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-rw-r--r--apps/examples/Makefile1
-rw-r--r--makefiles/config_px4fmu_default.mk4
-rw-r--r--makefiles/setup.mk3
-rwxr-xr-xnuttx/configs/px4io/include/board.h11
-rw-r--r--nuttx/configs/px4io/io/appconfig8
-rw-r--r--src/drivers/boards/px4io/px4io_init.c8
-rw-r--r--src/drivers/boards/px4io/px4io_internal.h4
-rw-r--r--src/drivers/led/module.mk (renamed from src/drivers/led/Makefile)6
-rw-r--r--src/modules/px4iofirmware/controls.c4
-rw-r--r--src/modules/px4iofirmware/module.mk11
-rw-r--r--src/modules/px4iofirmware/px4io.c8
-rw-r--r--src/modules/px4iofirmware/px4io.h25
-rw-r--r--src/modules/px4iofirmware/registers.c2
13 files changed, 60 insertions, 35 deletions
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 201be955b..6b614b1aa 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -38,7 +38,6 @@
# Sub-directories
SUBDIRS = adc can cdcacm nsh
-SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app
#SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
#SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 32b26fcf1..5d80d2def 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -116,7 +116,5 @@ endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
- $(call _B, math_demo, , 8192, math_demo_main ) \
$(call _B, sercon, , 2048, sercon_main ) \
- $(call _B, serdis, , 2048, serdis_main ) \
- $(call _B, uorb, , 4096, uorb_main )
+ $(call _B, serdis, , 2048, serdis_main )
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 3c910bcfa..8072ec791 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -59,9 +59,6 @@ export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR)
-# Include from legacy app/library path
-export INCLUDE_DIRS += $(NUTTX_APP_SRC)
-
#
# Tools
#
diff --git a/nuttx/configs/px4io/include/board.h b/nuttx/configs/px4io/include/board.h
index d941985b4..fcbc93620 100755
--- a/nuttx/configs/px4io/include/board.h
+++ b/nuttx/configs/px4io/include/board.h
@@ -100,12 +100,19 @@
* Some of the USART pins are not available; override the GPIO
* definitions with an invalid pin configuration.
*/
+#undef GPIO_USART2_CTS
#define GPIO_USART2_CTS 0xffffffff
+#undef GPIO_USART2_RTS
#define GPIO_USART2_RTS 0xffffffff
+#undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff
+#undef GPIO_USART3_TX
#define GPIO_USART3_TX 0xffffffff
+#undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff
+#undef GPIO_USART3_CTS
#define GPIO_USART3_CTS 0xffffffff
+#undef GPIO_USART3_RTS
#define GPIO_USART3_RTS 0xffffffff
/*
@@ -156,6 +163,10 @@ extern "C" {
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
+
+#if defined(__cplusplus)
+}
+#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx/configs/px4io/io/appconfig b/nuttx/configs/px4io/io/appconfig
index 628607a51..48a41bcdb 100644
--- a/nuttx/configs/px4io/io/appconfig
+++ b/nuttx/configs/px4io/io/appconfig
@@ -30,11 +30,3 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-
-CONFIGURED_APPS += drivers/boards/px4io
-CONFIGURED_APPS += drivers/stm32
-
-CONFIGURED_APPS += px4io
-
-# Mixer library from systemlib
-CONFIGURED_APPS += systemlib/mixer
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index 14e8dc13a..d36353c6f 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -86,9 +86,17 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_SERVO_PWR_EN);
stm32_configgpio(GPIO_RELAY1_EN);
stm32_configgpio(GPIO_RELAY2_EN);
+
+ /* turn off - all leds are active low */
+ stm32_gpiowrite(GPIO_LED1, true);
+ stm32_gpiowrite(GPIO_LED2, true);
+ stm32_gpiowrite(GPIO_LED3, true);
+
+ /* LED config */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
+
stm32_configgpio(GPIO_ACC_OC_DETECT);
stm32_configgpio(GPIO_SERVO_OC_DETECT);
stm32_configgpio(GPIO_BTN_SAFETY);
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index 44bb98513..eb2820bb7 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -32,7 +32,9 @@
****************************************************************************/
/**
- * @file PX4IO hardware definitions.
+ * @file px4io_internal.h
+ *
+ * PX4IO hardware definitions.
*/
#pragma once
diff --git a/src/drivers/led/Makefile b/src/drivers/led/module.mk
index 7de188259..777f3e442 100644
--- a/src/drivers/led/Makefile
+++ b/src/drivers/led/module.mk
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (C) 2012 PX4 Development Team. All rights reserved.
+# Copyright (c) 2012, 2013 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
@@ -32,7 +32,7 @@
############################################################################
#
-# Makefile to build the LED driver.
+# Build the LED driver.
#
-include $(APPDIR)/mk/app.mk
+SRCS = led.cpp
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index dc36f6c93..25eeca3be 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -288,8 +288,8 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
- if (dsm_updated || sbus_updated || ppm_updated)
- mixer_tick();
+ //if (dsm_updated || sbus_updated || ppm_updated)
+ // mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 82b8f16d3..53d1ec2b9 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -8,11 +8,12 @@ SRCS = adc.c \
registers.c \
safety.c \
sbus.c \
- mixer.cpp \
- ../systemlib/mixer/mixer.cpp \
- ../systemlib/mixer/mixer_group.cpp \
- ../systemlib/mixer/mixer_multirotor.cpp \
- ../systemlib/mixer/mixer_simple.cpp \
../systemlib/up_cxxinitialize.c \
../systemlib/hx_stream.c \
../systemlib/perf_counter.c
+
+# mixer.cpp \
+# ../systemlib/mixer/mixer.cpp \
+# ../systemlib/mixer/mixer_group.cpp \
+# ../systemlib/mixer/mixer_multirotor.cpp \
+# ../systemlib/mixer/mixer_simple.cpp \ \ No newline at end of file
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 9de37e118..6244b1551 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -64,8 +64,10 @@ struct sys_state_s system_state;
static struct hrt_call serial_dma_call;
+#ifdef CONFIG_STM32_I2C1
/* store i2c reset count XXX this should be a register, together with other error counters */
volatile uint32_t i2c_loop_resets = 0;
+#endif
/*
* a set of debug buffers to allow us to send debug information from ISRs
@@ -133,7 +135,9 @@ user_start(int argc, char *argv[])
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
+#ifdef CONFIG_ARCH_DMA
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
/* print some startup info */
lowsyslog("\nPX4IO: starting\n");
@@ -155,8 +159,10 @@ user_start(int argc, char *argv[])
/* initialise the control inputs */
controls_init();
+#ifdef CONFIG_STM32_I2C1
/* start the i2c handler */
i2c_init();
+#endif
/* add a performance counter for mixing */
perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
@@ -201,7 +207,7 @@ user_start(int argc, char *argv[])
/* kick the mixer */
perf_begin(mixer_perf);
- mixer_tick();
+ // mixer_tick();
perf_end(mixer_perf);
/* kick the control inputs */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 202e9d9d9..3647842c0 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -124,10 +124,18 @@ extern struct sys_state_s system_state;
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
-#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
-#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
-#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#ifdef GPIO_ACC1_PWR_EN
+ #define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#endif
+#ifdef GPIO_ACC2_PWR_EN
+ #define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
+#endif
+#ifdef GPIO_RELAY1_EN
+ #define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#endif
+#ifdef GPIO_RELAY2_EN
+ #define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#endif
#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT))
#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT))
@@ -140,18 +148,20 @@ extern struct sys_state_s system_state;
/*
* Mixer
*/
-extern void mixer_tick(void);
-extern void mixer_handle_text(const void *buffer, size_t length);
+//extern void mixer_tick(void);
+//extern void mixer_handle_text(const void *buffer, size_t length);
/**
* Safety switch/LED.
*/
extern void safety_init(void);
+#ifdef CONFIG_STM32_I2C1
/**
* FMU communications
*/
extern void i2c_init(void);
+#endif
/**
* Register space
@@ -183,6 +193,7 @@ extern volatile uint8_t debug_level;
/* send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
+#ifdef CONFIG_STM32_I2C1
void i2c_dump(void);
void i2c_reset(void);
-
+#endif
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6c09def9e..64a87a58b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -245,7 +245,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
- mixer_handle_text(values, num_values * sizeof(*values));
+ //mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-16 00:13:12 +0000