWARNINGS = $(ARCHWARNINGS) \ - -Wbad-function-cast \ - -Wstrict-prototypes \ - -Wold-style-declaration \ - -Wmissing-parameter-type \ - -Wmissing-prototypes \ - -Wnested-externs \ - -Wunsuffixed-float-constants -ARCHWARNINGSXX = $(ARCHWARNINGS) -ARCHDEFINES = -ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 - -# this seems to be the only way to add linker flags -EXTRA_LIBS += --warn-common \ - --gc-sections - -CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common -CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) -CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) -CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -AFLAGS = $(CFLAGS) -D__ASSEMBLY__ - -NXFLATLDFLAGS1 = -r -d -warn-common -NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections -LDNXFLATFLAGS = -e main -s 2048 - -OBJEXT = .o -LIBEXT = .a -EXEEXT = - -# produce partially-linked $1 from files in $2 -define PRELINK - @echo "PRELINK: $1" - $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 -endef - -HOSTCC = gcc -HOSTINCLUDES = -I. -HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe -HOSTLDFLAGS = - diff --git a/nuttx-configs/px4io-v1/common/setenv.sh b/nuttx-configs/px4io-v1/common/setenv.sh deleted file mode 100755 index ff9a4bf8a..000000000 --- a/nuttx-configs/px4io-v1/common/setenv.sh +++ /dev/null @@ -1,47 +0,0 @@ -#!/bin/bash -# configs/stm3210e-eval/dfu/setenv.sh -# -# Copyright (C) 2009 Gregory Nutt. All rights reserved. -# Author: Gregory Nutt <gnutt@nuttx.org> -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name NuttX nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# - -if [ "$(basename $0)" = "setenv.sh" ] ; then - echo "You must source this script, not run it!" 1>&2 - exit 1 -fi - -if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi - -WD=`pwd` -export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin" -export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" -export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" - -echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4io-v1/include/drv_i2c_device.h b/nuttx-configs/px4io-v1/include/drv_i2c_device.h deleted file mode 100644 index 02582bc09..000000000 --- a/nuttx-configs/px4io-v1/include/drv_i2c_device.h +++ /dev/null @@ -1,42 +0,0 @@ -/**************************************************************************** - * - * 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 A simple, polled I2C slave-mode driver. - * - * The master writes to and reads from a byte buffer, which the caller - * can update inbetween calls to the FSM. - */ - -extern void i2c_fsm_init(uint8_t *buffer, size_t buffer_size); -extern bool i2c_fsm(void); diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs index c7f6effd9..712631f47 100644 --- a/nuttx-configs/px4io-v1/nsh/Make.defs +++ b/nuttx-configs/px4io-v1/nsh/Make.defs @@ -1,3 +1,166 @@ +############################################################################ +# configs/px4io-v1/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt <gnutt@nuttx.org> +# +# 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 NuttX 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. +# +############################################################################ + include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m3 \ + -mthumb \ + -march=armv7-m + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = -include $(TOPDIR)/configs/px4io-v1/common/Make.defs diff --git a/nuttx-configs/px4io-v1/common/ld.script b/nuttx-configs/px4io-v1/scripts/ld.script index 69c2f9cb2..69c2f9cb2 100755 --- a/nuttx-configs/px4io-v1/common/ld.script +++ b/nuttx-configs/px4io-v1/scripts/ld.script diff --git a/nuttx-configs/px4io-v1/src/README.txt b/nuttx-configs/px4io-v1/src/README.txt deleted file mode 100644 index d4eda82fd..000000000 --- a/nuttx-configs/px4io-v1/src/README.txt +++ /dev/null @@ -1 +0,0 @@ -This directory contains drivers unique to the STMicro STM3210E-EVAL development board. diff --git a/nuttx-configs/px4io-v1/src/drv_i2c_device.c b/nuttx-configs/px4io-v1/src/drv_i2c_device.c deleted file mode 100644 index 1f5931ae5..000000000 --- a/nuttx-configs/px4io-v1/src/drv_i2c_device.c +++ /dev/null @@ -1,618 +0,0 @@ -/**************************************************************************** - * - * 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 A simple, polled I2C slave-mode driver. - * - * The master writes to and reads from a byte buffer, which the caller - * can update inbetween calls to the FSM. - */ - -#include <stdbool.h> - -#include "stm32_i2c.h" - -#include <string.h> - -/* - * I2C register definitions. - */ -#define I2C_BASE STM32_I2C1_BASE - -#define REG(_reg) (*(volatile uint32_t *)(I2C_BASE + _reg)) - -#define rCR1 REG(STM32_I2C_CR1_OFFSET) -#define rCR2 REG(STM32_I2C_CR2_OFFSET) -#define rOAR1 REG(STM32_I2C_OAR1_OFFSET) -#define rOAR2 REG(STM32_I2C_OAR2_OFFSET) -#define rDR REG(STM32_I2C_DR_OFFSET) -#define rSR1 REG(STM32_I2C_SR1_OFFSET) -#define rSR2 REG(STM32_I2C_SR2_OFFSET) -#define rCCR REG(STM32_I2C_CCR_OFFSET) -#define rTRISE REG(STM32_I2C_TRISE_OFFSET) - -/* - * "event" values (cr2 << 16 | cr1) as described in the ST DriverLib - */ -#define I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED ((uint32_t)0x00020002) /* BUSY and ADDR flags */ -#define I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */ -#define I2C_EVENT_SLAVE_BYTE_RECEIVED ((uint32_t)0x00020040) /* BUSY and RXNE flags */ -#define I2C_EVENT_SLAVE_STOP_DETECTED ((uint32_t)0x00000010) /* STOPF flag */ -#define I2C_EVENT_SLAVE_BYTE_TRANSMITTED ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */ -#define I2C_EVENT_SLAVE_BYTE_TRANSMITTING ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */ -#define I2C_EVENT_SLAVE_ACK_FAILURE ((uint32_t)0x00000400) /* AF flag */ - -/** - * States implemented by the I2C FSM. - */ -enum fsm_state { - BAD_PHASE, // must be zero, default exit on a bad state transition - - WAIT_FOR_MASTER, - - /* write from master */ - WAIT_FOR_COMMAND, - RECEIVE_COMMAND, - RECEIVE_DATA, - HANDLE_COMMAND, - - /* read from master */ - WAIT_TO_SEND, - SEND_STATUS, - SEND_DATA, - - NUM_STATES -}; - -/** - * Events recognised by the I2C FSM. - */ -enum fsm_event { - /* automatic transition */ - AUTO, - - /* write from master */ - ADDRESSED_WRITE, - BYTE_RECEIVED, - STOP_RECEIVED, - - /* read from master */ - ADDRESSED_READ, - BYTE_SENDABLE, - ACK_FAILED, - - NUM_EVENTS -}; - -/** - * Context for the I2C FSM - */ -static struct fsm_context { - enum fsm_state state; - - /* XXX want to eliminate these */ - uint8_t command; - uint8_t status; - - uint8_t *data_ptr; - uint32_t data_count; - - size_t buffer_size; - uint8_t *buffer; -} context; - -/** - * Structure defining one FSM state and its outgoing transitions. - */ -struct fsm_transition { - void (*handler)(void); - enum fsm_state next_state[NUM_EVENTS]; -}; - -static bool i2c_command_received; - -static void fsm_event(enum fsm_event event); - -static void go_bad(void); -static void go_wait_master(void); - -static void go_wait_command(void); -static void go_receive_command(void); -static void go_receive_data(void); -static void go_handle_command(void); - -static void go_wait_send(void); -static void go_send_status(void); -static void go_send_buffer(void); - -/** - * The FSM state graph. - */ -static const struct fsm_transition fsm[NUM_STATES] = { - [BAD_PHASE] = { - .handler = go_bad, - .next_state = { - [AUTO] = WAIT_FOR_MASTER, - }, - }, - - [WAIT_FOR_MASTER] = { - .handler = go_wait_master, - .next_state = { - [ADDRESSED_WRITE] = WAIT_FOR_COMMAND, - [ADDRESSED_READ] = WAIT_TO_SEND, - }, - }, - - /* write from master*/ - [WAIT_FOR_COMMAND] = { - .handler = go_wait_command, - .next_state = { - [BYTE_RECEIVED] = RECEIVE_COMMAND, - [STOP_RECEIVED] = WAIT_FOR_MASTER, - }, - }, - [RECEIVE_COMMAND] = { - .handler = go_receive_command, - .next_state = { - [BYTE_RECEIVED] = RECEIVE_DATA, - [STOP_RECEIVED] = HANDLE_COMMAND, - }, - }, - [RECEIVE_DATA] = { - .handler = go_receive_data, - .next_state = { - [BYTE_RECEIVED] = RECEIVE_DATA, - [STOP_RECEIVED] = HANDLE_COMMAND, - }, - }, - [HANDLE_COMMAND] = { - .handler = go_handle_command, - .next_state = { - [AUTO] = WAIT_FOR_MASTER, - }, - }, - - /* buffer send */ - [WAIT_TO_SEND] = { - .handler = go_wait_send, - .next_state = { - [BYTE_SENDABLE] = SEND_STATUS, - }, - }, - [SEND_STATUS] = { - .handler = go_send_status, - .next_state = { - [BYTE_SENDABLE] = SEND_DATA, - [ACK_FAILED] = WAIT_FOR_MASTER, - }, - }, - [SEND_DATA] = { - .handler = go_send_buffer, - .next_state = { - [BYTE_SENDABLE] = SEND_DATA, - [ACK_FAILED] = WAIT_FOR_MASTER, - }, - }, -}; - - -/* debug support */ -#if 1 -struct fsm_logentry { - char kind; - uint32_t code; -}; - -#define LOG_ENTRIES 32 -static struct fsm_logentry fsm_log[LOG_ENTRIES]; -int fsm_logptr; -#define LOG_NEXT(_x) (((_x) + 1) % LOG_ENTRIES) -#define LOGx(_kind, _code) \ - do { \ - fsm_log[fsm_logptr].kind = _kind; \ - fsm_log[fsm_logptr].code = _code; \ - fsm_logptr = LOG_NEXT(fsm_logptr); \ - fsm_log[fsm_logptr].kind = 0; \ - } while(0) - -#define LOG(_kind, _code) \ - do {\ - if (fsm_logptr < LOG_ENTRIES) { \ - fsm_log[fsm_logptr].kind = _kind; \ - fsm_log[fsm_logptr].code = _code; \ - fsm_logptr++;\ - }\ - }while(0) - -#else -#define LOG(_kind, _code) -#endif - - -static void i2c_setclock(uint32_t frequency); - -/** - * Initialise I2C - * - */ -void -i2c_fsm_init(uint8_t *buffer, size_t buffer_size) -{ - /* save the buffer */ - context.buffer = buffer; - context.buffer_size = buffer_size; - - // initialise the FSM - context.status = 0; - context.command = 0; - context.state = BAD_PHASE; - fsm_event(AUTO); - -#if 0 - // enable the i2c block clock and reset it - modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN); - modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST); - modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0); - - // configure the i2c GPIOs - stm32_configgpio(GPIO_I2C1_SCL); - stm32_configgpio(GPIO_I2C1_SDA); - - // set the peripheral clock to match the APB clock - rCR2 = STM32_PCLK1_FREQUENCY / 1000000; - - // configure for 100kHz operation - i2c_setclock(100000); - - // enable i2c - rCR1 = I2C_CR1_PE; -#endif -} - -/** - * Run the I2C FSM for some period. - * - * @return True if the buffer has been updated by a command. - */ -bool -i2c_fsm(void) -{ - uint32_t event; - int idle_iterations = 0; - - for (;;) { - // handle bus error states by discarding the current operation - if (rSR1 & I2C_SR1_BERR) { - context.state = WAIT_FOR_MASTER; - rSR1 = ~I2C_SR1_BERR; - } - - // we do not anticipate over/underrun errors as clock-stretching is enabled - - // fetch the most recent event - event = ((rSR2 << 16) | rSR1) & 0x00ffffff; - - // generate FSM events based on I2C events - switch (event) { - case I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED: - LOG('w', 0); - fsm_event(ADDRESSED_WRITE); - break; - - case I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED: - LOG('r', 0); - fsm_event(ADDRESSED_READ); - break; - - case I2C_EVENT_SLAVE_BYTE_RECEIVED: - LOG('R', 0); - fsm_event(BYTE_RECEIVED); - break; - - case I2C_EVENT_SLAVE_STOP_DETECTED: - LOG('s', 0); - fsm_event(STOP_RECEIVED); - break; - - case I2C_EVENT_SLAVE_BYTE_TRANSMITTING: - //case I2C_EVENT_SLAVE_BYTE_TRANSMITTED: - LOG('T', 0); - fsm_event(BYTE_SENDABLE); - break; - - case I2C_EVENT_SLAVE_ACK_FAILURE: - LOG('a', 0); - fsm_event(ACK_FAILED); - break; - - default: - idle_iterations++; -// if ((event) && (event != 0x00020000)) -// LOG('e', event); - break; - } - - /* if we have just received something, drop out and let the caller handle it */ - if (i2c_command_received) { - i2c_command_received = false; - return true; - } - - /* if we have done nothing recently, drop out and let the caller have a slice */ - if (idle_iterations > 1000) - return false; - } -} - -/** - * Update the FSM with an event - * - * @param event New event. - */ -static void -fsm_event(enum fsm_event event) -{ - // move to the next state - context.state = fsm[context.state].next_state[event]; - - LOG('f', context.state); - - // call the state entry handler - if (fsm[context.state].handler) { - fsm[context.state].handler(); - } -} - -static void -go_bad() -{ - LOG('B', 0); - fsm_event(AUTO); -} - -/** - * Wait for the master to address us. - * - */ -static void -go_wait_master() -{ - // We currently don't have a command byte. - // - context.command = '\0'; - - // The data pointer starts pointing to the start of the data buffer. - // - context.data_ptr = context.buffer; - - // The data count is either: - // - the size of the data buffer - // - some value less than or equal the size of the data buffer during a write or a read - // - context.data_count = context.buffer_size; - - // (re)enable the peripheral, clear the stop event flag in - // case we just finished receiving data - rCR1 |= I2C_CR1_PE; - - // clear the ACK failed flag in case we just finished sending data - rSR1 = ~I2C_SR1_AF; -} - -/** - * Prepare to receive a command byte. - * - */ -static void -go_wait_command() -{ - // NOP -} - -/** - * Command byte has been received, save it and prepare to handle the data. - * - */ -static void -go_receive_command() -{ - - // fetch the command byte - context.command = (uint8_t)rDR; - LOG('c', context.command); - -} - -/** - * Receive a data byte. - * - */ -static void -go_receive_data() -{ - uint8_t d; - - // fetch the byte - d = (uint8_t)rDR; - LOG('d', d); - - // if we have somewhere to put it, do so - if (context.data_count) { - *context.data_ptr++ = d; - context.data_count--; - } -} - -/** - * Handle a command once the host is done sending it to us. - * - */ -static void -go_handle_command() -{ - // presume we are happy with the command - context.status = 0; - - // make a note that the buffer contains a fresh command - i2c_command_received = true; - - // kick along to the next state - fsm_event(AUTO); -} - -/** - * Wait to be able to send the status byte. - * - */ -static void -go_wait_send() -{ - // NOP -} - -/** - * Send the status byte. - * - */ -static void -go_send_status() -{ - rDR = context.status; - LOG('?', context.status); -} - -/** - * Send a data or pad byte. - * - */ -static void -go_send_buffer() -{ - if (context.data_count) { - LOG('D', *context.data_ptr); - rDR = *(context.data_ptr++); - context.data_count--; - } else { - LOG('-', 0); - rDR = 0xff; - } -} - -/* cribbed directly from the NuttX master driver */ -static void -i2c_setclock(uint32_t frequency) -{ - uint16_t cr1; - uint16_t ccr; - uint16_t trise; - uint16_t freqmhz; - uint16_t speed; - - /* Disable the selected I2C peripheral to configure TRISE */ - - cr1 = rCR1; - rCR1 &= ~I2C_CR1_PE; - - /* Update timing and control registers */ - - freqmhz = (uint16_t)(STM32_PCLK1_FREQUENCY / 1000000); - ccr = 0; - - /* Configure speed in standard mode */ - - if (frequency <= 100000) { - /* Standard mode speed calculation */ - - speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency << 1)); - - /* The CCR fault must be >= 4 */ - - if (speed < 4) { - /* Set the minimum allowed value */ - - speed = 4; - } - ccr |= speed; - - /* Set Maximum Rise Time for standard mode */ - - trise = freqmhz + 1; - - /* Configure speed in fast mode */ - } else { /* (frequency <= 400000) */ - /* Fast mode speed calculation with Tlow/Thigh = 16/9 */ - -#ifdef CONFIG_I2C_DUTY16_9 - speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 25)); - - /* Set DUTY and fast speed bits */ - - ccr |= (I2C_CCR_DUTY|I2C_CCR_FS); -#else - /* Fast mode speed calculation with Tlow/Thigh = 2 */ - - speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 3)); - - /* Set fast speed bit */ - - ccr |= I2C_CCR_FS; -#endif - - /* Verify that the CCR speed value is nonzero */ - - if (speed < 1) { - /* Set the minimum allowed value */ - - speed = 1; - } - ccr |= speed; - - /* Set Maximum Rise Time for fast mode */ - - trise = (uint16_t)(((freqmhz * 300) / 1000) + 1); - } - - /* Write the new values of the CCR and TRISE registers */ - - rCCR = ccr; - rTRISE = trise; - - /* Bit 14 of OAR1 must be configured and kept at 1 */ - - rOAR1 = I2C_OAR1_ONE); - - /* Re-enable the peripheral (or not) */ - - rCR1 = cr1; -} |