diff options
| author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
| commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
| tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /nuttx/configs/px4fmu/include | |
| download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip | |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'nuttx/configs/px4fmu/include')
| -rwxr-xr-x | nuttx/configs/px4fmu/include/board.h | 392 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_bma180.h | 99 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_eeprom.h | 73 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_gpio.h | 107 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_hmc5883l.h | 100 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_l3gd20.h | 108 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_led.h | 51 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_lis331.h | 83 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_mpu6000.h | 92 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_ms5611.h | 76 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_tone_alarm.h | 130 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/nsh_romfsimg.h | 601 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/rcS.template | 39 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/up_adc.h | 60 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/up_cpuload.h | 62 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/up_hrt.h | 130 | ||||
| -rw-r--r-- | nuttx/configs/px4fmu/include/up_pwm_servo.h | 117 |
17 files changed, 2320 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h new file mode 100755 index 000000000..0db8580ba --- /dev/null +++ b/nuttx/configs/px4fmu/include/board.h @@ -0,0 +1,392 @@ +/************************************************************************************ + * configs/px4fmu/include/board.h + * include/arch/board/board.h + * + * 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. + * + ************************************************************************************/ + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> +#ifndef __ASSEMBLY__ +# include <stdint.h> +#endif +//#include "stm32_rcc.h" +//#include "stm32_sdio.h" +//#include "stm32_internal.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The PX4FMU uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +//#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (25,000,000 / 25) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PPQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* SDIO dividers. Note that slower clocking is required when DMA is disabled + * in order to avoid RX overrun/TX underrun errors due to delayed responses + * to service FIFOs in interrupt driven mode. These values have not been + * tuned!!! + * + * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz + */ + +#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT) + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* High-resolution timer + */ +#ifdef CONFIG_HRT_TIMER +# define HRT_TIMER 1 /* use timer1 for the HRT */ +# define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ +#endif + +/* LED definitions ******************************************************************/ +/* PX4 has two LEDs that we will encode as: */ + +#define LED_STARTED 0 /* LED? */ +#define LED_HEAPALLOCATE 1 /* LED? */ +#define LED_IRQSENABLED 2 /* LED? + LED? */ +#define LED_STACKCREATED 3 /* LED? */ +#define LED_INIRQ 4 /* LED? + LED? */ +#define LED_SIGNAL 5 /* LED? + LED? */ +#define LED_ASSERTION 6 /* LED? + LED? + LED? */ +#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */ + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + * + * Note that UART5 has no optional pinout. + */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_2 + +#define GPIO_USART2_RX GPIO_USART2_RX_1 +#define GPIO_USART2_TX GPIO_USART2_TX_1 +#define GPIO_USART2_RTS GPIO_USART2_RTS_1 +#define GPIO_USART2_CTS GPIO_USART2_CTS_1 + +#define GPIO_USART6_RX GPIO_USART6_RX_1 +#define GPIO_USART6_TX GPIO_USART6_TX_1 + +/* UART DMA configuration for USART1/6 */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * PWM + * + * Four PWM outputs can be configured on pins otherwise shared with + * USART2; two can take the flow control pins if they are not being used. + * + * Pins: + * + * CTS - PA0 - TIM2CH1 + * RTS - PA1 - TIM2CH2 + * TX - PA2 - TIM2CH3 + * RX - PA3 - TIM2CH4 + * + */ +#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1 +#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1 +#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 +#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 + +/* + * PPM + * + * PPM input is handled by the HRT timer. + */ +#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM) +# define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ +# define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) +#endif + +/* + * CAN + * + * CAN2 is routed to the expansion connector. + */ + +#define GPIO_CAN2_RX GPIO_CAN2_RX_2 +#define GPIO_CAN2_TX GPIO_CAN2_TX_2 + +/* + * I2C + */ +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 + +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 + +/* + * I2C busses + */ +#define PX4_I2C_BUS_ESC 1 +#define PX4_I2C_BUS_ONBOARD 2 +#define PX4_I2C_BUS_EXPANSION 3 + +/* + * Devices on the onboard bus. + * + * Note that these are unshifted addresses. + */ +#define PX4_I2C_OBDEV_HMC5883 0x1e +#define PX4_I2C_OBDEV_MS5611 NOTDEFINED +#define PX4_I2C_OBDEV_EEPROM 0x50 + +#define PX4_I2C_OBDEV_PX4IO_BL 0x18 +#define PX4_I2C_OBDEV_PX4IO 0x19 + +/* + * SPI + */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 +#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2 +#define GPIO_SPI3_NSS GPIO_SPI3_NSS_2 + +/* + * Use these in place of the spi_dev_e enumeration to + * select a specific SPI device on SPI1 + */ +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_ACCEL 2 +#define PX4_SPIDEV_MPU 3 + +/* + * Tone alarm output + */ +#ifdef CONFIG_TONE_ALARM +# define TONE_ALARM_TIMER 3 /* timer 3 */ +# define TONE_ALARM_CHANNEL 3 /* channel 3 */ +# define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) +#endif + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * 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. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +/************************************************************************************ + * Button support. + * + * Description: + * up_buttoninit() must be called to initialize button resources. After + * that, up_buttons() may be called to collect the current state of all + * buttons or up_irqbutton() may be called to register button interrupt + * handlers. + * + * After up_buttoninit() has been called, up_buttons() may be called to + * collect the state of all buttons. up_buttons() returns an 8-bit bit set + * with each bit associated with a button. See the BUTTON_*_BIT + * definitions in board.h for the meaning of each bit. + * + * up_irqbutton() may be called to register an interrupt handler that will + * be called when a button is depressed or released. The ID value is a + * button enumeration value that uniquely identifies a button resource. See the + * BUTTON_* definitions in board.h for the meaning of enumeration + * value. The previous interrupt handler address is returned (so that it may + * restored, if so desired). + * + ************************************************************************************/ + +#ifdef CONFIG_ARCH_BUTTONS +EXTERN void up_buttoninit(void); +EXTERN uint8_t up_buttons(void); +#ifdef CONFIG_ARCH_IRQBUTTONS +EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler); +#endif +#endif + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx/configs/px4fmu/include/drv_bma180.h b/nuttx/configs/px4fmu/include/drv_bma180.h new file mode 100644 index 000000000..a403415e4 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_bma180.h @@ -0,0 +1,99 @@ +/* + * Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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. + */ + +/* + * Driver for the BOSCH BMA180 MEMS accelerometer + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 25 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _BMA180BASE 0x6300 +#define BMA180C(_x) _IOC(_BMA180BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define BMA180_SETRATE BMA180C(1) + +#define BMA180_RATE_LP_10HZ (0<<4) +#define BMA180_RATE_LP_20HZ (1<<4) +#define BMA180_RATE_LP_40HZ (2<<4) +#define BMA180_RATE_LP_75HZ (3<<4) +#define BMA180_RATE_LP_150HZ (4<<4) +#define BMA180_RATE_LP_300HZ (5<<4) +#define BMA180_RATE_LP_600HZ (6<<4) +#define BMA180_RATE_LP_1200HZ (7<<4) + +/* + * Sets the sensor internal range. + */ +#define BMA180_SETRANGE BMA180C(2) + +#define BMA180_RANGE_1G (0<<1) +#define BMA180_RANGE_1_5G (1<<1) +#define BMA180_RANGE_2G (2<<1) +#define BMA180_RANGE_3G (3<<1) +#define BMA180_RANGE_4G (4<<1) +#define BMA180_RANGE_8G (5<<1) +#define BMA180_RANGE_16G (6<<1) + +/* + * Sets the address of a shared BMA180_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define BMA180_SETBUFFER BMA180C(3) + +struct bma180_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + uint16_t x; + uint16_t y; + uint16_t z; + uint8_t temp; + } samples[]; +}; + +extern int bma180_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_eeprom.h b/nuttx/configs/px4fmu/include/drv_eeprom.h new file mode 100644 index 000000000..e6801f6c4 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_eeprom.h @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * Driver for the ST MS5611 gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +/* IMPORTANT: Adjust this number! */ +#define MAX_EEPROMS 2 + +/* FMU onboard */ +#define FMU_ONBOARD_EEPROM_ADDRESS 0x50 +#define FMU_ONBOARD_EEPROM_TOTAL_SIZE_BYTES 16000 +#define FMU_ONBOARD_EEPROM_PAGE_SIZE_BYTES 64 +#define FMU_ONBOARD_EEPROM_PAGE_WRITE_TIME_US 5500 +#define FMU_ONBOARD_EEPROM_BUS_CLOCK 1000000 ///< 1 Mhz max. clock + +#define FMU_BASEBOARD_EEPROM_ADDRESS 0x57 +#define FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES 128 +#define FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES 8 +#define FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US 3300 +#define FMU_BASEBOARD_EEPROM_BUS_CLOCK 400000 ///< 400 KHz max. clock + +/** + * @brief i2c I2C bus struct + * @brief device_address The device address as stated in the datasheet, e.g. for a Microchip 24XX128 0x50 with all ID pins tied to GND + * @brief total_size_bytes The total size in bytes, e.g. 16K = 16000 bytes for the Microchip 24XX128 + * @brief page_size_bytes The size of one page, e.g. 64 bytes for the Microchip 24XX128 + * @brief device_name The device name to register this device to, e.g. /dev/eeprom + * @brief fail_if_missing Returns error if the EEPROM was not found. This is helpful if the EEPROM might be attached later when the board is running + */ +extern int +eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing); + diff --git a/nuttx/configs/px4fmu/include/drv_gpio.h b/nuttx/configs/px4fmu/include/drv_gpio.h new file mode 100644 index 000000000..22f80d038 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_gpio.h @@ -0,0 +1,107 @@ +/**************************************************************************** + * + * 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 GPIO driver interface. + * + * This header defines the basic interface to platform-specific GPIOs. + */ + +#ifndef _BOARD_DRV_GPIO_H +#define _BOARD_DRV_GPIO_H + +/* + * PX4FMU GPIO numbers. + * + * For shared pins, alternate function 1 selects the non-GPIO mode + * (USART2, CAN2, etc.) + */ +#define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */ +#define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */ +#define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */ +#define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */ +#define GPIO_MULTI_3 (1<<4) /**< USART2 TX */ +#define GPIO_MULTI_4 (1<<5) /**< USART2 RX */ +#define GPIO_CAN_TX (1<<6) /**< CAN2 TX */ +#define GPIO_CAN_RX (1<<7) /**< CAN2 RX */ + +/** + * Default GPIO device - other devices may also support this protocol if + * they also export GPIO-like things. This is always the GPIOs on the + * main board. + */ +#define GPIO_DEVICE_PATH "/dev/gpio" + +/* + * IOCTL definitions. + * + * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected + * by the operation, with the LSB being the lowest-numbered GPIO. + * + * Note that there may be board-specific relationships between GPIOs; + * applications using GPIOs should be aware of this. + */ +#define _GPIOCBASE 0x6700 +#define GPIOC(_x) _IOC(_GPIOCBASE, _x) + +/** reset all board GPIOs to their default state */ +#define GPIO_RESET GPIOC(0) + +/** configure the board GPIOs in (arg) as outputs */ +#define GPIO_SET_OUTPUT GPIOC(1) + +/** configure the board GPIOs in (arg) as inputs */ +#define GPIO_SET_INPUT GPIOC(2) + +/** configure the board GPIOs in (arg) for the first alternate function (if supported) */ +#define GPIO_SET_ALT_1 GPIOC(3) + +/** configure the board GPIO (arg) for the second alternate function (if supported) */ +#define GPIO_SET_ALT_2 GPIOC(4) + +/** configure the board GPIO (arg) for the third alternate function (if supported) */ +#define GPIO_SET_ALT_3 GPIOC(5) + +/** configure the board GPIO (arg) for the fourth alternate function (if supported) */ +#define GPIO_SET_ALT_4 GPIOC(6) + +/** set the GPIOs in (arg) */ +#define GPIO_SET GPIOC(10) + +/** clear the GPIOs in (arg) */ +#define GPIO_CLEAR GPIOC(11) + +/** read all the GPIOs and return their values in *(uint32_t *)arg */ +#define GPIO_GET GPIOC(12) + +#endif /* _DRV_GPIO_H */ diff --git a/nuttx/configs/px4fmu/include/drv_hmc5883l.h b/nuttx/configs/px4fmu/include/drv_hmc5883l.h new file mode 100644 index 000000000..8dc9b8a93 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_hmc5883l.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * Driver for the ST HMC5883L gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _HMC5883LBASE 0x6100 +#define HMC5883LC(_x) _IOC(_HMC5883LBASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define HMC5883L_SETRATE HMC5883LC(1) + +/* set rate (configuration A register */ +#define HMC5883L_RATE_0_75HZ (0 << 2) /* 0.75 Hz */ +#define HMC5883L_RATE_1_50HZ (1 << 2) /* 1.5 Hz */ +#define HMC5883L_RATE_3_00HZ (2 << 2) /* 3 Hz */ +#define HMC5883L_RATE_7_50HZ (3 << 2) /* 7.5 Hz */ +#define HMC5883L_RATE_15HZ (4 << 2) /* 15 Hz (default) */ +#define HMC5883L_RATE_30HZ (5 << 2) /* 30 Hz */ +#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */ + +/* + * Sets the sensor internal range. + */ +#define HMC5883L_SETRANGE HMC5883LC(2) + +#define HMC5883L_RANGE_0_88GA (0 << 5) +#define HMC5883L_RANGE_1_33GA (1 << 5) +#define HMC5883L_RANGE_1_90GA (2 << 5) +#define HMC5883L_RANGE_2_50GA (3 << 5) +#define HMC5883L_RANGE_4_00GA (4 << 5) + +/* + * Sets the address of a shared HMC5883L_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define HMC5883L_SETBUFFER HMC5883LC(3) + +struct hmc5883l_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + int16_t x; + int16_t y; + int16_t z; + } samples[]; +}; + +#define HMC5883L_RESET HMC5883LC(4) + +extern int hmc5883l_attach(struct i2c_dev_s *i2c); diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h new file mode 100644 index 000000000..3b284d60d --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_l3gd20.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ +/* + * Driver for the ST L3GD20 gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _L3GD20BASE 0x6200 +#define L3GD20C(_x) _IOC(_L3GD20BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define L3GD20_SETRATE L3GD20C(1) + +#define L3GD20_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_190HZ_LP_12_5HZ ((0<<7) | (1<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define L3GD20_RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) +#define L3GD20_RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) + +/* + * Sets the sensor internal range. + */ +#define L3GD20_SETRANGE L3GD20C(2) + +#define L3GD20_RANGE_250DPS (0<<4) +#define L3GD20_RANGE_500DPS (1<<4) +#define L3GD20_RANGE_2000DPS (3<<4) + +#define L3GD20_RATE_95HZ ((0<<6) | (0<<4)) +#define L3GD20_RATE_190HZ ((1<<6) | (0<<4)) +#define L3GD20_RATE_380HZ ((2<<6) | (1<<4)) +#define L3GD20_RATE_760HZ ((3<<6) | (2<<4)) + + + +/* + * Sets the address of a shared l3gd20_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define L3GD20_SETBUFFER L3GD20C(3) + +struct l3gd20_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + int16_t x; + int16_t y; + int16_t z; + } samples[]; +}; + +extern int l3gd20_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_led.h b/nuttx/configs/px4fmu/include/drv_led.h new file mode 100644 index 000000000..4b7093346 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_led.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#include <sys/ioctl.h> + +#define _LEDCBASE 0x6800 +#define LEDC(_x) _IOC(_LEDCBASE, _x) + +/* set the LED identified by the argument */ +#define LED_ON LEDC(1) + +/* clear the LED identified by the argument */ +#define LED_OFF LEDC(2) + +///* toggle the LED identified by the argument */ +//#define LED_TOGGLE LEDC(3) + +#define LED_BLUE 0 /* Led on first port */ +#define LED_AMBER 1 /* Led on second port */ + +extern int px4fmu_led_init(void); diff --git a/nuttx/configs/px4fmu/include/drv_lis331.h b/nuttx/configs/px4fmu/include/drv_lis331.h new file mode 100644 index 000000000..f4699cda0 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_lis331.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * Driver for the ST LIS331 MEMS accelerometer + */ + +#include <sys/ioctl.h> + +#define _LIS331BASE 0x6900 +#define LIS331C(_x) _IOC(_LIS331BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define LIS331_SETRATE LIS331C(1) + +#define LIS331_RATE_50Hz (0<<3) +#define LIS331_RATE_100Hz (1<<3) +#define LIS331_RATE_400Hz (2<<3) +#define LIS331_RATE_1000Hz (3<<3) + +/* + * Sets the sensor internal range. + */ +#define LIS331_SETRANGE LIS331C(2) + +#define LIS331_RANGE_2G (0<<4) +#define LIS331_RANGE_4G (1<<4) +#define LIS331_RANGE_8G (3<<4) + +/* + * Sets the address of a shared lis331_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define LIS331_SETBUFFER LIS331C(3) + +struct lis331_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + uint16_t x; + uint16_t y; + uint16_t z; + } samples[]; +}; + +extern int lis331_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_mpu6000.h b/nuttx/configs/px4fmu/include/drv_mpu6000.h new file mode 100644 index 000000000..0a5a48b70 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_mpu6000.h @@ -0,0 +1,92 @@ +/* + * Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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. + */ + +/* + * Driver for the Invense MPU-6000 gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _MPU6000BASE 0x7600 +#define MPU6000C(_x) _IOC(_MPU6000BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define MPU6000_SETRATE MPU6000C(1) + +#define MPU6000_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4)) + +/* + * Sets the sensor internal range. + */ +#define MPU6000_SETRANGE MPU6000C(2) + +#define MPU6000_RANGE_250DPS (0<<4) + +#define MPU6000_RATE_95HZ ((0<<6) | (0<<4)) + + + +/* + * Sets the address of a shared MPU6000_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define MPU6000_SETBUFFER MPU6000C(3) + +struct MPU6000_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + uint16_t x; + uint16_t y; + uint16_t z; + uint16_t roll; + uint16_t pitch; + uint16_t yaw; + } samples[]; +}; + +extern int mpu6000_attach(struct spi_dev_s *spi, int spi_id); diff --git a/nuttx/configs/px4fmu/include/drv_ms5611.h b/nuttx/configs/px4fmu/include/drv_ms5611.h new file mode 100644 index 000000000..922a11219 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_ms5611.h @@ -0,0 +1,76 @@ +/* + * Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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. + */ + +/* + * Driver for the Meas Spec MS5611 barometric pressure sensor + */ + +#include <sys/ioctl.h> + +#define _MS5611BASE 0x6A00 +#define MS5611C(_x) _IOC(_MS5611BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define MS5611_SETRATE MS5611C(1) + +/* set rate (configuration A register */ +#define MS5611_RATE_0_75HZ (0 << 2) /* 0.75 Hz */ + +/* + * Sets the sensor internal range. + */ +#define MS5611_SETRANGE MS5611C(2) + +#define MS5611_RANGE_0_88GA (0 << 5) + +/* + * Sets the address of a shared MS5611_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define MS5611_SETBUFFER MS5611C(3) + +struct ms5611_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + uint32_t pressure; + uint16_t temperature; + } samples[]; +}; + +extern int ms5611_attach(struct i2c_dev_s *i2c); diff --git a/nuttx/configs/px4fmu/include/drv_tone_alarm.h b/nuttx/configs/px4fmu/include/drv_tone_alarm.h new file mode 100644 index 000000000..b24c85c8d --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_tone_alarm.h @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * Driver for the PX4 audio alarm port, /dev/tone_alarm. + * + * The tone_alarm driver supports a set of predefined "alarm" + * patterns and one user-supplied pattern. Patterns are ordered by + * priority, with a higher-priority pattern interrupting any + * lower-priority pattern that might be playing. + * + * The TONE_SET_ALARM ioctl can be used to select a predefined + * alarm pattern, from 1 - <TBD>. Selecting pattern zero silences + * the alarm. + * + * To supply a custom pattern, write an array of 1 - <TBD> tone_note + * structures to /dev/tone_alarm. The custom pattern has a priority + * of zero. + * + * Patterns will normally play once and then silence (if a pattern + * was overridden it will not resume). A pattern may be made to + * repeat by inserting a note with the duration set to + * DURATION_REPEAT. This pattern will loop until either a + * higher-priority pattern is started or pattern zero is requested + * via the ioctl. + */ + +#ifndef DRV_TONE_ALARM_H_ +#define DRV_TONE_ALARM_H_ + +#include <sys/ioctl.h> + +#define _TONE_ALARM_BASE 0x7400 +#define TONE_SET_ALARM _IOC(_TONE_ALARM_BASE, 1) + +extern int tone_alarm_init(void); + +/* structure describing one note in a tone pattern */ +struct tone_note { + uint8_t pitch; + uint8_t duration; /* duration in multiples of 10ms */ +#define DURATION_END 0 /* ends the pattern */ +#define DURATION_REPEAT 255 /* resets the note counter to zero */ +}; + +enum tone_pitch { + TONE_NOTE_E4, /* E4 */ + TONE_NOTE_F4, /* F4 */ + TONE_NOTE_F4S, /* F#4/Gb4 */ + TONE_NOTE_G4, /* G4 */ + TONE_NOTE_G4S, /* G#4/Ab4 */ + TONE_NOTE_A4, /* A4 */ + TONE_NOTE_A4S, /* A#4/Bb4 */ + TONE_NOTE_B4, /* B4 */ + TONE_NOTE_C5, /* C5 */ + TONE_NOTE_C5S, /* C#5/Db5 */ + TONE_NOTE_D5, /* D5 */ + TONE_NOTE_D5S, /* D#5/Eb5 */ + TONE_NOTE_E5, /* E5 */ + TONE_NOTE_F5, /* F5 */ + TONE_NOTE_F5S, /* F#5/Gb5 */ + TONE_NOTE_G5, /* G5 */ + TONE_NOTE_G5S, /* G#5/Ab5 */ + TONE_NOTE_A5, /* A5 */ + TONE_NOTE_A5S, /* A#5/Bb5 */ + TONE_NOTE_B5, /* B5 */ + TONE_NOTE_C6, /* C6 */ + TONE_NOTE_C6S, /* C#6/Db6 */ + TONE_NOTE_D6, /* D6 */ + TONE_NOTE_D6S, /* D#6/Eb6 */ + TONE_NOTE_E6, /* E6 */ + TONE_NOTE_F6, /* F6 */ + TONE_NOTE_F6S, /* F#6/Gb6 */ + TONE_NOTE_G6, /* G6 */ + TONE_NOTE_G6S, /* G#6/Ab6 */ + TONE_NOTE_A6, /* A6 */ + TONE_NOTE_A6S, /* A#6/Bb6 */ + TONE_NOTE_B6, /* B6 */ + TONE_NOTE_C7, /* C7 */ + TONE_NOTE_C7S, /* C#7/Db7 */ + TONE_NOTE_D7, /* D7 */ + TONE_NOTE_D7S, /* D#7/Eb7 */ + TONE_NOTE_E7, /* E7 */ + TONE_NOTE_F7, /* F7 */ + TONE_NOTE_F7S, /* F#7/Gb7 */ + TONE_NOTE_G7, /* G7 */ + TONE_NOTE_G7S, /* G#7/Ab7 */ + TONE_NOTE_A7, /* A7 */ + TONE_NOTE_A7S, /* A#7/Bb7 */ + TONE_NOTE_B7, /* B7 */ + TONE_NOTE_C8, /* C8 */ + TONE_NOTE_C8S, /* C#8/Db8 */ + TONE_NOTE_D8, /* D8 */ + TONE_NOTE_D8S, /* D#8/Eb8 */ + + TONE_NOTE_SILENCE, + TONE_NOTE_MAX +}; + +#endif /* DRV_TONE_ALARM_H_ */
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enumerated according to HW +# uart indices (ttyS1 is the first UART NOT +# configured for NSH, e.g. UART2) +# ttyS0: UART1 +# ttyS1: UART2 +# ttyS2: UART5 +# ttyS3: UART6 +uorb start +mavlink -d /dev/ttyS0 -b 57600 & +echo "Trying to mount microSD card to /fs/microsd.." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then +echo "Successfully mounted SD card." +else +echo "FAILED mounting SD card." +fi +commander & +sensors & +attitude_estimator_bm & +#position_estimator & +ardrone_control -d /dev/ttyS1 -m attitude & +gps -d /dev/ttyS3 -m all & +#sdlog & +#fixedwing_control & +echo "---------------------------" +echo "init: All applications started" +echo "INIT DONE, RUNNING SYSTEM.." + + +# WARNING! USE EXIT ONLY ON AR.DRONE +# NO NSH COMMANDS CAN BE USED AFTER + +exit diff --git a/nuttx/configs/px4fmu/include/up_adc.h b/nuttx/configs/px4fmu/include/up_adc.h new file mode 100644 index 000000000..699c6a59a --- /dev/null +++ b/nuttx/configs/px4fmu/include/up_adc.h @@ -0,0 +1,60 @@ +/************************************************************************************ + * configs/stm3240g-eval/src/up_adc.c + * arch/arm/src/board/up_adc.c + * + * 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. + * + ************************************************************************************/ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#ifdef CONFIG_ADC + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: adc_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/adc. + * + ************************************************************************************/ + +int adc_devinit(void); + +#endif /* CONFIG_ADC */ diff --git a/nuttx/configs/px4fmu/include/up_cpuload.h b/nuttx/configs/px4fmu/include/up_cpuload.h new file mode 100644 index 000000000..b61c5c550 --- /dev/null +++ b/nuttx/configs/px4fmu/include/up_cpuload.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#ifndef UP_CPULOAD_H_ +#define UP_CPULOAD_H_ + +#ifdef CONFIG_SCHED_INSTRUMENTATION + +#include <nuttx/sched.h> + +struct system_load_taskinfo_s { + uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load + uint64_t curr_start_time; ///< Start time of the current scheduling slot + uint64_t start_time; ///< FIRST start time of task + FAR struct _TCB *tcb; ///< + bool valid; ///< Task is currently active / valid +}; + +struct system_load_s { + uint64_t start_time; ///< Global start time of measurements + struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS]; + uint8_t initialized; + int total_count; + int running_count; + int sleeping_count; +}; + +void cpuload_initialize_once(void); + +#endif + +#endif diff --git a/nuttx/configs/px4fmu/include/up_hrt.h b/nuttx/configs/px4fmu/include/up_hrt.h new file mode 100644 index 000000000..6fd66ad74 --- /dev/null +++ b/nuttx/configs/px4fmu/include/up_hrt.h @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * High-resolution timer callouts and timekeeping. + */ + +#ifndef UP_HRT_H_ +#define UP_HRT_H_ + +#include <sys/types.h> +#include <stdbool.h> + +#include <time.h> +#include <queue.h> + +/* + * Absolute time, in microsecond units. + * + * Absolute time is measured from some arbitrary epoch shortly after + * system startup. It should never wrap or go backwards. + */ +typedef uint64_t hrt_abstime; + +/* + * Callout function type. + * + * Note that callouts run in the timer interrupt context, so + * they are serialised with respect to each other, and must not + * block. + */ +typedef void (* hrt_callout)(void *arg); + +/* + * Callout record. + */ +typedef struct hrt_call { + struct sq_entry_s link; + + hrt_abstime deadline; + hrt_abstime period; + hrt_callout callout; + void *arg; +} *hrt_call_t; + +/* + * Get absolute time. + */ +extern hrt_abstime hrt_absolute_time(void); + +/* + * Convert a timespec to absolute time. + */ +extern hrt_abstime ts_to_abstime(struct timespec *ts); + +/* + * Convert absolute time to a timespec. + */ +extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime); + +/* + * Call callout(arg) after delay has elapsed. + * + * If callout is NULL, this can be used to implement a timeout by testing the call + * with hrt_called(). + */ +extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg); + +/* + * Call callout(arg) at absolute time calltime. + */ +extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg); + +/* + * Call callout(arg) after delay, and then after every interval. + * + * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may + * jitter but should not drift. + */ +extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg); + +/* + * If this returns true, the entry has been invoked and removed from the callout list, + * or it has never been entered. + * + * Always returns false for repeating callouts. + */ +extern bool hrt_called(struct hrt_call *entry); + +/* + * Remove the entry from the callout list. + */ +extern void hrt_cancel(struct hrt_call *entry); + +/* + * Initialise the HRT. + */ +extern void hrt_init(void); + +#endif /* UP_HRT_H_ */ diff --git a/nuttx/configs/px4fmu/include/up_pwm_servo.h b/nuttx/configs/px4fmu/include/up_pwm_servo.h new file mode 100644 index 000000000..0b35035d5 --- /dev/null +++ b/nuttx/configs/px4fmu/include/up_pwm_servo.h @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * Low-level PWM servo control. + * + * The pwm_servo module supports servos connected to STM32 timer + * blocks. + * + * On PX4FMU, the outputs are: + * + * 0 : USART2/multi CTS + * 1 : USART2/multi RTS + * 2 : USART2/multi TX + * 3 : USART2/multi RX + * 4 : CAN2 TX + * 5 : CAN2 RX + */ + +#ifndef UP_PWM_SERVO_H +#define UP_PWM_SERVO_H + +typedef uint16_t servo_position_t; + + +#if defined(__cplusplus) +extern "C" { +#endif + +/** + * Intialise the PWM servo outputs using the specified configuration. + * + * @param channel_mask Bitmask of channels (LSB = channel 0) to enable. + * This allows some of the channels to remain configured + * as GPIOs or as another function. + * @return OK on success. + */ +extern int up_pwm_servo_init(uint32_t channel_mask); + +/** + * De-initialise the PWM servo outputs. + */ +extern void up_pwm_servo_deinit(void); + +/** + * Arm or disarm servo outputs. + * + * When disarmed, servos output no pulse. + * + * @bug This function should, but does not, guarantee that any pulse + * currently in progress is cleanly completed. + * + * @param armed If true, outputs are armed; if false they + * are disarmed. + */ +extern void up_pwm_servo_arm(bool armed); + +/** + * Set the servo update rate + * + * @param rate The update rate in Hz to set. + * @return OK on success, -ERANGE if an unsupported update rate is set. + */ +extern int up_pwm_servo_set_rate(unsigned rate); + +/** + * Set the current output value for a channel. + * + * @param channel The channel to set. + * @param value The output pulse width in microseconds. + */ +extern int up_pwm_servo_set(unsigned channel, servo_position_t value); + +/** + * Get the current output value for a channel. + * + * @param channel The channel to read. + * @return The output pulse width in microseconds, or zero if + * outputs are not armed or not configured. + */ +extern servo_position_t up_pwm_servo_get(unsigned channel); + +#if defined(__cplusplus) +} +#endif + +#endif /* UP_PWM_SERVO_H */ |