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-rw-r--r--nuttx/arch/arm/src/calypso/calypso_keypad.c379
-rw-r--r--nuttx/configs/px4fmu/common/Make.defs61
-rwxr-xr-xnuttx/configs/px4fmu/nsh/defconfig2
-rw-r--r--nuttx/configs/px4fmu/src/Makefile14
-rw-r--r--nuttx/configs/px4io/common/Make.defs43
-rw-r--r--nuttx/configs/px4io/src/Makefile9
-rw-r--r--nuttx/drivers/serial/serial.c2
-rw-r--r--nuttx/include/termios.h3
8 files changed, 53 insertions, 460 deletions
diff --git a/nuttx/arch/arm/src/calypso/calypso_keypad.c b/nuttx/arch/arm/src/calypso/calypso_keypad.c
deleted file mode 100644
index cdc22b286..000000000
--- a/nuttx/arch/arm/src/calypso/calypso_keypad.c
+++ /dev/null
@@ -1,379 +0,0 @@
-/****************************************************************************
- * Driver for Calypso keypad hardware
- *
- * Copyright (C) 2011 Stefan Richter. All rights reserved.
- * Author: Stefan Richter <ichgeh@l--putt.de>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/irq.h>
-#include <nuttx/fs/fs.h>
-
-#include <stdint.h>
-#include <semaphore.h>
-#include <errno.h>
-#include <unistd.h>
-#include <sched.h>
-
-#include <arch/calypso/defines.h>
-#include <arch/calypso/memory.h>
-#include <arch/calypso/timer.h>
-
-/****************************************************************************
- * HW access
- ****************************************************************************/
-
-#define BASE_ADDR_ARMIO 0xfffe4800
-#define ARMIO_REG(x) ((void *)BASE_ADDR_ARMIO + (x))
-
-enum armio_reg
-{
- LATCH_IN = 0x00,
- LATCH_OUT = 0x02,
- IO_CNTL = 0x04,
- CNTL_REG = 0x06,
- LOAD_TIM = 0x08,
- KBR_LATCH_REG = 0x0a,
- KBC_REG = 0x0c,
- BUZZ_LIGHT_REG = 0x0e,
- LIGHT_LEVEL = 0x10,
- BUZZER_LEVEL = 0x12,
- GPIO_EVENT_MODE = 0x14,
- KBD_GPIO_INT = 0x16,
- KBD_GPIO_MASKIT = 0x18,
- GPIO_DEBOUNCING = 0x1a,
- GPIO_LATCH = 0x1c,
-};
-
-#define KBD_INT (1 << 0)
-#define GPIO_INT (1 << 1)
-
-/****************************************************************************
- * Decoder functions for matrix and power button
- ****************************************************************************/
-
-static int btn_dec(uint32_t * btn_state, uint8_t col, uint8_t reg,
- char *buf, size_t buflen, size_t * len)
-{
- uint8_t diff = (*btn_state ^ reg) & 0x1f;
-
- while (diff)
- {
- uint8_t val = diff & ~(diff - 1);
- uint8_t sc = val >> 1;
- sc |= sc << 2;
- sc += col;
- sc += (sc & 0x20) ? 0x26 : 0x3f;
-
- if (reg & val)
- {
- sc |= 0x20;
- }
-
- /* Check for space in buffer and dispatch */
-
- if (*len < buflen)
- {
- buf[(*len)++] = sc;
- }
- else
- {
- break;
- }
-
- /* Only change diff if dispatched/buffer not full */
-
- diff ^= val;
- }
-
- /* Store new state of the buttons (but only if they where dispatch) */
-
- *btn_state >>= 5;
-#ifdef INCLUDE_ALL_COLS
- *btn_state |= (reg ^ diff) << 20;
-#else
- *btn_state |= (reg ^ diff) << 15;
-#endif
- return diff;
-}
-
-static int pwr_btn_dec(uint32_t * state, uint8_t reg, char *buf, size_t * len)
-{
- if (reg)
- {
- /* Check for pressed power button. If pressed, ignore other
- * buttons since it collides with an entire row.
- */
-
- if (~*state & 0x80000000)
- {
- buf[0] = 'z';
- *len = 1;
- *state |= 0x80000000;
- }
-
- return 1; // break loop in caller
- }
- else
- {
- /* Check for released power button. */
-
- if (*state & 0x80000000)
- {
- buf[0] = 'Z';
- *len = 1;
-
- *state &= 0x7fffffff;
-
- /* Don't scan others when released; might trigger
- * false keystrokes otherwise
- */
-
- return 1;
- }
- }
-
- return 0; // continue with other columns
-}
-
-/****************************************************************************
- * Keypad: Fileops Prototypes and Structures
- ****************************************************************************/
-
-typedef FAR struct file file_t;
-
-static int keypad_open(file_t * filep);
-static int keypad_close(file_t * filep);
-static ssize_t keypad_read(file_t * filep, FAR char *buffer, size_t buflen);
-#ifndef CONFIG_DISABLE_POLL
-static int keypad_poll(file_t * filep, FAR struct pollfd *fds, bool setup);
-#endif
-
-static const struct file_operations keypad_ops =
-{
- keypad_open, /* open */
- keypad_close, /* close */
- keypad_read, /* read */
- 0, /* write */
- 0, /* seek */
- 0, /* ioctl */
-#ifndef CONFIG_DISABLE_POLL
- keypad_poll /* poll */
-#endif
-};
-
-static sem_t kbdsem;
-
-/****************************************************************************
- * Keypad: Fileops
- ****************************************************************************/
-
-static int keypad_open(file_t * filep)
-{
- register uint16_t reg;
-
- /* Unmask keypad interrupt */
-
- reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
- writew(reg & ~KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
-
- return OK;
-}
-
-static int keypad_close(file_t * filep)
-{
- register uint16_t reg;
-
- /* Mask keypad interrupt */
-
- reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
- writew(reg | KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
-
- return OK;
-}
-
-static ssize_t keypad_read(file_t * filep, FAR char *buf, size_t buflen)
-{
- static uint32_t btn_state = 0;
- register uint16_t reg;
- uint16_t col, col_mask;
- size_t len = 0;
-
- if (buf == NULL || buflen < 1)
- {
- /* Well... nothing to do */
-
- return -EINVAL;
- }
-
-retry:
- col = 1;
- col_mask = 0x1e;
-
- if (!btn_state)
- {
- /* Drive all cols low such that all buttons cause events */
-
- writew(0, ARMIO_REG(KBC_REG));
-
- /* No button currently pressed, use IRQ */
-
- reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
- writew(reg & ~KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
- sem_wait(&kbdsem);
- }
- else
- {
- writew(0x1f, ARMIO_REG(KBC_REG));
- usleep(80000);
- }
-
- /* Scan columns */
-
-#ifdef INCLUDE_ALL_COLS
- while (col <= 6)
- {
-#else
- while (col <= 5)
- {
-#endif
- /* Read keypad latch and immediately set new column since
- * synchronization takes about 5usec. For the 1st round, the
- * interrupt has prepared this and the context switch takes
- * long enough to serve as a delay.
- */
-
- reg = readw(ARMIO_REG(KBR_LATCH_REG));
- writew(col_mask, ARMIO_REG(KBC_REG));
-
- /* Turn pressed buttons into 1s */
-
- reg = 0x1f & ~reg;
-
- if (col == 1)
- {
- /* Power/End switch */
-
- if (pwr_btn_dec(&btn_state, reg, buf, &len))
- {
- break;
- }
- }
- else
- {
- /* Non-power switches */
-
- if (btn_dec(&btn_state, col, reg, buf, buflen, &len))
- {
- break;
- }
- }
-
- /* Select next column and respective mask */
-
- col_mask = 0x1f & ~(1 << col++);
-
- /* We have to wait for synchronization of the inputs. The
- * processing is too fast if no/few buttons are processed.
- */
-
- usleep(5);
-
- /* XXX: usleep seems to suffer hugh overhead. Better this!?
- * If nothing else can be done, it's overhead still wastes
- * time 'usefully'.
- */
- /* sched_yield(); up_udelay(2); */
- }
-
- /* If we don't have anything to return, retry to avoid EOF */
-
- if (!len)
- {
- goto retry;
- }
-
- return len;
-}
-
-/****************************************************************************
- * Keypad interrupt handler
- * mask interrupts
- * prepare column drivers for scan
- * posts keypad semaphore
- ****************************************************************************/
-
-inline int calypso_kbd_irq(int irq, uint32_t * regs)
-{
- register uint16_t reg;
-
- /* Mask keypad interrupt */
-
- reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
- writew(reg | KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
-
- /* Turn off column drivers */
-
- writew(0x1f, ARMIO_REG(KBC_REG));
-
- /* Let the userspace know */
-
- sem_post(&kbdsem);
-
- return 0;
-}
-
-/****************************************************************************
- * Initialize device, add /dev/... nodes
- ****************************************************************************/
-
-void up_keypad(void)
-{
- /* Semaphore; helps leaving IRQ ctx as soon as possible */
-
- sem_init(&kbdsem, 0, 0);
-
- /* Drive cols low in idle state such that all buttons cause events */
-
- writew(0, ARMIO_REG(KBC_REG));
-
- (void)register_driver("/dev/keypad", &keypad_ops, 0444, NULL);
-}
-
-int keypad_kbdinit(void)
-{
- calypso_armio();
- up_keypad();
-
- return OK;
-}
diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs
index ff2e4c5fa..8f4928dda 100644
--- a/nuttx/configs/px4fmu/common/Make.defs
+++ b/nuttx/configs/px4fmu/common/Make.defs
@@ -39,12 +39,15 @@
# Make.defs in the per-config directories.
#
+include ${TOPDIR}/tools/Config.mk
+
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
+CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
-CROSSDEV = arm-none-eabi-
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
@@ -166,25 +169,34 @@ OBJEXT = .o
LIBEXT = .a
EXEEXT =
-define PREPROCESS
- @echo "CPP: $1->$2"
- @$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILE
- @echo "CC: $1"
- $(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILEXX
- @echo "CXX: $1"
- $(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-define ASSEMBLE
- @echo "AS: $1"
- $(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
+#define PREPROCESS
+# @echo "CPP: $1->$2"
+# @$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
+#endef
+#
+#define COMPILE
+# @echo "CC: $1"
+# $(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
+#endef
+#
+#define COMPILEXX
+# @echo "CXX: $1"
+# $(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
+#endef
+#
+#define ASSEMBLE
+# @echo "AS: $1"
+# $(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
+#endef
+#
+#define ARCHIVE
+# echo "AR: $2"; \
+# $(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
+#endef
+#
+#define CLEAN
+# @rm -f *.o *.a
+#endef
# produce partially-linked $1 from files in $2
define PRELINK
@@ -192,15 +204,6 @@ define PRELINK
@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
-define ARCHIVE
- echo "AR: $2"; \
- $(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
-endef
-
-define CLEAN
- @rm -f *.o *.a
-endef
-
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index bc724c006..f17f9c20b 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -767,6 +767,8 @@ CONFIG_FS_ROMFS=y
# CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card.
# Default is 20MHz, current setting 24 MHz
#
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPI=y
CONFIG_MMCSD_NSLOTS=1
CONFIG_MMCSD_READONLY=n
CONFIG_MMCSD_SPICLOCK=24000000
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index c3d6bf543..d4276f7fc 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -64,23 +64,21 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
libboard$(LIBEXT): $(OBJS)
- @( for obj in $(OBJS) ; do \
- $(call ARCHIVE, $@, $${obj}); \
- done ; )
- touch $@
+ $(call ARCHIVE, $@, $(OBJS))
.depend: Makefile $(SRCS)
- @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
- @touch $@
+ $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+ $(Q) touch $@
depend: .depend
clean:
- @rm -f libboard$(LIBEXT) *~ .*.swp
+ $(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
- @rm -f Make.dep .depend
+ $(call DELFILE, Make.dep)
+ $(call DELFILE, .depend)
-include Make.dep
diff --git a/nuttx/configs/px4io/common/Make.defs b/nuttx/configs/px4io/common/Make.defs
index a3996a9ed..d6d52e3d2 100644
--- a/nuttx/configs/px4io/common/Make.defs
+++ b/nuttx/configs/px4io/common/Make.defs
@@ -39,12 +39,15 @@
# Make.defs in the per-config directories.
#
+include ${TOPDIR}/tools/Config.mk
+
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
+CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
-CROSSDEV = arm-none-eabi-
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
@@ -160,46 +163,10 @@ OBJEXT = .o
LIBEXT = .a
EXEEXT =
-# If VERBOSE is set, don't hide the compiler invocations.
-ifeq ($(VERBOSE),YES)
-_v =
-else
-_v = @
-endif
-
-define PREPROCESS
- @echo "CPP: $1->$2"
- @$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILE
- @echo "CC: $1"
- $(_v)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILEXX
- @echo "CXX: $1"
- $(_v)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-define ASSEMBLE
- @echo "AS: $1"
- $(_v)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
# produce partially-linked $1 from files in $2
define PRELINK
@echo "PRELINK: $1"
- @$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-define ARCHIVE
- echo "AR: $2"; \
- $(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
-endef
-
-define CLEAN
- @rm -f *.o *.a
+ $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
HOSTCC = gcc
diff --git a/nuttx/configs/px4io/src/Makefile b/nuttx/configs/px4io/src/Makefile
index 144fa8549..bb9539d16 100644
--- a/nuttx/configs/px4io/src/Makefile
+++ b/nuttx/configs/px4io/src/Makefile
@@ -65,9 +65,7 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
libboard$(LIBEXT): $(OBJS)
- @( for obj in $(OBJS) ; do \
- $(call ARCHIVE, $@, $${obj}); \
- done ; )
+ $(call ARCHIVE, $@, $(OBJS))
.depend: Makefile $(SRCS)
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@@ -76,10 +74,11 @@ libboard$(LIBEXT): $(OBJS)
depend: .depend
clean:
- @rm -f libboard$(LIBEXT) *~ .*.swp
+ $(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
- @rm -f Make.dep .depend
+ $(call DELFILE, Make.dep)
+ $(call DELFILE, .depend)
-include Make.dep
diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c
index 84e9bdf2a..682c1599f 100644
--- a/nuttx/drivers/serial/serial.c
+++ b/nuttx/drivers/serial/serial.c
@@ -254,7 +254,7 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev, FAR const char *buffer,
{
int ch = *buffer++;
- /* assume that this is console text output and always do \n -> \r\n conversion */
+ /* If this is the console, then we should replace LF with CR-LF */
if (ch == '\n')
{
diff --git a/nuttx/include/termios.h b/nuttx/include/termios.h
index 2e1c38fc2..95b20a3d3 100644
--- a/nuttx/include/termios.h
+++ b/nuttx/include/termios.h
@@ -109,6 +109,9 @@
#define PARODD (1 << 5) /* Bit 5: Odd parity, else even */
#define HUPCL (1 << 6) /* Bit 6: Hang up on last close */
#define CLOCAL (1 << 7) /* Bit 7: Ignore modem status lines */
+#define CCTS_OFLOW (1 << 8) /* Bit 8: CTS flow control of output */
+#define CRTSCTS CCTS_OFLOW
+#define CRTS_IFLOW (1 << 9) /* Bit 9: RTS flow control of input */
/* Local Modes (c_lflag in the termios structure) */
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 23:14:23 +0000