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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-31 21:07:01 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-31 21:07:01 +0100 |
commit | 904efa8fa87c09a2e7f18f0821431e75eb13e67b (patch) | |
tree | e63d4b92a39994f5b396a55a74898221d61e795d /nuttx/configs | |
parent | ee1e98babb3b46de0c64dbd0c5be3c678fc7c727 (diff) | |
parent | 8bfceef89cc1fd2422863a99d99039d18a1301bc (diff) | |
download | px4-firmware-904efa8fa87c09a2e7f18f0821431e75eb13e67b.tar.gz px4-firmware-904efa8fa87c09a2e7f18f0821431e75eb13e67b.tar.bz2 px4-firmware-904efa8fa87c09a2e7f18f0821431e75eb13e67b.zip |
Merge branch 'master' of https://github.com/PX4/Firmware into fw_control
Diffstat (limited to 'nuttx/configs')
-rw-r--r-- | nuttx/configs/px4fmu/include/drv_eeprom.h | 60 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/include/drv_led.h | 51 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 2 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/Makefile | 5 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/drv_eeprom.c | 522 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/drv_led.c | 113 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/empty.c | 4 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/px4fmu-internal.h | 166 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/up_leds.c | 127 |
9 files changed, 7 insertions, 1043 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_eeprom.h b/nuttx/configs/px4fmu/include/drv_eeprom.h deleted file mode 100644 index 57589ed84..000000000 --- a/nuttx/configs/px4fmu/include/drv_eeprom.h +++ /dev/null @@ -1,60 +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 drv_eeprom.h - * - * Config for the non-MTD EEPROM driver. - */ - -/* IMPORTANT: Adjust this number! */ -#define MAX_EEPROMS 2 - -/* FMU onboard */ -#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_led.h b/nuttx/configs/px4fmu/include/drv_led.h deleted file mode 100644 index 4b7093346..000000000 --- a/nuttx/configs/px4fmu/include/drv_led.h +++ /dev/null @@ -1,51 +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. - * - ****************************************************************************/ - -#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/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 67fe69a30..c696407ea 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -52,7 +52,6 @@ CONFIGURED_APPS += systemcmds/top CONFIGURED_APPS += systemcmds/boardinfo CONFIGURED_APPS += systemcmds/mixer CONFIGURED_APPS += systemcmds/eeprom -CONFIGURED_APPS += systemcmds/led CONFIGURED_APPS += systemcmds/param CONFIGURED_APPS += systemcmds/bl_update #CONFIGURED_APPS += systemcmds/calibration @@ -96,6 +95,7 @@ CONFIGURED_APPS += drivers/bma180 CONFIGURED_APPS += drivers/l3gd20 CONFIGURED_APPS += drivers/px4io CONFIGURED_APPS += drivers/stm32 +CONFIGURED_APPS += drivers/led CONFIGURED_APPS += drivers/stm32/tone_alarm CONFIGURED_APPS += drivers/px4fmu diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile index 13b26b84f..c3d6bf543 100644 --- a/nuttx/configs/px4fmu/src/Makefile +++ b/nuttx/configs/px4fmu/src/Makefile @@ -40,9 +40,7 @@ CFLAGS += -I$(TOPDIR)/sched ASRCS = AOBJS = $(ASRCS:.S=$(OBJEXT)) -CSRCS = up_leds.c \ - drv_led.c drv_eeprom.c - +CSRCS = empty.c COBJS = $(CSRCS:.c=$(OBJEXT)) SRCS = $(ASRCS) $(CSRCS) @@ -69,6 +67,7 @@ libboard$(LIBEXT): $(OBJS) @( for obj in $(OBJS) ; do \ $(call ARCHIVE, $@, $${obj}); \ done ; ) + touch $@ .depend: Makefile $(SRCS) @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/configs/px4fmu/src/drv_eeprom.c b/nuttx/configs/px4fmu/src/drv_eeprom.c deleted file mode 100644 index c22062ec5..000000000 --- a/nuttx/configs/px4fmu/src/drv_eeprom.c +++ /dev/null @@ -1,522 +0,0 @@ -/* - * 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. - */ - -/* - * Generic driver for I2C EEPROMs with 8 bit or 16 bit addressing - */ - -#include <nuttx/config.h> - -#include <stdint.h> -#include <stdbool.h> -#include <debug.h> -#include <errno.h> -#include <string.h> -#include <stdio.h> -#include <unistd.h> - -#include <nuttx/i2c.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_eeprom.h> - -/* Split I2C transfers into smaller chunks to make sure to stay within tight timeout limits */ - -/* check defines */ -#ifndef MAX_EEPROMS - #error MAX_EEPROMS number must be defined (1-3) -#endif - -#if (MAX_EEPROMS > 3) - #error Currently only a maximum of three EEPROMS is supported, add missing code around here: __FILE__:__LINE__ -#endif -static int eeprom_open0(FAR struct file *filp); -static int eeprom_close0(FAR struct file *filp); -static ssize_t eeprom_read0(struct file *filp, FAR char *buffer, size_t buflen); -static ssize_t eeprom_write0(struct file *filp, FAR const char *buffer, size_t buflen); -static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence); -#if (MAX_EEPROMS > 1) -static int eeprom_open1(FAR struct file *filp); -static int eeprom_close1(FAR struct file *filp); -static ssize_t eeprom_read1(struct file *filp, FAR char *buffer, size_t buflen); -static ssize_t eeprom_write1(struct file *filp, FAR const char *buffer, size_t buflen); -static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence); -#endif -#if (MAX_EEPROMS > 2) -static int eeprom_open2(FAR struct file *filp); -static int eeprom_close2(FAR struct file *filp); -static ssize_t eeprom_read2(struct file *filp, FAR char *buffer, size_t buflen); -static ssize_t eeprom_write2(struct file *filp, FAR const char *buffer, size_t buflen); -static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence); -#endif - -static const struct file_operations eeprom_fops[MAX_EEPROMS] = {{ - .open = eeprom_open0, - .close = eeprom_close0, - .read = eeprom_read0, - .write = eeprom_write0, - .seek = eeprom_seek0, - .ioctl = 0, -#ifndef CONFIG_DISABLE_POLL - .poll = 0 -#endif -} -#if (MAX_EEPROMS > 1) -,{ - .open = eeprom_open1, - .close = eeprom_close1, - .read = eeprom_read1, - .write = eeprom_write1, - .seek = eeprom_seek1, -} -#endif -#if (MAX_EEPROMS > 2) -,{ - .open = eeprom_open2, - .close = eeprom_close2, - .read = eeprom_read2, - .write = eeprom_write2, - .seek = eeprom_seek2, -} -#endif -}; - -static FAR struct eeprom_dev_s -{ - struct i2c_dev_s *i2c; - uint8_t eeprom_address; - uint16_t eeprom_size_bytes; - uint16_t eeprom_page_size_bytes; - uint16_t eeprom_page_write_time; - off_t offset; - bool is_open; -} eeprom_dev[MAX_EEPROMS]; - -static int -eeprom_open0(FAR struct file *filp) -{ - /* only allow one open at a time */ - if (eeprom_dev[0].is_open) { - errno = EBUSY; - return -EBUSY; - } - /* reset pointer */ - //eeprom_dev[0].is_open = true; - eeprom_dev[0].offset = 0; - return OK; -} -#if (MAX_EEPROMS > 1) -static int -eeprom_open1(FAR struct file *filp) -{ - /* only allow one open at a time */ - if (eeprom_dev[1].is_open) { - errno = EBUSY; - return -EBUSY; - } - /* reset pointer */ - //eeprom_dev[1].is_open = true; - eeprom_dev[1].offset = 0; - return OK; -} -#endif -#if (MAX_EEPROMS > 2) -static int -eeprom_open2(FAR struct file *filp) -{ - /* only allow one open at a time */ - if (eeprom_dev[2].is_open) { - errno = EBUSY; - return -EBUSY; - } - /* reset pointer */ - //eeprom_dev[2].is_open = true; - eeprom_dev[2].offset = 0; - return OK; -} -#endif - -static int -eeprom_close0(FAR struct file *filp) -{ - eeprom_dev[0].is_open = false; - return OK; -} -#if (MAX_EEPROMS > 1) -static int -eeprom_close1(FAR struct file *filp) -{ - eeprom_dev[1].is_open = false; - return OK; -} -#endif -#if (MAX_EEPROMS > 2) -static int -eeprom_close2(FAR struct file *filp) -{ - eeprom_dev[2].is_open = false; - return OK; -} -#endif - -static int -eeprom_read_internal(int dev, uint16_t len, uint8_t *data) -{ - /* abort if the number of requested bytes exceeds the EEPROM size */ - if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes) - { - errno = ENOSPC; - return -ENOSPC; - } - - /* set device address */ - I2C_SETADDRESS(eeprom_dev[dev].i2c, eeprom_dev[dev].eeprom_address, 7); - - uint8_t cmd[2] = {0, 0}; /* first (or only) part of address */ - /* second part of address, omitted if eeprom has 256 bytes or less */ - int ret = 0; - int remaining = len; - int readcounts = 0; - - while (remaining > 0) - { - /* read all requested bytes over potentially multiple pages */ - //int readlen = (remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes; - int read_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes; - /* set read length to page border */ - int readlen = eeprom_dev[dev].eeprom_page_size_bytes - (read_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes; - /* cap read length if not a full page read is needed */ - if (readlen > remaining) readlen = remaining; - - if (eeprom_dev[dev].eeprom_size_bytes <= 256) - { - cmd[0] = (read_offset); /* set at first byte */ - /* 8 bit addresses */ - ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 1, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen); - } - else - { - /* 16 bit addresses */ - /* EEPROM: first address high, then address low */ - cmd[0] = (((uint16_t)read_offset) >> 8); - cmd[1] = (((uint8_t)read_offset)); - ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 2, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen); - } - - /* abort on error */ - if (ret < 0) break; - - /* handled another chunk */ - remaining -= readlen; - readcounts++; - } - - /* use the negated value from I2C_TRANSFER to fill errno */ - errno = -ret; - - /* return len if data was read, < 0 else */ - if (ret == OK) - eeprom_dev[dev].offset += len; - return len; - - /* no data, return negated value from I2C_TRANSFER */ - return ret; -} - -static int -eeprom_write_internal(int dev, uint16_t len, const uint8_t *data) -{ - /* abort if the number of requested bytes exceeds the EEPROM size */ - if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes) - { - errno = ENOSPC; - return -ENOSPC; - } - - int ret = 0; - int remaining = len; - int write_counts = 0; - - uint8_t write_buf[2]; - - while (remaining > 0) - { - /* write all requested bytes over potentially multiple pages */ - int write_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes; - /* set write length to page border */ - int writelen = eeprom_dev[dev].eeprom_page_size_bytes - (write_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes; - /* cap write length if not a full page write is requested */ - if (writelen > remaining) writelen = remaining; - - if (eeprom_dev[dev].eeprom_size_bytes <= 256) - { - write_buf[0] = (write_offset); /* set at first byte */ - /* 8 bit addresses */ - - const uint8_t* data_ptr = (data+(write_offset)); - - struct i2c_msg_s msgv_eeprom_write[2] = { - { - .addr = eeprom_dev[dev].eeprom_address, - .flags = I2C_M_NORESTART, - .buffer = write_buf, - .length = 1 - }, - { - .addr = eeprom_dev[dev].eeprom_address, - .flags = I2C_M_NORESTART, - .buffer = (uint8_t*)data_ptr, - .length = writelen - } - }; - - - if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK ) - { - //printf("SUCCESS WRITING EEPROM 8BIT ADDR: %d, bytes: %d\n", ret, writelen); - } - } - else - { - /* 16 bit addresses */ - /* EEPROM: first address high, then address low */ - write_buf[0] = (((uint16_t)write_offset) >> 8); - write_buf[1] = (((uint8_t)write_offset)); - - const uint8_t* data_ptr = data+(write_counts*eeprom_dev[dev].eeprom_page_size_bytes); - - struct i2c_msg_s msgv_eeprom_write[2] = { - { - .addr = eeprom_dev[dev].eeprom_address, - .flags = I2C_M_NORESTART, - .buffer = write_buf, - .length = 2 - }, - { - .addr = eeprom_dev[dev].eeprom_address, - .flags = I2C_M_NORESTART, - .buffer = (uint8_t*)data_ptr, - .length = writelen - } - }; - - - if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK ) - { - //printf("SUCCESS WRITING EEPROM 16BIT ADDR: %d, bytes: %d\n", ret, writelen); - } - } - - /* abort on error */ - if (ret < 0) break; - - /* handled another chunk */ - remaining -= writelen; - write_counts++; - /* wait for the device to write the page */ - usleep(eeprom_dev[dev].eeprom_page_write_time); - } - - /* use the negated value from I2C_TRANSFER to fill errno */ - errno = -ret; - - /* return length if data was written, < 0 else */ - if (ret == OK) - eeprom_dev[dev].offset += len; - return len; - - /* no data, return negated value from I2C_TRANSFER */ - return ret; -} - -static ssize_t -eeprom_read0(struct file *filp, char *buffer, size_t buflen) -{ - return eeprom_read_internal(0, buflen, (uint8_t *)buffer); -} -#if (MAX_EEPROMS > 1) -static ssize_t -eeprom_read1(struct file *filp, char *buffer, size_t buflen) -{ - return eeprom_read_internal(1, buflen, (uint8_t *)buffer); -} -#endif -#if (MAX_EEPROMS > 2) -static ssize_t -eeprom_read2(struct file *filp, char *buffer, size_t buflen) -{ - return eeprom_read_internal(2, buflen, (uint8_t *)buffer); -} -#endif - -static ssize_t -eeprom_write0(struct file *filp, const char *buffer, size_t buflen) -{ - return eeprom_write_internal(0, buflen, (const uint8_t *)buffer); -} -#if (MAX_EEPROMS > 1) -static ssize_t -eeprom_write1(struct file *filp, const char *buffer, size_t buflen) -{ - return eeprom_write_internal(1, buflen, (const uint8_t *)buffer); -} -#endif -#if (MAX_EEPROMS > 2) -static ssize_t -eeprom_write2(struct file *filp, const char *buffer, size_t buflen) -{ - return eeprom_write_internal(2, buflen, (const uint8_t *)buffer); -} -#endif - -static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence) -{ - switch (whence) - { - case SEEK_SET: - if (offset < eeprom_dev[0].eeprom_size_bytes - 1) { - eeprom_dev[0].offset = offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_CUR: - if (eeprom_dev[0].offset + offset < eeprom_dev[0].eeprom_size_bytes - 1) { - eeprom_dev[0].offset = eeprom_dev[0].offset + offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_END: - errno = ESPIPE; - return -ESPIPE; - break; - } - return eeprom_dev[0].offset; -} -#if (MAX_EEPROMS > 1) -static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence) -{ - switch (whence) - { - case SEEK_SET: - if (offset < eeprom_dev[1].eeprom_size_bytes - 1) { - eeprom_dev[1].offset = offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_CUR: - if (eeprom_dev[1].offset + offset < eeprom_dev[1].eeprom_size_bytes - 1) { - eeprom_dev[1].offset = eeprom_dev[1].offset + offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_END: - errno = ESPIPE; - return -ESPIPE; - break; - } - return eeprom_dev[1].offset; -} -#endif -#if (MAX_EEPROMS > 2) -static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence) -{ - switch (whence) - { - case SEEK_SET: - if (offset < eeprom_dev[2].eeprom_size_bytes - 1) { - eeprom_dev[2].offset = offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_CUR: - if (eeprom_dev[2].offset + offset < eeprom_dev[2].eeprom_size_bytes - 1) { - eeprom_dev[2].offset = eeprom_dev[2].offset + offset; - } else { - errno = ESPIPE; - return -ESPIPE; - } - break; - case SEEK_END: - errno = ESPIPE; - return -ESPIPE; - break; - } - return eeprom_dev[2].offset; -} -#endif - -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) -{ - static int eeprom_dev_counter = 0; - eeprom_dev[eeprom_dev_counter].i2c = i2c; - eeprom_dev[eeprom_dev_counter].eeprom_address = device_address; - eeprom_dev[eeprom_dev_counter].eeprom_size_bytes = total_size_bytes; - eeprom_dev[eeprom_dev_counter].eeprom_page_size_bytes = page_size_bytes; - eeprom_dev[eeprom_dev_counter].eeprom_page_write_time = page_write_time_us; - eeprom_dev[eeprom_dev_counter].offset = 0; - eeprom_dev[eeprom_dev_counter].is_open = false; - - int ret; - - if (fail_if_missing) { - /* read first value */ - uint8_t read_test; - ret = (eeprom_read_internal(eeprom_dev_counter, 1, &read_test) == 1) ? OK : ERROR; - } else { - ret = OK; - } - - /* make ourselves available */ - if (ret == OK) - { - register_driver(device_name, &(eeprom_fops[eeprom_dev_counter]), 0666, NULL); - eeprom_dev_counter++; - } - - /* Return 0 for device found, error number else */ - return ret; -} diff --git a/nuttx/configs/px4fmu/src/drv_led.c b/nuttx/configs/px4fmu/src/drv_led.c deleted file mode 100644 index 13d8eb22a..000000000 --- a/nuttx/configs/px4fmu/src/drv_led.c +++ /dev/null @@ -1,113 +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. - * - ****************************************************************************/ - -/* - * led driver for PX4FMU - * - * This is something of an experiment currently (ha, get it?) - */ - -#include <nuttx/config.h> - -#include <stdint.h> -#include <stdbool.h> -#include <debug.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_led.h> - -static int px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg); -static ssize_t px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen); - -static const struct file_operations px4fmu_led_fops = { - .read = px4fmu_led_pseudoread, - .ioctl = px4fmu_led_ioctl, -}; - -int -px4fmu_led_init(void) -{ - /* register the driver */ - return register_driver("/dev/led", &px4fmu_led_fops, 0666, NULL); -} - -static ssize_t -px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen) -{ - return 0; -} - -static int -px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg) -{ - int result = 0; - - switch (cmd) { - - case LED_ON: - switch (arg) { - case 0: - case 1: - up_ledon(arg); - break; - default: - result = -1; - break; - } - break; - - case LED_OFF: - switch (arg) { - case 0: - case 1: - up_ledoff(arg); - break; - default: - result = -1; - break; - } - break; - default: - result = -1; - break; - } - return result; -} - diff --git a/nuttx/configs/px4fmu/src/empty.c b/nuttx/configs/px4fmu/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx/configs/px4fmu/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/nuttx/configs/px4fmu/src/px4fmu-internal.h b/nuttx/configs/px4fmu/src/px4fmu-internal.h deleted file mode 100644 index f48b1bf5e..000000000 --- a/nuttx/configs/px4fmu/src/px4fmu-internal.h +++ /dev/null @@ -1,166 +0,0 @@ -/**************************************************************************************************** - * configs/px4fmu/src/px4fmu_internal.h - * arch/arm/src/board/px4fmu_internal.n - * - * 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. - * - ****************************************************************************************************/ - -#ifndef __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H -#define __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include <nuttx/config.h> -#include <nuttx/compiler.h> -#include <stdint.h> - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ -/* Configuration ************************************************************************************/ - -#ifdef CONFIG_STM32_SPI2 -# error "SPI2 is not supported on this board" -#endif - -#if defined(CONFIG_STM32_CAN1) -# warning "CAN1 is not supported on this board" -#endif - -/* PX4FMU GPIOs ***********************************************************************************/ -/* LEDs */ - -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) - -/* External interrupts */ -#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) -// XXX MPU6000 DRDY? - -/* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) -#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) -#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) - -/* User GPIOs - * - * GPIO0-1 are the buffered high-power GPIOs. - * GPIO2-5 are the USART2 pins. - * GPIO6-7 are the CAN2 pins. - */ -#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) -#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) -#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) - */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) - -/* PWM - * - * The PX4FMU has five PWM outputs, of which only the output on - * pin PC8 is fixed assigned to this function. The other four possible - * pwm sources are the TX, RX, RTS and CTS pins of USART2 - * - * Alternate function mapping: - * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 - */ - -#ifdef CONFIG_PWM -# if defined(CONFIG_STM32_TIM3_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 3 -# elif defined(CONFIG_STM32_TIM8_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 8 -# endif -#endif - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -/**************************************************************************************************** - * Name: px4fmu_gpio_init - * - * Description: - * Called to configure the PX4FMU user GPIOs - * - ****************************************************************************************************/ - -extern void px4fmu_gpio_init(void); - - -// XXX additional SPI chipselect functions required? - -#endif /* __ASSEMBLY__ */ -#endif /* __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H */ - diff --git a/nuttx/configs/px4fmu/src/up_leds.c b/nuttx/configs/px4fmu/src/up_leds.c deleted file mode 100644 index f7b76aa58..000000000 --- a/nuttx/configs/px4fmu/src/up_leds.c +++ /dev/null @@ -1,127 +0,0 @@ -/**************************************************************************** - * configs/px4fmu/src/up_leds.c - * arch/arm/src/board/up_leds.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> - -#include <stdint.h> -#include <stdbool.h> -#include <debug.h> - -#include <arch/board/board.h> - -#include "chip.h" -#include "up_arch.h" -#include "up_internal.h" -#include "stm32_internal.h" -#include "px4fmu-internal.h" - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/* Enables debug output from this file (needs CONFIG_DEBUG with - * CONFIG_DEBUG_VERBOSE too) - */ - -#undef LED_DEBUG /* Define to enable debug */ - -#ifdef LED_DEBUG -# define leddbg lldbg -# define ledvdbg llvdbg -#else -# define leddbg(x...) -# define ledvdbg(x...) -#endif - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: up_ledinit - ****************************************************************************/ - -#ifdef CONFIG_ARCH_LEDS -void up_ledinit(void) -{ - /* Configure LED1-2 GPIOs for output */ - - stm32_configgpio(GPIO_LED1); - stm32_configgpio(GPIO_LED2); -} - -/**************************************************************************** - * Name: up_ledon - ****************************************************************************/ - -void up_ledon(int led) -{ - if (led == 0) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED1, false); - } - if (led == 1) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED2, false); - } -} - -/**************************************************************************** - * Name: up_ledoff - ****************************************************************************/ - -void up_ledoff(int led) -{ - if (led == 0) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED1, true); - } - if (led == 1) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED2, true); - } -} - -#endif /* CONFIG_ARCH_LEDS */ |