Merge remote-tracking branch 'origin/master' into fw_control

7 files changed, 16 insertions, 346 deletions

diff --git a/nuttx/configs/px4fmu/common/ld.script b/nuttx/configs/px4fmu/common/ld.script
index b1852b0bd..de8179e8d 100644
--- a/nuttx/configs/px4fmu/common/ld.script
+++ b/nuttx/configs/px4fmu/common/ld.script
@@ -88,6 +88,15 @@ SECTIONS
 	} > flash
 
 	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
 	 * Construction data for parameters.
 	 */
 	__param ALIGN(4): {
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h
index a7dae6552..3f0f26ba1 100755
--- a/nuttx/configs/px4fmu/include/board.h
+++ b/nuttx/configs/px4fmu/include/board.h
@@ -45,9 +45,6 @@
 #ifndef __ASSEMBLY__
 # include <stdint.h>
 #endif
-//#include "stm32_rcc.h"
-//#include "stm32_sdio.h"
-//#include "stm32_internal.h"
 
 /************************************************************************************
  * Definitions
@@ -298,7 +295,7 @@
  * Note that these are unshifted addresses.
  */
 #define PX4_I2C_OBDEV_HMC5883	0x1e
-#define PX4_I2C_OBDEV_MS5611	NOTDEFINED
+#define PX4_I2C_OBDEV_MS5611	0x76
 #define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
 
 #define PX4_I2C_OBDEV_PX4IO_BL	0x18
@@ -327,11 +324,9 @@
 /*
  * 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
+#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)
 
 /************************************************************************************
  * Public Data
@@ -362,37 +357,6 @@ extern "C" {
 
 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)
 }
diff --git a/nuttx/configs/px4fmu/include/drv_gpio.h b/nuttx/configs/px4fmu/include/drv_gpio.h
deleted file mode 100644
index 22f80d038..000000000
--- a/nuttx/configs/px4fmu/include/drv_gpio.h
+++ /dev/null
@@ -1,107 +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 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/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 46df8a45d..67fe69a30 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -97,7 +97,7 @@ CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/stm32/tone_alarm
-CONFIGURED_APPS += px4/fmu
+CONFIGURED_APPS += drivers/px4fmu
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index c2656217d..91cd0366d 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -179,7 +179,7 @@ CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=y
 CONFIG_STM32_I2C3=y
 CONFIG_STM32_CAN1=n
-CONFIG_STM32_CAN2=y
+CONFIG_STM32_CAN2=n
 CONFIG_STM32_DAC=n
 CONFIG_STM32_PWR=y
 # APB2:
@@ -542,7 +542,7 @@ CONFIG_DEBUG_I2C=n
 CONFIG_DEBUG_INPUT=n
 
 CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=n
+CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_MM_REGIONS=2
 CONFIG_ARCH_LOWPUTC=y
 CONFIG_MSEC_PER_TICK=1
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index d88040013..13b26b84f 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -41,7 +41,6 @@ ASRCS		=
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
 CSRCS		= up_leds.c \
-		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c 
 
 COBJS		= $(CSRCS:.c=$(OBJEXT))
diff --git a/nuttx/configs/px4fmu/src/drv_gpio.c b/nuttx/configs/px4fmu/src/drv_gpio.c
deleted file mode 100644
index be95420dd..000000000
--- a/nuttx/configs/px4fmu/src/drv_gpio.c
+++ /dev/null
@@ -1,195 +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.
- *
- ****************************************************************************/
-
-/*
- * GPIO driver for PX4FMU.
- *
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_gpio.h>
-
-static int	px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg);
-
-static const struct file_operations px4fmu_gpio_fops = {
-	.ioctl = px4fmu_gpio_ioctl,
-};
-
-static struct {
-	uint32_t	input;
-	uint32_t	output;
-	uint32_t	alt;
-} gpio_tab[] = {
-	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
-	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
-	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
-	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
-	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
-	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
-	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
-	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
-};
-
-#define NGPIO	(sizeof(gpio_tab) / sizeof(gpio_tab[0]))
-
-
-static void
-px4fmu_gpio_reset(void)
-{
-	/*
-	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip 
-	 * to input mode.
-	 */
-	for (unsigned i = 0; i < NGPIO; i++)
-		stm32_configgpio(gpio_tab[i].input);
-
-	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-	stm32_configgpio(GPIO_GPIO_DIR);
-}
-
-static void
-px4fmu_gpio_set_function(uint32_t gpios, int function)
-{
-	/*
-	 * GPIOs 0 and 1 must have the same direction as they are buffered
-	 * by a shared 2-port driver.  Any attempt to set either sets both.
-	 */
-	if (gpios & 3) {
-		gpios |= 3;
-
-		/* flip the buffer to output mode if required */
-		if (GPIO_SET_OUTPUT == function)
-			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
-	}
-
-	/* configure selected GPIOs as required */
-	for (unsigned i = 0; i < NGPIO; i++) {
-		if (gpios & (1<<i)) {
-			switch (function) {
-			case GPIO_SET_INPUT:
-				stm32_configgpio(gpio_tab[i].input);
-				break;
-			case GPIO_SET_OUTPUT:
-				stm32_configgpio(gpio_tab[i].output);
-				break;
-			case GPIO_SET_ALT_1:
-				if (gpio_tab[i].alt != 0)
-					stm32_configgpio(gpio_tab[i].alt);
-				break;
-			}
-		}
-	}
-
-	/* flip buffer to input mode if required */
-	if ((GPIO_SET_INPUT == function) && (gpios & 3))
-		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-}
-
-static void
-px4fmu_gpio_write(uint32_t gpios, int function)
-{
-	int value = (function == GPIO_SET) ? 1 : 0;
-
-	for (unsigned i = 0; i < NGPIO; i++)
-		if (gpios & (1<<i))
-			stm32_gpiowrite(gpio_tab[i].output, value);
-}
-
-static uint32_t
-px4fmu_gpio_read(void)
-{
-	uint32_t bits = 0;
-
-	for (unsigned i = 0; i < NGPIO; i++)
-		if (stm32_gpioread(gpio_tab[i].input))
-			bits |= (1 << i);
-
-	return bits;
-}
-
-void
-px4fmu_gpio_init(void)
-{
-	/* reset all GPIOs to default state */
-	px4fmu_gpio_reset();
-
-	/* register the driver */
-	register_driver(GPIO_DEVICE_PATH, &px4fmu_gpio_fops, 0666, NULL);
-}
-
-static int
-px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg)
-{
-	int	result = OK;
-
-	switch (cmd) {
-		
-	case GPIO_RESET:
-		px4fmu_gpio_reset();
-		break;
-
-	case GPIO_SET_OUTPUT:
-	case GPIO_SET_INPUT:
-	case GPIO_SET_ALT_1:
-		px4fmu_gpio_set_function(arg, cmd);
-		break;
-
-	case GPIO_SET:
-	case GPIO_CLEAR:
-		px4fmu_gpio_write(arg, cmd);
-		break;
-
-	case GPIO_GET:
-		*(uint32_t *)arg = px4fmu_gpio_read();
-		break;
-
-	default:
-		result = -ENOTTY;
-	}
-	return result;
-}
-