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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-28 15:27:13 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-28 15:27:13 +0100 |
commit | 8d764170aa42fa0bf3d15fe5a91d2b52e0cc2036 (patch) | |
tree | bf83d33c14851e548823d81b64e49be3e86b0e48 /nuttx | |
parent | e5f56a1a8fe3c81fcb182cace9e81bbaaa3d0031 (diff) | |
parent | 1a70b2f4ed0feffd9c57721db3661f15e64af5cb (diff) | |
download | px4-firmware-8d764170aa42fa0bf3d15fe5a91d2b52e0cc2036.tar.gz px4-firmware-8d764170aa42fa0bf3d15fe5a91d2b52e0cc2036.tar.bz2 px4-firmware-8d764170aa42fa0bf3d15fe5a91d2b52e0cc2036.zip |
Merge remote-tracking branch 'origin/master' into fw_control
Diffstat (limited to 'nuttx')
-rw-r--r-- | nuttx/configs/px4fmu/common/ld.script | 9 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/include/board.h | 44 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/include/drv_gpio.h | 107 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 2 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 4 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/Makefile | 1 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/src/drv_gpio.c | 195 |
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; -} - |