diff options
98 files changed, 12695 insertions, 863 deletions
@@ -27,7 +27,7 @@ define _perf_print # PC_COUNT if $hdr->type == 0 set $count = (struct perf_ctr_count *)$hdr - printf "%llu events,\n", $count->event_count; + printf "%llu events\n", $count->event_count end # PC_ELPASED if $hdr->type == 1 diff --git a/Images/px4fmu-v2.prototype b/Images/px4fmu-v2.prototype new file mode 100644 index 000000000..5109b77d1 --- /dev/null +++ b/Images/px4fmu-v2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 9, + "magic": "PX4FWv1", + "description": "Firmware for the PX4FMUv2 board", + "image": "", + "build_time": 0, + "summary": "PX4FMUv2", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Images/px4io-v2.prototype b/Images/px4io-v2.prototype new file mode 100644 index 000000000..af87924e9 --- /dev/null +++ b/Images/px4io-v2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 10, + "magic": "PX4FWv2", + "description": "Firmware for the PX4IOv2 board", + "image": "", + "build_time": 0, + "summary": "PX4IOv2", + "version": "2.0", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Images/px4iov2.prototype b/Images/px4iov2.prototype new file mode 100644 index 000000000..af87924e9 --- /dev/null +++ b/Images/px4iov2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 10, + "magic": "PX4FWv2", + "description": "Firmware for the PX4IOv2 board", + "image": "", + "build_time": 0, + "summary": "PX4IOv2", + "version": "2.0", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} @@ -100,7 +100,7 @@ all: $(STAGED_FIRMWARES) # is taken care of. # $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 - @echo %% Copying $@ + @$(ECHO) %% Copying $@ $(Q) $(COPY) $< $@ $(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@) @@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 $(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: - @echo %%%% - @echo %%%% Building $(config) in $(work_dir) - @echo %%%% + @$(ECHO) %%%% + @$(ECHO) %%%% Building $(config) in $(work_dir) + @$(ECHO) %%%% $(Q) mkdir -p $(work_dir) $(Q) make -r -C $(work_dir) \ -f $(PX4_MK_DIR)firmware.mk \ @@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: # XXX Should support fetching/unpacking from a separate directory to permit # downloads of the prebuilt archives as well... # -# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4" -# NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) .PHONY: archives archives: $(NUTTX_ARCHIVES) @@ -146,16 +144,22 @@ endif $(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) $(ARCHIVE_DIR)%.export: configuration = nsh -$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) - @echo %% Configuring NuttX for $(board) +$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) + @$(ECHO) %% Configuring NuttX for $(board) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)/configs && ln -sf $(PX4_BASE)/nuttx-configs/* .) $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) - @echo %% Exporting NuttX for $(board) + @$(ECHO) %% Exporting NuttX for $(board) $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export $(Q) mkdir -p $(dir $@) $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ +$(NUTTX_SRC): + @$(ECHO) "" + @$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again." + @$(ECHO) "" + # # Cleanup targets. 'clean' should remove all built products and force # a complete re-compilation, 'distclean' should remove everything @@ -170,46 +174,47 @@ clean: distclean: clean $(Q) $(REMOVE) $(ARCHIVE_DIR)*.export $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)/configs && find . -type l -depth 1 -delete) # # Print some help text # .PHONY: help help: - @echo "" - @echo " PX4 firmware builder" - @echo " ====================" - @echo "" - @echo " Available targets:" - @echo " ------------------" - @echo "" - @echo " archives" - @echo " Build the NuttX RTOS archives that are used by the firmware build." - @echo "" - @echo " all" - @echo " Build all firmware configs: $(CONFIGS)" - @echo " A limited set of configs can be built with CONFIGS=<list-of-configs>" - @echo "" + @$(ECHO) "" + @$(ECHO) " PX4 firmware builder" + @$(ECHO) " ====================" + @$(ECHO) "" + @$(ECHO) " Available targets:" + @$(ECHO) " ------------------" + @$(ECHO) "" + @$(ECHO) " archives" + @$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build." + @$(ECHO) "" + @$(ECHO) " all" + @$(ECHO) " Build all firmware configs: $(CONFIGS)" + @$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>" + @$(ECHO) "" @for config in $(CONFIGS); do \ echo " $$config"; \ echo " Build just the $$config firmware configuration."; \ echo ""; \ done - @echo " clean" - @echo " Remove all firmware build pieces." - @echo "" - @echo " distclean" - @echo " Remove all compilation products, including NuttX RTOS archives." - @echo "" - @echo " upload" - @echo " When exactly one config is being built, add this target to upload the" - @echo " firmware to the board when the build is complete. Not supported for" - @echo " all configurations." - @echo "" - @echo " Common options:" - @echo " ---------------" - @echo "" - @echo " V=1" - @echo " If V is set, more verbose output is printed during the build. This can" - @echo " help when diagnosing issues with the build or toolchain." - @echo "" + @$(ECHO) " clean" + @$(ECHO) " Remove all firmware build pieces." + @$(ECHO) "" + @$(ECHO) " distclean" + @$(ECHO) " Remove all compilation products, including NuttX RTOS archives." + @$(ECHO) "" + @$(ECHO) " upload" + @$(ECHO) " When exactly one config is being built, add this target to upload the" + @$(ECHO) " firmware to the board when the build is complete. Not supported for" + @$(ECHO) " all configurations." + @$(ECHO) "" + @$(ECHO) " Common options:" + @$(ECHO) " ---------------" + @$(ECHO) "" + @$(ECHO) " V=1" + @$(ECHO) " If V is set, more verbose output is printed during the build. This can" + @$(ECHO) " help when diagnosing issues with the build or toolchain." + @$(ECHO) "" diff --git a/ROMFS/px4fmu_test/init.d/rc.standalone b/ROMFS/px4fmu_test/init.d/rc.standalone new file mode 100644 index 000000000..67e95215b --- /dev/null +++ b/ROMFS/px4fmu_test/init.d/rc.standalone @@ -0,0 +1,13 @@ +#!nsh +# +# Flight startup script for PX4FMU standalone configuration. +# + +echo "[init] doing standalone PX4FMU startup..." + +# +# Start the ORB +# +uorb start + +echo "[init] startup done" diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS new file mode 100755 index 000000000..7f161b053 --- /dev/null +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -0,0 +1,4 @@ +#!nsh +# +# PX4FMU startup script for test hackery. +# diff --git a/makefiles/board_px4fmu-v2.mk b/makefiles/board_px4fmu-v2.mk new file mode 100644 index 000000000..4b3b7e585 --- /dev/null +++ b/makefiles/board_px4fmu-v2.mk @@ -0,0 +1,10 @@ +# +# Board-specific definitions for the PX4FMUv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/board_px4io-v2.mk b/makefiles/board_px4io-v2.mk new file mode 100644 index 000000000..ee6b6125e --- /dev/null +++ b/makefiles/board_px4io-v2.mk @@ -0,0 +1,10 @@ +# +# Board-specific definitions for the PX4IOv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM3 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 74be1cd23..d9a699da7 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -18,6 +18,7 @@ MODULES += drivers/led MODULES += drivers/px4io MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu +MODULES += drivers/lsm303d MODULES += drivers/ardrone_interface MODULES += drivers/l3gd20 MODULES += drivers/bma180 diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk new file mode 100644 index 000000000..c4499048c --- /dev/null +++ b/makefiles/config_px4fmu-v2_default.mk @@ -0,0 +1,122 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/px4fmu +MODULES += drivers/px4io +MODULES += drivers/boards/px4fmuv2 +MODULES += drivers/rgbled +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +#MODULES += drivers/mpu6000 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott_telemetry +MODULES += drivers/blinkm +MODULES += modules/sensors + +# +# System commands +# +MODULES += systemcmds/ramtron +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard + +# +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/position_estimator_mc +MODULES += modules/position_estimator +MODULES += modules/att_pos_estimator_ekf + +# +# Vehicle Control +# +MODULES += modules/fixedwing_backside +MODULES += modules/fixedwing_att_control +MODULES += modules/fixedwing_pos_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control + +# +# Logging +# +MODULES += modules/sdlog + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/mathlib +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Libraries +# +LIBRARIES += modules/mathlib/CMSIS + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +#MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk new file mode 100644 index 000000000..9b3013a5b --- /dev/null +++ b/makefiles/config_px4fmu-v2_test.mk @@ -0,0 +1,40 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/boards/px4fmuv2 +MODULES += systemcmds/perf +MODULES += systemcmds/reboot + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/uORB + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/makefiles/config_px4io-v2_default.mk b/makefiles/config_px4io-v2_default.mk new file mode 100644 index 000000000..f9f35d629 --- /dev/null +++ b/makefiles/config_px4io-v2_default.mk @@ -0,0 +1,10 @@ +# +# Makefile for the px4iov2_default configuration +# + +# +# Board support modules +# +MODULES += drivers/stm32 +MODULES += drivers/boards/px4iov2 +MODULES += modules/px4iofirmware
\ No newline at end of file diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index f1c1b496a..3ad13088b 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -385,7 +385,7 @@ define BUILTIN_DEF endef # Don't generate until modules have updated their command files -$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES) +$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES) @$(ECHO) "CMDS: $@" $(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ $(Q) $(ECHO) '#include <nuttx/config.h>' >> $@ diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 92461fafb..a0e880a0d 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -45,7 +45,6 @@ export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/ export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/ export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/ -export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/ export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/ export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/ export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/ diff --git a/makefiles/upload.mk b/makefiles/upload.mk index 4b01b447d..c55e3f188 100644 --- a/makefiles/upload.mk +++ b/makefiles/upload.mk @@ -27,7 +27,7 @@ all: upload-$(METHOD)-$(BOARD) upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER) $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) -upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER) +upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER) $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) # diff --git a/nuttx-configs/px4fmu-v2/Kconfig b/nuttx-configs/px4fmu-v2/Kconfig new file mode 100644 index 000000000..069b25f9e --- /dev/null +++ b/nuttx-configs/px4fmu-v2/Kconfig @@ -0,0 +1,7 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# + +if ARCH_BOARD_PX4FMU_V2 +endif diff --git a/nuttx-configs/px4fmu-v2/common/Make.defs b/nuttx-configs/px4fmu-v2/common/Make.defs new file mode 100644 index 000000000..be387dce1 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/common/Make.defs @@ -0,0 +1,184 @@ +############################################################################ +# configs/px4fmu/common/Make.defs +# +# 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. +# +############################################################################ + +# +# Generic Make.defs for the PX4FMUV2 +# Do not specify/use this file directly - it is included by config-specific +# 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 + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/px4fmu-v2/common/ld.script b/nuttx-configs/px4fmu-v2/common/ld.script new file mode 100644 index 000000000..1be39fb87 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/common/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/px4fmu/common/ld.script + * + * 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. + * + ****************************************************************************/ + +/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > 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): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h new file mode 100755 index 000000000..a6cdfb4d2 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -0,0 +1,364 @@ +/************************************************************************************ + * configs/px4fmu/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 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 __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> +#ifndef __ASSEMBLY__ +# include <stdint.h> +#endif + +#include <stm32.h> + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +//#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (25,000,000 / 25) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* SDIO dividers. Note that slower clocking is required when DMA is disabled + * in order to avoid RX overrun/TX underrun errors due to delayed responses + * to service FIFOs in interrupt driven mode. These values have not been + * tuned!!! + * + * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz + */ + +#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT) + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* DMA Channl/Stream Selections *****************************************************/ +/* Stream selections are arbitrary for now but might become important in the future + * is we set aside more DMA channels/streams. + * + * SDIO DMA + * Â DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA + * Â DMAMAP_SDIO_2 = Channel 4, Stream 6 + */ + +#define DMAMAP_SDIO DMAMAP_SDIO_1 + +/* High-resolution timer + */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */ +#define GPIO_USART1_TX 0 /* USART1 is RX-only */ + +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 +#define GPIO_USART2_CTS GPIO_USART2_CTS_2 + +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 +#define GPIO_USART2_CTS GPIO_USART2_CTS_2 + +#define GPIO_UART4_RX GPIO_UART4_RX_1 +#define GPIO_UART4_TX GPIO_UART4_TX_1 + +#define GPIO_USART6_RX GPIO_USART6_RX_1 +#define GPIO_USART6_TX GPIO_USART6_TX_1 + +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* UART8 has no alternate pin config */ + +/* UART RX DMA configurations */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * PWM + * + * Six PWM outputs are configured. + * + * Pins: + * + * CH1 : PE14 : TIM1_CH4 + * CH2 : PE13 : TIM1_CH3 + * CH3 : PE11 : TIM1_CH2 + * CH4 : PE9 : TIM1_CH1 + * CH5 : PD13 : TIM4_CH2 + * CH6 : PD14 : TIM4_CH3 + * + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2 +#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2 +#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2 + +/* + * CAN + * + * CAN1 is routed to the onboard transceiver. + * CAN2 is routed to the expansion connector. + */ + +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 +#define GPIO_CAN2_TX GPIO_CAN2_TX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * I2C busses + */ +#define PX4_I2C_BUS_EXPANSION 1 +#define PX4_I2C_BUS_LED 2 + +/* + * Devices on the onboard bus. + * + * Note that these are unshifted addresses. + */ +#define PX4_I2C_OBDEV_LED 0x55 +#define PX4_I2C_OBDEV_HMC5883 0x1e + +/* + * SPI + * + * There are sensors on SPI1, and SPI2 is connected to the FRAM. + */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 + +/* + * Use these in place of the spi_dev_e enumeration to + * select a specific SPI device on SPI1 + */ +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_ACCEL_MAG 2 +#define PX4_SPIDEV_BARO 3 + +/* + * Tone alarm output + */ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h new file mode 100644 index 000000000..15e4e7a8d --- /dev/null +++ b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 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 + * 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. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs new file mode 100644 index 000000000..00257d546 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs @@ -0,0 +1,3 @@ +include ${TOPDIR}/.config + +include $(TOPDIR)/configs/px4fmu-v2/common/Make.defs diff --git a/nuttx-configs/px4fmu-v2/nsh/appconfig b/nuttx-configs/px4fmu-v2/nsh/appconfig new file mode 100644 index 000000000..0e18aa8ef --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/appconfig @@ -0,0 +1,52 @@ +############################################################################ +# configs/px4fmu/nsh/appconfig +# +# 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +# The NSH application library +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += system/readline + +ifeq ($(CONFIG_CAN),y) +#CONFIGURED_APPS += examples/can +endif + +#ifeq ($(CONFIG_USBDEV),y) +#ifeq ($(CONFIG_CDCACM),y) +CONFIGURED_APPS += examples/cdcacm +#endif +#endif diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig new file mode 100644 index 000000000..efbb883a5 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -0,0 +1,1022 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +# CONFIG_HOST_LINUX is not set +CONFIG_HOST_OSX=y +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +CONFIG_DEBUG_SYMBOLS=y + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +CONFIG_ARMV7M_STACKCHECK=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SDIO_DMA=y +# CONFIG_SDIO_DMAPRIO is not set +# CONFIG_SDIO_WIDTH_D1_ONLY is not set + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_ARCH_CHIP_STM32F427V=y +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +CONFIG_STM32_STM32F427=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=y +# CONFIG_STM32_I2C3 is not set +CONFIG_STM32_OTGFS=y +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +CONFIG_STM32_SDIO=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI2=y +# CONFIG_STM32_SPI3 is not set +# CONFIG_STM32_SPI4 is not set +# CONFIG_STM32_SPI5 is not set +# CONFIG_STM32_SPI6 is not set +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM1=y +# CONFIG_STM32_TIM2 is not set +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +# CONFIG_STM32_TIM5 is not set +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +CONFIG_STM32_TIM10=y +CONFIG_STM32_TIM11=y +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_UART4=y +# CONFIG_STM32_UART5 is not set +CONFIG_STM32_USART6=y +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM1_PWM is not set +# CONFIG_STM32_TIM3_PWM is not set +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM10_PWM is not set +# CONFIG_STM32_TIM11_PWM is not set +# CONFIG_STM32_TIM1_ADC is not set +# CONFIG_STM32_TIM3_ADC is not set +# CONFIG_STM32_TIM4_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +CONFIG_USART3_RXDMA=y +# CONFIG_UART4_RS485 is not set +CONFIG_UART4_RXDMA=y +# CONFIG_UART5_RXDMA is not set +# CONFIG_USART6_RS485 is not set +# CONFIG_USART6_RXDMA is not set +# CONFIG_USART7_RXDMA is not set +CONFIG_USART8_RXDMA=y +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +CONFIG_STM32_I2CTIMEOTICKS=500 +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# SDIO Configuration +# +CONFIG_SDIO_PRI=128 + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=262144 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=0 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_PX4FMU_V2=y +# CONFIG_ARCH_BOARD_CUSTOM is not set +CONFIG_ARCH_BOARD="px4fmu-v2" + +# +# Common Board Options +# +CONFIG_NSH_MMCSDMINOR=0 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +# CONFIG_DEV_CONSOLE is not set +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=8 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_STREAMS=25 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=6000 +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +CONFIG_MTD=y + +# +# MTD Configuration +# +# CONFIG_MTD_PARTITION is not set +# CONFIG_MTD_BYTE_WRITE is not set + +# +# MTD Device Drivers +# +# CONFIG_RAMMTD is not set +# CONFIG_MTD_AT24XX is not set +# CONFIG_MTD_AT45DB is not set +# CONFIG_MTD_M25P is not set +# CONFIG_MTD_SMART is not set +CONFIG_MTD_RAMTRON=y +# CONFIG_MTD_SST25 is not set +# CONFIG_MTD_SST39FV is not set +# CONFIG_MTD_W25 is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +CONFIG_SERIAL_REMOVABLE=y +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART4=y +CONFIG_ARCH_HAVE_UART7=y +CONFIG_ARCH_HAVE_UART8=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_ARCH_HAVE_USART6=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +# CONFIG_USART3_SERIAL_CONSOLE is not set +# CONFIG_UART4_SERIAL_CONSOLE is not set +# CONFIG_USART6_SERIAL_CONSOLE is not set +# CONFIG_UART7_SERIAL_CONSOLE is not set +# CONFIG_UART8_SERIAL_CONSOLE is not set +CONFIG_NO_SERIAL_CONSOLE=y + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=16 +CONFIG_USART1_TXBUFSIZE=16 +CONFIG_USART1_BAUD=115200 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=512 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=512 +CONFIG_USART3_TXBUFSIZE=512 +CONFIG_USART3_BAUD=115200 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y + +# +# UART4 Configuration +# +CONFIG_UART4_RXBUFSIZE=128 +CONFIG_UART4_TXBUFSIZE=128 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_BITS=8 +CONFIG_UART4_PARITY=0 +CONFIG_UART4_2STOP=0 +# CONFIG_UART4_IFLOWCONTROL is not set +# CONFIG_UART4_OFLOWCONTROL is not set + +# +# USART6 Configuration +# +CONFIG_USART6_RXBUFSIZE=16 +CONFIG_USART6_TXBUFSIZE=16 +CONFIG_USART6_BAUD=115200 +CONFIG_USART6_BITS=8 +CONFIG_USART6_PARITY=0 +CONFIG_USART6_2STOP=0 +# CONFIG_USART6_IFLOWCONTROL is not set +# CONFIG_USART6_OFLOWCONTROL is not set + +# +# UART7 Configuration +# +CONFIG_UART7_RXBUFSIZE=128 +CONFIG_UART7_TXBUFSIZE=128 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_BITS=8 +CONFIG_UART7_PARITY=0 +CONFIG_UART7_2STOP=0 +# CONFIG_UART7_IFLOWCONTROL is not set +# CONFIG_UART7_OFLOWCONTROL is not set + +# +# UART8 Configuration +# +CONFIG_UART8_RXBUFSIZE=128 +CONFIG_UART8_TXBUFSIZE=128 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_BITS=8 +CONFIG_UART8_PARITY=0 +CONFIG_UART8_2STOP=0 +# CONFIG_UART8_IFLOWCONTROL is not set +# CONFIG_UART8_OFLOWCONTROL is not set +CONFIG_SERIAL_IFLOWCONTROL=y +CONFIG_SERIAL_OFLOWCONTROL=y +CONFIG_USBDEV=y + +# +# USB Device Controller Driver Options +# +# CONFIG_USBDEV_ISOCHRONOUS is not set +# CONFIG_USBDEV_DUALSPEED is not set +# CONFIG_USBDEV_SELFPOWERED is not set +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +# CONFIG_USBDEV_DMA is not set +# CONFIG_USBDEV_TRACE is not set + +# +# USB Device Class Driver Options +# +# CONFIG_USBDEV_COMPOSITE is not set +# CONFIG_PL2303 is not set +CONFIG_CDCACM=y +CONFIG_CDCACM_CONSOLE=y +CONFIG_CDCACM_EP0MAXPACKET=64 +CONFIG_CDCACM_EPINTIN=1 +CONFIG_CDCACM_EPINTIN_FSSIZE=64 +CONFIG_CDCACM_EPINTIN_HSSIZE=64 +CONFIG_CDCACM_EPBULKOUT=3 +CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 +CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 +CONFIG_CDCACM_EPBULKIN=2 +CONFIG_CDCACM_EPBULKIN_FSSIZE=64 +CONFIG_CDCACM_EPBULKIN_HSSIZE=512 +CONFIG_CDCACM_NWRREQS=4 +CONFIG_CDCACM_NRDREQS=4 +CONFIG_CDCACM_BULKIN_REQLEN=96 +CONFIG_CDCACM_RXBUFSIZE=256 +CONFIG_CDCACM_TXBUFSIZE=256 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_PRODUCTID=0x0010 +CONFIG_CDCACM_VENDORSTR="3D Robotics" +CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x" +# CONFIG_USBMSC is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +# CONFIG_FAT_DMAMEMORY is not set +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_NXFFS_ERASEDSTATE=0xff +CONFIG_NXFFS_PACKTHRESHOLD=32 +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +# CONFIG_SYSLOG_ENABLE is not set +CONFIG_SYSLOG=y +CONFIG_SYSLOG_CHAR=y +CONFIG_SYSLOG_DEVPATH="/dev/ttyS0" + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +CONFIG_GRAN_SINGLE=y +CONFIG_GRAN_INTR=y + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2048 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2048 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +CONFIG_EXAMPLES_CDCACM=y +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +# CONFIG_EXAMPLES_HELLO is not set +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y +# CONFIG_NSH_USBCONSOLE is not set + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +# CONFIG_SYSTEM_I2CTOOL is not set + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig.prev b/nuttx-configs/px4fmu-v2/nsh/defconfig.prev new file mode 100755 index 000000000..42910ce0a --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig.prev @@ -0,0 +1,1067 @@ +############################################################################ +# configs/px4fmu/nsh/defconfig +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2011-2012 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. +# +############################################################################ +# +# architecture selection +# +# CONFIG_ARCH - identifies the arch subdirectory and, hence, the +# processor architecture. +# CONFIG_ARCH_family - for use in C code. This identifies the +# particular chip family that the architecture is implemented +# in. +# CONFIG_ARCH_architecture - for use in C code. This identifies the +# specific architecture within the chip family. +# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory +# CONFIG_ARCH_CHIP_name - For use in C code +# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence, +# the board that supports the particular chip or SoC. +# CONFIG_ARCH_BOARD_name - for use in C code +# CONFIG_ENDIAN_BIG - define if big endian (default is little endian) +# CONFIG_BOARD_LOOPSPERMSEC - for delay loops +# CONFIG_DRAM_SIZE - Describes the installed DRAM. +# CONFIG_DRAM_START - The start address of DRAM (physical) +# CONFIG_ARCH_IRQPRIO - The STM3240xxx supports interrupt prioritization +# CONFIG_ARCH_FPU - The STM3240xxx supports a floating point unit (FPU). +# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt +# stack. If defined, this symbol is the size of the interrupt +# stack in bytes. If not defined, the user task stacks will be +# used during interrupt handling. +# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions +# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader. +# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. +# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture. +# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that +# cause a 100 second delay during boot-up. This 100 second delay +# serves no purpose other than it allows you to calibrate +# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure +# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until +# the delay actually is 100 seconds. +# CONFIG_ARCH_DMA - Support DMA initialization +# +CONFIG_ARCH="arm" +CONFIG_ARCH_ARM=y +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32F427V=y +CONFIG_ARCH_BOARD="px4fmu-v2" +CONFIG_ARCH_BOARD_PX4FMU_V2=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_DRAM_SIZE=0x00040000 +CONFIG_DRAM_START=0x20000000 +CONFIG_ARCH_IRQPRIO=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_INTERRUPTSTACK=n +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARCH_BOOTLOADER=n +CONFIG_ARCH_LEDS=n +CONFIG_ARCH_BUTTONS=n +CONFIG_ARCH_CALIBRATION=n +CONFIG_ARCH_DMA=y +CONFIG_ARCH_MATH_H=y + +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_STM32_STM32F427=y + +# +# JTAG Enable settings (by default JTAG-DP and SW-DP are enabled): +# +# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG (ignored) +# +# JTAG Enable options: +# +# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# but without JNTRST. +# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled +# +CONFIG_STM32_DFU=n +CONFIG_STM32_JTAG_FULL_ENABLE=n +CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=y + +# +# On-chip CCM SRAM configuration +# +# CONFIG_STM32_CCMEXCLUDE - Exclude CCM SRAM from the HEAP. You would need +# to do this if DMA is enabled to prevent non-DMA-able CCM memory from +# being a part of the stack. +# +CONFIG_STM32_CCMEXCLUDE=y + +# +# On-board FSMC SRAM configuration +# +# CONFIG_STM32_FSMC - Required. See below +# CONFIG_MM_REGIONS - Required. Must be 2 or 3 (see above) +# +# CONFIG_STM32_FSMC_SRAM=y - Indicates that SRAM is available via the +# FSMC (as opposed to an LCD or FLASH). +# CONFIG_HEAP2_BASE - The base address of the SRAM in the FSMC address space +# CONFIG_HEAP2_END - The end (+1) of the SRAM in the FSMC address space +# +#CONFIG_STM32_FSMC_SRAM=n +#CONFIG_HEAP2_BASE=0x64000000 +#CONFIG_HEAP2_END=(0x64000000+(2*1024*1024)) + +# +# Individual subsystems can be enabled: +# +# This set is exhaustive for PX4FMU and should be safe to cut and +# paste into any other config. +# +# AHB1: +CONFIG_STM32_CRC=n +CONFIG_STM32_BKPSRAM=y +CONFIG_STM32_CCMDATARAM=y +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +CONFIG_STM32_ETHMAC=n +CONFIG_STM32_OTGHS=n +# AHB2: +CONFIG_STM32_DCMI=n +CONFIG_STM32_CRYP=n +CONFIG_STM32_HASH=n +CONFIG_STM32_RNG=n +CONFIG_STM32_OTGFS=y +# AHB3: +CONFIG_STM32_FSMC=n +# APB1: +CONFIG_STM32_TIM2=n +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +CONFIG_STM32_TIM5=n +CONFIG_STM32_TIM6=n +CONFIG_STM32_TIM7=n +CONFIG_STM32_TIM12=n +CONFIG_STM32_TIM13=n +CONFIG_STM32_TIM14=n +CONFIG_STM32_WWDG=y +CONFIG_STM32_IWDG=n +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI3=n +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_UART4=y +CONFIG_STM32_UART5=n +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=y +CONFIG_STM32_I2C3=n +CONFIG_STM32_CAN1=n +CONFIG_STM32_CAN2=n +CONFIG_STM32_DAC=n +CONFIG_STM32_PWR=y +# APB2: +CONFIG_STM32_TIM1=y +CONFIG_STM32_TIM8=n +CONFIG_STM32_USART1=y +# Mostly owned by the px4io driver, but uploader needs this +CONFIG_STM32_USART6=y +# We use our own driver, but leave this on. +CONFIG_STM32_ADC1=y +CONFIG_STM32_ADC2=n +CONFIG_STM32_ADC3=n +CONFIG_STM32_SDIO=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM9=y +CONFIG_STM32_TIM10=y +CONFIG_STM32_TIM11=y + +# +# Enable single wire support. If this is not defined, then this mode cannot +# be enabled. +# +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# We want the flash prefetch on for max performance. +# +STM32_FLASH_PREFETCH=y + +# +# STM32F40xxx specific serial device driver settings +# +# CONFIG_SERIAL_TERMIOS - Serial driver supports termios.h interfaces (tcsetattr, +# tcflush, etc.). If this is not defined, then the terminal settings (baud, +# parity, etc.) are not configurable at runtime; serial streams cannot be +# flushed, etc. +# CONFIG_SERIAL_CONSOLE_REINIT - re-initializes the console serial port +# immediately after creating the /dev/console device. This is required +# if the console serial port has RX DMA enabled. +# +# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the +# console and ttys0 (default is the USART1). +# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. +# This specific the size of the receive buffer +# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before +# being sent. This specific the size of the transmit buffer +# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be +# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. +# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity +# CONFIG_USARTn_2STOP - Two stop bits +# +CONFIG_SERIAL_TERMIOS=y +CONFIG_SERIAL_CONSOLE_REINIT=n +CONFIG_STANDARD_SERIAL=y + +CONFIG_UART8_SERIAL_CONSOLE=y + +#Mavlink messages can be bigger than 128 +CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=256 +CONFIG_USART3_TXBUFSIZE=256 +CONFIG_UART4_TXBUFSIZE=256 +CONFIG_USART6_TXBUFSIZE=128 +CONFIG_UART7_TXBUFSIZE=256 +CONFIG_UART8_TXBUFSIZE=256 + +CONFIG_USART1_RXBUFSIZE=512 +CONFIG_USART2_RXBUFSIZE=256 +CONFIG_USART3_RXBUFSIZE=256 +CONFIG_UART4_RXBUFSIZE=256 +CONFIG_USART6_RXBUFSIZE=256 +CONFIG_UART7_RXBUFSIZE=256 +CONFIG_UART8_RXBUFSIZE=256 + +CONFIG_USART1_BAUD=115200 +CONFIG_USART2_BAUD=115200 +CONFIG_USART3_BAUD=115200 +CONFIG_UART4_BAUD=115200 +CONFIG_USART6_BAUD=115200 +CONFIG_UART7_BAUD=115200 +CONFIG_UART8_BAUD=57600 + +CONFIG_USART1_BITS=8 +CONFIG_USART2_BITS=8 +CONFIG_USART3_BITS=8 +CONFIG_UART4_BITS=8 +CONFIG_USART6_BITS=8 +CONFIG_UART7_BITS=8 +CONFIG_UART8_BITS=8 + +CONFIG_USART1_PARITY=0 +CONFIG_USART2_PARITY=0 +CONFIG_USART3_PARITY=0 +CONFIG_UART4_PARITY=0 +CONFIG_USART6_PARITY=0 +CONFIG_UART7_PARITY=0 +CONFIG_UART8_PARITY=0 + +CONFIG_USART1_2STOP=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART3_2STOP=0 +CONFIG_UART4_2STOP=0 +CONFIG_USART6_2STOP=0 +CONFIG_UART7_2STOP=0 +CONFIG_UART8_2STOP=0 + +CONFIG_USART1_RXDMA=y +CONFIG_USART2_RXDMA=y +CONFIG_USART3_RXDMA=n +CONFIG_UART4_RXDMA=n +CONFIG_USART6_RXDMA=y +CONFIG_UART7_RXDMA=n +CONFIG_UART8_RXDMA=n + +# +# STM32F40xxx specific SPI device driver settings +# +CONFIG_SPI_EXCHANGE=y +# DMA needs more work, not implemented on STM32F4x yet +#CONFIG_STM32_SPI_DMA=y + +# +# STM32F40xxx specific CAN device driver settings +# +# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or +# CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. +# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. +# Default: 8 +# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. +# Default: 4 +# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback +# mode for testing. The STM32 CAN driver does support loopback mode. +# CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined. +# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. +# CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6 +# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 +# +CONFIG_CAN=n +CONFIG_CAN_EXTID=n +#CONFIG_CAN_FIFOSIZE +#CONFIG_CAN_NPENDINGRTR +CONFIG_CAN_LOOPBACK=n +CONFIG_CAN1_BAUD=700000 +CONFIG_CAN2_BAUD=700000 + + +# XXX remove after integration testing +# Allow 180 us per byte, a wide margin for the 400 KHz clock we're using +# e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update +CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200 +# Constant overhead for generating I2C start / stop conditions +CONFIG_STM32_I2CTIMEOUS_START_STOP=700 +# XXX this is bad and we want it gone +CONFIG_I2C_WRITEREAD=y + +# +# I2C configuration +# +CONFIG_I2C=y +CONFIG_I2C_POLLED=n +CONFIG_I2C_TRANSFER=y +CONFIG_I2C_TRACE=n +CONFIG_I2C_RESET=y +# XXX fixed per-transaction timeout +CONFIG_STM32_I2CTIMEOMS=10 + +# +# MTD support +# +CONFIG_MTD=y + +# XXX re-enable after integration testing + +# +# I2C configuration +# +#CONFIG_I2C=y +#CONFIG_I2C_POLLED=y +#CONFIG_I2C_TRANSFER=y +#CONFIG_I2C_TRACE=n +#CONFIG_I2C_RESET=y + +# Dynamic timeout +#CONFIG_STM32_I2C_DYNTIMEO=y +#CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=500 +#CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=200 + +# Fixed per-transaction timeout +#CONFIG_STM32_I2CTIMEOSEC=0 +#CONFIG_STM32_I2CTIMEOMS=10 + + + + + + +# +# General build options +# +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with +# BSPs from www.ridgerun.com using the tools/mkimage.sh script +# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_RAW_BINARY - make a raw binary format file used with many +# different loaders using the GNU objcopy program. This option +# should not be selected if you are not using the GNU toolchain. +# CONFIG_HAVE_LIBM - toolchain supports libm.a +# +CONFIG_RRLOAD_BINARY=n +CONFIG_INTELHEX_BINARY=n +CONFIG_MOTOROLA_SREC=n +CONFIG_RAW_BINARY=y +CONFIG_HAVE_LIBM=y + +# +# General OS setup +# +# CONFIG_APPS_DIR - Identifies the relative path to the directory +# that builds the application to link with NuttX. Default: ../apps +# CONFIG_DEBUG - enables built-in debug options +# CONFIG_DEBUG_VERBOSE - enables verbose debug output +# CONFIG_DEBUG_SYMBOLS - build without optimization and with +# debug symbols (needed for use with a debugger). +# CONFIG_HAVE_CXX - Enable support for C++ +# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support +# for initialization of static C++ instances for this architecture +# and for the selected toolchain (via up_cxxinitialize()). +# CONFIG_MM_REGIONS - If the architecture includes multiple +# regions of memory to allocate from, this specifies the +# number of memory regions that the memory manager must +# handle and enables the API mm_addregion(start, end); +# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot +# time console output +# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz +# or MSEC_PER_TICK=10. This setting may be defined to +# inform NuttX that the processor hardware is providing +# system timer interrupts at some interrupt interval other +# than 10 msec. +# CONFIG_RR_INTERVAL - The round robin timeslice will be set +# this number of milliseconds; Round robin scheduling can +# be disabled by setting this value to zero. +# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in +# scheduler to monitor system performance +# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a +# task name to save in the TCB. Useful if scheduler +# instrumentation is selected. Set to zero to disable. +# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY - +# Used to initialize the internal time logic. +# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions. +# You would only need this if you are concerned about accurate +# time conversions in the past or in the distant future. +# CONFIG_JULIAN_TIME - Enables Julian time conversions. You +# would only need this if you are concerned about accurate +# time conversion in the distand past. You must also define +# CONFIG_GREGORIAN_TIME in order to use Julian time. +# CONFIG_DEV_CONSOLE - Set if architecture-specific logic +# provides /dev/console. Enables stdout, stderr, stdin. +# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console +# driver (minimul support) +# CONFIG_MUTEX_TYPES: Set to enable support for recursive and +# errorcheck mutexes. Enables pthread_mutexattr_settype(). +# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority +# inheritance on mutexes and semaphores. +# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority +# inheritance is enabled. It defines the maximum number of +# different threads (minus one) that can take counts on a +# semaphore with priority inheritance support. This may be +# set to zero if priority inheritance is disabled OR if you +# are only using semaphores as mutexes (only one holder) OR +# if no more than two threads participate using a counting +# semaphore. +# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled, +# then this setting is the maximum number of higher priority +# threads (minus 1) than can be waiting for another thread +# to release a count on a semaphore. This value may be set +# to zero if no more than one thread is expected to wait for +# a semaphore. +# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors +# by task_create() when a new task is started. If set, all +# files/drivers will appear to be closed in the new task. +# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first +# three file descriptors (stdin, stdout, stderr) by task_create() +# when a new task is started. If set, all files/drivers will +# appear to be closed in the new task except for stdin, stdout, +# and stderr. +# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket +# desciptors by task_create() when a new task is started. If +# set, all sockets will appear to be closed in the new task. +# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to +# handle delayed processing from interrupt handlers. This feature +# is required for some drivers but, if there are not complaints, +# can be safely disabled. The worker thread also performs +# garbage collection -- completing any delayed memory deallocations +# from interrupt handlers. If the worker thread is disabled, +# then that clean will be performed by the IDLE thread instead +# (which runs at the lowest of priority and may not be appropriate +# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE +# is enabled, then the following options can also be used: +# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker +# thread. Default: 192 +# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for +# work in units of microseconds. Default: 50*1000 (50 MS). +# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker +# thread. Default: CONFIG_IDLETHREAD_STACKSIZE. +# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up +# the worker thread. Default: 4 +# +# CONFIG_SCHED_LPWORK. If CONFIG_SCHED_WORKQUEUE is defined, then a single +# work queue is created by default. If CONFIG_SCHED_LPWORK is also defined +# then an additional, lower-priority work queue will also be created. This +# lower priority work queue is better suited for more extended processing +# (such as file system clean-up operations) +# CONFIG_SCHED_LPWORKPRIORITY - The execution priority of the lower priority +# worker thread. Default: 50 +# CONFIG_SCHED_LPWORKPERIOD - How often the lower priority worker thread +# checks for work in units of microseconds. Default: 50*1000 (50 MS). +# CONFIG_SCHED_LPWORKSTACKSIZE - The stack size allocated for the lower +# priority worker thread. Default: CONFIG_IDLETHREAD_STACKSIZE. +# CONFIG_SCHED_WAITPID - Enable the waitpid() API +# CONFIG_SCHED_ATEXIT - Enabled the atexit() API +# +CONFIG_USER_ENTRYPOINT="nsh_main" +#CONFIG_APPS_DIR= +CONFIG_DEBUG=y +CONFIG_DEBUG_VERBOSE=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_FS=n +CONFIG_DEBUG_GRAPHICS=n +CONFIG_DEBUG_LCD=n +CONFIG_DEBUG_USB=n +CONFIG_DEBUG_NET=n +CONFIG_DEBUG_RTC=n +CONFIG_DEBUG_ANALOG=n +CONFIG_DEBUG_PWM=n +CONFIG_DEBUG_CAN=n +CONFIG_DEBUG_I2C=n +CONFIG_DEBUG_INPUT=n + +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_MM_REGIONS=2 +CONFIG_ARCH_LOWPUTC=y +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_GREGORIAN_TIME=n +CONFIG_JULIAN_TIME=n +CONFIG_DEV_CONSOLE=y +CONFIG_DEV_LOWCONSOLE=y +CONFIG_MUTEX_TYPES=n +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=8 +CONFIG_FDCLONE_DISABLE=n +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2048 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2048 +CONFIG_SIG_SIGWORK=4 +CONFIG_SCHED_WAITPID=y +CONFIG_SCHED_ATEXIT=n + +# +# System Logging +# +# CONFIG_SYSLOG - Enables the System Logging feature. +# CONFIG_RAMLOG - Enables the RAM logging feature +# CONFIG_RAMLOG_CONSOLE - Use the RAM logging device as a system console. +# If this feature is enabled (along with CONFIG_DEV_CONSOLE), then all +# console output will be re-directed to a circular buffer in RAM. This +# is useful, for example, if the only console is a Telnet console. Then +# in that case, console output from non-Telnet threads will go to the +# circular buffer and can be viewed using the NSH 'dmesg' command. +# CONFIG_RAMLOG_SYSLOG - Use the RAM logging device for the syslogging +# interface. If this feature is enabled (along with CONFIG_SYSLOG), +# then all debug output (only) will be re-directed to the circular +# buffer in RAM. This RAM log can be view from NSH using the 'dmesg' +# command. +# CONFIG_RAMLOG_NPOLLWAITERS - The number of threads than can be waiting +# for this driver on poll(). Default: 4 +# +# If CONFIG_RAMLOG_CONSOLE or CONFIG_RAMLOG_SYSLOG is selected, then the +# following may also be provided: +# +# CONFIG_RAMLOG_CONSOLE_BUFSIZE - Size of the console RAM log. Default: 1024 +# + +CONFIG_SYSLOG=n +CONFIG_RAMLOG=n +CONFIG_RAMLOG_CONSOLE=n +CONFIG_RAMLOG_SYSLOG=n +#CONFIG_RAMLOG_NPOLLWAITERS +#CONFIG_RAMLOG_CONSOLE_BUFSIZE + +# +# The following can be used to disable categories of +# APIs supported by the OS. If the compiler supports +# weak functions, then it should not be necessary to +# disable functions unless you want to restrict usage +# of those APIs. +# +# There are certain dependency relationships in these +# features. +# +# o mq_notify logic depends on signals to awaken tasks +# waiting for queues to become full or empty. +# o pthread_condtimedwait() depends on signals to wake +# up waiting tasks. +# +CONFIG_DISABLE_CLOCK=n +CONFIG_DISABLE_POSIX_TIMERS=n +CONFIG_DISABLE_PTHREAD=n +CONFIG_DISABLE_SIGNALS=n +CONFIG_DISABLE_MQUEUE=n +CONFIG_DISABLE_MOUNTPOINT=n +CONFIG_DISABLE_ENVIRON=n +CONFIG_DISABLE_POLL=n + +# +# Misc libc settings +# +# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a +# little smaller if we do not support fieldwidthes +# CONFIG_LIBC_FLOATINGPOINT - Enables printf("%f") +# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing: +# 5.1234567 +# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu) +# +CONFIG_NOPRINTF_FIELDWIDTH=n +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_HAVE_LONG_LONG=y + +# +# Allow for architecture optimized implementations +# +# The architecture can provide optimized versions of the +# following to improve system performance +# +CONFIG_ARCH_MEMCPY=y +CONFIG_ARCH_MEMCMP=n +CONFIG_ARCH_MEMMOVE=n +CONFIG_ARCH_MEMSET=n +CONFIG_ARCH_STRCMP=n +CONFIG_ARCH_STRCPY=n +CONFIG_ARCH_STRNCPY=n +CONFIG_ARCH_STRLEN=n +CONFIG_ARCH_STRNLEN=n +CONFIG_ARCH_BZERO=n + +# +# Sizes of configurable things (0 disables) +# +# CONFIG_MAX_TASKS - The maximum number of simultaneously +# active tasks. This value must be a power of two. +# CONFIG_MAX_TASK_ARGS - This controls the maximum number of +# of parameters that a task may receive (i.e., maxmum value +# of 'argc') +# CONFIG_NPTHREAD_KEYS - The number of items of thread- +# specific data that can be retained +# CONFIG_NFILE_DESCRIPTORS - The maximum number of file +# descriptors (one for each open) +# CONFIG_NFILE_STREAMS - The maximum number of streams that +# can be fopen'ed +# CONFIG_NAME_MAX - The maximum size of a file name. +# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate +# on fopen. (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled +# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added +# to force automatic, line-oriented flushing the output buffer +# for putc(), fputc(), putchar(), puts(), fputs(), printf(), +# fprintf(), and vfprintf(). When a newline is encountered in +# the output string, the output buffer will be flushed. This +# (slightly) increases the NuttX footprint but supports the kind +# of behavior that people expect for printf(). +# CONFIG_NUNGET_CHARS - Number of characters that can be +# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message +# structures. The system manages a pool of preallocated +# message structures to minimize dynamic allocations +# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with +# a fixed payload size given by this settin (does not include +# other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler +# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog +# structures. The system manages a pool of preallocated +# watchdog structures to minimize dynamic allocations +# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX +# timer structures. The system manages a pool of preallocated +# timer structures to minimize dynamic allocations. Set to +# zero for all dynamic allocations. +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=8 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_STREAMS=25 +CONFIG_NAME_MAX=32 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Filesystem configuration +# +# CONFIG_FS_FAT - Enable FAT filesystem support +# CONFIG_FAT_SECTORSIZE - Max supported sector size +# CONFIG_FAT_LCNAMES - Enable use of the NT-style upper/lower case 8.3 +# file name support. +# CONFIG_FAT_LFN - Enable FAT long file names. NOTE: Microsoft claims +# patents on FAT long file name technology. Please read the +# disclaimer in the top-level COPYING file and only enable this +# feature if you understand these issues. +# CONFIG_FAT_MAXFNAME - If CONFIG_FAT_LFN is defined, then the +# default, maximum long file name is 255 bytes. This can eat up +# a lot of memory (especially stack space). If you are willing +# to live with some non-standard, short long file names, then +# define this value. A good choice would be the same value as +# selected for CONFIG_NAME_MAX which will limit the visibility +# of longer file names anyway. +# CONFIG_FS_NXFFS: Enable NuttX FLASH file system (NXFF) support. +# CONFIG_NXFFS_ERASEDSTATE: The erased state of FLASH. +# This must have one of the values of 0xff or 0x00. +# Default: 0xff. +# CONFIG_NXFFS_PACKTHRESHOLD: When packing flash file data, +# don't both with file chunks smaller than this number of data bytes. +# CONFIG_NXFFS_MAXNAMLEN: The maximum size of an NXFFS file name. +# Default: 255. +# CONFIG_NXFFS_PACKTHRESHOLD: When packing flash file data, +# don't both with file chunks smaller than this number of data bytes. +# Default: 32. +# CONFIG_NXFFS_TAILTHRESHOLD: clean-up can either mean +# packing files together toward the end of the file or, if file are +# deleted at the end of the file, clean up can simply mean erasing +# the end of FLASH memory so that it can be re-used again. However, +# doing this can also harm the life of the FLASH part because it can +# mean that the tail end of the FLASH is re-used too often. This +# threshold determines if/when it is worth erased the tail end of FLASH +# and making it available for re-use (and possible over-wear). +# Default: 8192. +# CONFIG_FS_ROMFS - Enable ROMFS filesystem support +# CONFIG_FS_RAMMAP - For file systems that do not support XIP, this +# option will enable a limited form of memory mapping that is +# implemented by copying whole files into memory. +# +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_FS_ROMFS=y +CONFIG_FS_BINFS=y + +# +# SPI-based MMC/SD driver +# +# CONFIG_MMCSD_NSLOTS +# Number of MMC/SD slots supported by the driver +# CONFIG_MMCSD_READONLY +# Provide read-only access (default is read/write) +# CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card. +# Default is 20MHz, current setting 24 MHz +# +#CONFIG_MMCSD=n +# XXX need to rejig this for SDIO +#CONFIG_MMCSD_SPI=y +#CONFIG_MMCSD_NSLOTS=1 +#CONFIG_MMCSD_READONLY=n +#CONFIG_MMCSD_SPICLOCK=24000000 + +# +# Maintain legacy build behavior (revisit) +# + +CONFIG_MMCSD=y +#CONFIG_MMCSD_SPI=y +CONFIG_MMCSD_SDIO=y +CONFIG_MTD=y + +# +# SPI-based MMC/SD driver +# +#CONFIG_MMCSD_NSLOTS=1 +#CONFIG_MMCSD_READONLY=n +#CONFIG_MMCSD_SPICLOCK=12500000 + +# +# STM32 SDIO-based MMC/SD driver +# +CONFIG_SDIO_DMA=y +#CONFIG_SDIO_PRI=128 +#CONFIG_SDIO_DMAPRIO +#CONFIG_SDIO_WIDTH_D1_ONLY +CONFIG_MMCSD_MULTIBLOCK_DISABLE=y +CONFIG_MMCSD_MMCSUPPORT=n +CONFIG_MMCSD_HAVECARDDETECT=n + +# +# Block driver buffering +# +# CONFIG_FS_READAHEAD +# Enable read-ahead buffering +# CONFIG_FS_WRITEBUFFER +# Enable write buffering +# +CONFIG_FS_READAHEAD=n +CONFIG_FS_WRITEBUFFER=n + +# +# RTC Configuration +# +# CONFIG_RTC - Enables general support for a hardware RTC. Specific +# architectures may require other specific settings. +# CONFIG_RTC_DATETIME - There are two general types of RTC: (1) A simple +# battery backed counter that keeps the time when power is down, and (2) +# A full date / time RTC the provides the date and time information, often +# in BCD format. If CONFIG_RTC_DATETIME is selected, it specifies this +# second kind of RTC. In this case, the RTC is used to "seed" the normal +# NuttX timer and the NuttX system timer provides for higher resoution +# time. +# CONFIG_RTC_HIRES - If CONFIG_RTC_DATETIME not selected, then the simple, +# battery backed counter is used. There are two different implementations +# of such simple counters based on the time resolution of the counter: +# The typical RTC keeps time to resolution of 1 second, usually +# supporting a 32-bit time_t value. In this case, the RTC is used to +# "seed" the normal NuttX timer and the NuttX timer provides for higher +# resoution time. If CONFIG_RTC_HIRES is enabled in the NuttX configuration, +# then the RTC provides higher resolution time and completely replaces the +# system timer for purpose of date and time. +# CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the frequency +# of the high resolution RTC must be provided. If CONFIG_RTC_HIRES is +# not defined, CONFIG_RTC_FREQUENCY is assumed to be one. +# CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an +# alarm. A callback function will be executed when the alarm goes off +# +CONFIG_RTC=n +CONFIG_RTC_DATETIME=y +CONFIG_RTC_HIRES=n +CONFIG_RTC_FREQUENCY=n +CONFIG_RTC_ALARM=n + +# +# USB Device Configuration +# +# CONFIG_USBDEV +# Enables USB device support +# CONFIG_USBDEV_ISOCHRONOUS +# Build in extra support for isochronous endpoints +# CONFIG_USBDEV_DUALSPEED +# Hardware handles high and full speed operation (USB 2.0) +# CONFIG_USBDEV_SELFPOWERED +# Will cause USB features to indicate that the device is +# self-powered +# CONFIG_USBDEV_MAXPOWER +# Maximum power consumption in mA +# CONFIG_USBDEV_TRACE +# Enables USB tracing for debug +# CONFIG_USBDEV_TRACE_NRECORDS +# Number of trace entries to remember +# +CONFIG_USBDEV=y +CONFIG_USBDEV_ISOCHRONOUS=n +CONFIG_USBDEV_DUALSPEED=n +CONFIG_USBDEV_SELFPOWERED=y +CONFIG_USBDEV_REMOTEWAKEUP=n +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USBDEV_TRACE=n +CONFIG_USBDEV_TRACE_NRECORDS=512 + +# +# USB serial device class driver (Standard CDC ACM class) +# +# CONFIG_CDCACM +# Enable compilation of the USB serial driver +# CONFIG_CDCACM_CONSOLE +# Configures the CDC/ACM serial port as the console device. +# CONFIG_CDCACM_EP0MAXPACKET +# Endpoint 0 max packet size. Default 64 +# CONFIG_CDCACM_EPINTIN +# The logical 7-bit address of a hardware endpoint that supports +# interrupt IN operation. Default 2. +# CONFIG_CDCACM_EPINTIN_FSSIZE +# Max package size for the interrupt IN endpoint if full speed mode. +# Default 64. +# CONFIG_CDCACM_EPINTIN_HSSIZE +# Max package size for the interrupt IN endpoint if high speed mode. +# Default 64 +# CONFIG_CDCACM_EPBULKOUT +# The logical 7-bit address of a hardware endpoint that supports +# bulk OUT operation. Default 4. +# CONFIG_CDCACM_EPBULKOUT_FSSIZE +# Max package size for the bulk OUT endpoint if full speed mode. +# Default 64. +# CONFIG_CDCACM_EPBULKOUT_HSSIZE +# Max package size for the bulk OUT endpoint if high speed mode. +# Default 512. +# CONFIG_CDCACM_EPBULKIN +# The logical 7-bit address of a hardware endpoint that supports +# bulk IN operation. Default 3. +# CONFIG_CDCACM_EPBULKIN_FSSIZE +# Max package size for the bulk IN endpoint if full speed mode. +# Default 64. +# CONFIG_CDCACM_EPBULKIN_HSSIZE +# Max package size for the bulk IN endpoint if high speed mode. +# Default 512. +# CONFIG_CDCACM_NWRREQS and CONFIG_CDCACM_NRDREQS +# The number of write/read requests that can be in flight. +# Default 256. +# CONFIG_CDCACM_VENDORID and CONFIG_CDCACM_VENDORSTR +# The vendor ID code/string. Default 0x0525 and "NuttX" +# 0x0525 is the Netchip vendor and should not be used in any +# products. This default VID was selected for compatibility with +# the Linux CDC ACM default VID. +# CONFIG_CDCACM_PRODUCTID and CONFIG_CDCACM_PRODUCTSTR +# The product ID code/string. Default 0xa4a7 and "CDC/ACM Serial" +# 0xa4a7 was selected for compatibility with the Linux CDC ACM +# default PID. +# CONFIG_CDCACM_RXBUFSIZE and CONFIG_CDCACM_TXBUFSIZE +# Size of the serial receive/transmit buffers. Default 256. +# +CONFIG_CDCACM=y +CONFIG_CDCACM_CONSOLE=n +#CONFIG_CDCACM_EP0MAXPACKET +CONFIG_CDCACM_EPINTIN=1 +#CONFIG_CDCACM_EPINTIN_FSSIZE +#CONFIG_CDCACM_EPINTIN_HSSIZE +CONFIG_CDCACM_EPBULKOUT=3 +#CONFIG_CDCACM_EPBULKOUT_FSSIZE +#CONFIG_CDCACM_EPBULKOUT_HSSIZE +CONFIG_CDCACM_EPBULKIN=2 +#CONFIG_CDCACM_EPBULKIN_FSSIZE +#CONFIG_CDCACM_EPBULKIN_HSSIZE +#CONFIG_CDCACM_NWRREQS +#CONFIG_CDCACM_NRDREQS +CONFIG_CDCACM_VENDORID=0x26AC +CONFIG_CDCACM_VENDORSTR="3D Robotics" +CONFIG_CDCACM_PRODUCTID=0x0010 +CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.6" +#CONFIG_CDCACM_RXBUFSIZE +#CONFIG_CDCACM_TXBUFSIZE + + +# +# Settings for apps/nshlib +# +# CONFIG_NSH_BUILTIN_APPS - Support external registered, +# "named" applications that can be executed from the NSH +# command line (see apps/README.txt for more information). +# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer +# CONFIG_NSH_STRERROR - Use strerror(errno) +# CONFIG_NSH_LINELEN - Maximum length of one command line +# CONFIG_NSH_MAX_ARGUMENTS - Maximum number of arguments for command line +# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi +# CONFIG_NSH_DISABLESCRIPT - Disable scripting support +# CONFIG_NSH_DISABLEBG - Disable background commands +# CONFIG_NSH_ROMFSETC - Use startup script in /etc +# CONFIG_NSH_CONSOLE - Use serial console front end +# CONFIG_NSH_TELNET - Use telnetd console front end +# CONFIG_NSH_ARCHINIT - Platform provides architecture +# specific initialization (nsh_archinitialize()). +# +# If CONFIG_NSH_TELNET is selected: +# CONFIG_NSH_IOBUFFER_SIZE -- Telnetd I/O buffer size +# CONFIG_NSH_DHCPC - Obtain address using DHCP +# CONFIG_NSH_IPADDR - Provides static IP address +# CONFIG_NSH_DRIPADDR - Provides static router IP address +# CONFIG_NSH_NETMASK - Provides static network mask +# CONFIG_NSH_NOMAC - Use a bogus MAC address +# +# If CONFIG_NSH_ROMFSETC is selected: +# CONFIG_NSH_ROMFSMOUNTPT - ROMFS mountpoint +# CONFIG_NSH_INITSCRIPT - Relative path to init script +# CONFIG_NSH_ROMFSDEVNO - ROMFS RAM device minor +# CONFIG_NSH_ROMFSSECTSIZE - ROMF sector size +# CONFIG_NSH_FATDEVNO - FAT FS RAM device minor +# CONFIG_NSH_FATSECTSIZE - FAT FS sector size +# CONFIG_NSH_FATNSECTORS - FAT FS number of sectors +# CONFIG_NSH_FATMOUNTPT - FAT FS mountpoint +# +CONFIG_BUILTIN=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAX_ARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_DISABLESCRIPT=n +CONFIG_NSH_DISABLEBG=n +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_CONSOLE=y +CONFIG_NSH_USBCONSOLE=n +#CONFIG_NSH_USBCONDEV="/dev/ttyACM0" +CONFIG_NSH_TELNET=n +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_IOBUFFER_SIZE=512 +CONFIG_NSH_DHCPC=n +CONFIG_NSH_NOMAC=y +CONFIG_NSH_IPADDR=0x0a000002 +CONFIG_NSH_DRIPADDR=0x0a000001 +CONFIG_NSH_NETMASK=0xffffff00 +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 # Default 64, increased to allow for more than 64 folders on the sdcard +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT=/tmp + +# +# Architecture-specific NSH options +# +#CONFIG_NSH_MMCSDSPIPORTNO=3 +CONFIG_NSH_MMCSDSLOTNO=0 +CONFIG_NSH_MMCSDMINOR=0 + + +# +# Stack and heap information +# +# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP +# operation from FLASH but must copy initialized .data sections to RAM. +# (should also be =n for the STM3240G-EVAL which always runs from flash) +# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH +# but copy themselves entirely into RAM for better performance. +# CONFIG_CUSTOM_STACK - The up_ implementation will handle +# all stack operations outside of the nuttx model. +# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only) +# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack. +# This is the thread that (1) performs the inital boot of the system up +# to the point where user_start() is spawned, and (2) there after is the +# IDLE thread that executes only when there is no other thread ready to +# run. +# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate +# for the main user thread that begins at the user_start() entry point. +# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size +# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size +# CONFIG_HEAP_BASE - The beginning of the heap +# CONFIG_HEAP_SIZE - The size of the heap +# +CONFIG_BOOT_RUNFROMFLASH=n +CONFIG_BOOT_COPYTORAM=n +CONFIG_CUSTOM_STACK=n +CONFIG_STACK_POINTER= +# Idle thread needs 4096 bytes +# default 1 KB is not enough +# 4096 bytes +CONFIG_IDLETHREAD_STACKSIZE=6000 +# USERMAIN stack size probably needs to be around 4096 bytes +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 +CONFIG_HEAP_BASE= +CONFIG_HEAP_SIZE= + +# enable bindir +CONFIG_APPS_BINDIR=y diff --git a/nuttx-configs/px4fmu-v2/nsh/setenv.sh b/nuttx-configs/px4fmu-v2/nsh/setenv.sh new file mode 100755 index 000000000..265520997 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/setenv.sh @@ -0,0 +1,67 @@ +#!/bin/bash +# configs/stm3240g-eval/nsh/setenv.sh +# +# 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. +# + +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi + +# This the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# This the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4fmu-v2/src/Makefile b/nuttx-configs/px4fmu-v2/src/Makefile new file mode 100644 index 000000000..d4276f7fc --- /dev/null +++ b/nuttx-configs/px4fmu-v2/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/px4fmu/src/Makefile +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep + diff --git a/nuttx-configs/px4fmu-v2/src/empty.c b/nuttx-configs/px4fmu-v2/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/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/px4io-v2/README.txt b/nuttx-configs/px4io-v2/README.txt new file mode 100755 index 000000000..9b1615f42 --- /dev/null +++ b/nuttx-configs/px4io-v2/README.txt @@ -0,0 +1,806 @@ +README +====== + +This README discusses issues unique to NuttX configurations for the +STMicro STM3210E-EVAL development board. + +Contents +======== + + - Development Environment + - GNU Toolchain Options + - IDEs + - NuttX buildroot Toolchain + - DFU and JTAG + - OpenOCD + - LEDs + - Temperature Sensor + - RTC + - STM3210E-EVAL-specific Configuration Options + - Configurations + +Development Environment +======================= + + Either Linux or Cygwin on Windows can be used for the development environment. + The source has been built only using the GNU toolchain (see below). Other + toolchains will likely cause problems. Testing was performed using the Cygwin + environment because the Raisonance R-Link emulatator and some RIDE7 development tools + were used and those tools works only under Windows. + +GNU Toolchain Options +===================== + + The NuttX make system has been modified to support the following different + toolchain options. + + 1. The CodeSourcery GNU toolchain, + 2. The devkitARM GNU toolchain, + 3. Raisonance GNU toolchain, or + 4. The NuttX buildroot Toolchain (see below). + + All testing has been conducted using the NuttX buildroot toolchain. However, + the make system is setup to default to use the devkitARM toolchain. To use + the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to + add one of the following configuration options to your .config (or defconfig) + file: + + CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows + CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux + CONFIG_STM32_DEVKITARM=y : devkitARM under Windows + CONFIG_STM32_RAISONANCE=y : Raisonance RIDE7 under Windows + CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) + + If you are not using CONFIG_STM32_BUILDROOT, then you may also have to modify + the PATH in the setenv.h file if your make cannot find the tools. + + NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are + Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot + toolchains are Cygwin and/or Linux native toolchains. There are several limitations + to using a Windows based toolchain in a Cygwin environment. The three biggest are: + + 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are + performed automatically in the Cygwin makefiles using the 'cygpath' utility + but you might easily find some new path problems. If so, check out 'cygpath -w' + + 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links + are used in Nuttx (e.g., include/arch). The make system works around these + problems for the Windows tools by copying directories instead of linking them. + But this can also cause some confusion for you: For example, you may edit + a file in a "linked" directory and find that your changes had no effect. + That is because you are building the copy of the file in the "fake" symbolic + directory. If you use a Windows toolchain, you should get in the habit of + making like this: + + make clean_context all + + An alias in your .bashrc file might make that less painful. + + 3. Dependencies are not made when using Windows versions of the GCC. This is + because the dependencies are generated using Windows pathes which do not + work with the Cygwin make. + + Support has been added for making dependencies with the windows-native toolchains. + That support can be enabled by modifying your Make.defs file as follows: + + - MKDEP = $(TOPDIR)/tools/mknulldeps.sh + + MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)" + + If you have problems with the dependency build (for example, if you are not + building on C:), then you may need to modify tools/mkdeps.sh + + NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization + level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with + -Os. + + NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that + the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM + path or will get the wrong version of make. + +IDEs +==== + + NuttX is built using command-line make. It can be used with an IDE, but some + effort will be required to create the project (There is a simple RIDE project + in the RIDE subdirectory). + + Makefile Build + -------------- + Under Eclipse, it is pretty easy to set up an "empty makefile project" and + simply use the NuttX makefile to build the system. That is almost for free + under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty + makefile project in order to work with Windows (Google for "Eclipse Cygwin" - + there is a lot of help on the internet). + + Native Build + ------------ + Here are a few tips before you start that effort: + + 1) Select the toolchain that you will be using in your .config file + 2) Start the NuttX build at least one time from the Cygwin command line + before trying to create your project. This is necessary to create + certain auto-generated files and directories that will be needed. + 3) Set up include pathes: You will need include/, arch/arm/src/stm32, + arch/arm/src/common, arch/arm/src/armv7-m, and sched/. + 4) All assembly files need to have the definition option -D __ASSEMBLY__ + on the command line. + + Startup files will probably cause you some headaches. The NuttX startup file + is arch/arm/src/stm32/stm32_vectors.S. With RIDE, I have to build NuttX + one time from the Cygwin command line in order to obtain the pre-built + startup object needed by RIDE. + +NuttX buildroot Toolchain +========================= + + A GNU GCC-based toolchain is assumed. The files */setenv.sh should + be modified to point to the correct path to the Cortex-M3 GCC toolchain (if + different from the default in your PATH variable). + + If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX + SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573). + This GNU toolchain builds and executes in the Linux or Cygwin environment. + + 1. You must have already configured Nuttx in <some-dir>/nuttx. + + cd tools + ./configure.sh stm3210e-eval/<sub-dir> + + 2. Download the latest buildroot package into <some-dir> + + 3. unpack the buildroot tarball. The resulting directory may + have versioning information on it like buildroot-x.y.z. If so, + rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot. + + 4. cd <some-dir>/buildroot + + 5. cp configs/cortexm3-defconfig-4.3.3 .config + + 6. make oldconfig + + 7. make + + 8. Edit setenv.h, if necessary, so that the PATH variable includes + the path to the newly built binaries. + + See the file configs/README.txt in the buildroot source tree. That has more + detailed PLUS some special instructions that you will need to follow if you are + building a Cortex-M3 toolchain for Cygwin under Windows. + +DFU and JTAG +============ + + Enbling Support for the DFU Bootloader + -------------------------------------- + The linker files in these projects can be configured to indicate that you + will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU) + loader or via some JTAG emulator. You can specify the DFU bootloader by + adding the following line: + + CONFIG_STM32_DFU=y + + to your .config file. Most of the configurations in this directory are set + up to use the DFU loader. + + If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning + of FLASH (0x08000000) but will be offset to 0x08003000. This offset is needed + to make space for the DFU loader and 0x08003000 is where the DFU loader expects + to find new applications at boot time. If you need to change that origin for some + other bootloader, you will need to edit the file(s) ld.script.dfu for each + configuration. + + The DFU SE PC-based software is available from the STMicro website, + http://www.st.com. General usage instructions: + + 1. Convert the NuttX Intel Hex file (nuttx.ihx) into a special DFU + file (nuttx.dfu)... see below for details. + 2. Connect the STM3210E-EVAL board to your computer using a USB + cable. + 3. Start the DFU loader on the STM3210E-EVAL board. You do this by + resetting the board while holding the "Key" button. Windows should + recognize that the DFU loader has been installed. + 3. Run the DFU SE program to load nuttx.dfu into FLASH. + + What if the DFU loader is not in FLASH? The loader code is available + inside of the Demo dirctory of the USBLib ZIP file that can be downloaded + from the STMicro Website. You can build it using RIDE (or other toolchains); + you will need a JTAG emulator to burn it into FLASH the first time. + + In order to use STMicro's built-in DFU loader, you will have to get + the NuttX binary into a special format with a .dfu extension. The + DFU SE PC_based software installation includes a file "DFU File Manager" + conversion program that a file in Intel Hex format to the special DFU + format. When you successfully build NuttX, you will find a file called + nutt.ihx in the top-level directory. That is the file that you should + provide to the DFU File Manager. You will need to rename it to nuttx.hex + in order to find it with the DFU File Manager. You will end up with + a file called nuttx.dfu that you can use with the STMicro DFU SE program. + + Enabling JTAG + ------------- + If you are not using the DFU, then you will probably also need to enable + JTAG support. By default, all JTAG support is disabled but there NuttX + configuration options to enable JTAG in various different ways. + + These configurations effect the setting of the SWJ_CFG[2:0] bits in the AFIO + MAPR register. These bits are used to configure the SWJ and trace alternate function I/Os. The SWJ (SerialWire JTAG) supports JTAG or SWD access to the + Cortex debug port. The default state in this port is for all JTAG support + to be disable. + + CONFIG_STM32_JTAG_FULL_ENABLE - sets SWJ_CFG[2:0] to 000 which enables full + SWJ (JTAG-DP + SW-DP) + + CONFIG_STM32_JTAG_NOJNTRST_ENABLE - sets SWJ_CFG[2:0] to 001 which enable + full SWJ (JTAG-DP + SW-DP) but without JNTRST. + + CONFIG_STM32_JTAG_SW_ENABLE - sets SWJ_CFG[2:0] to 010 which would set JTAG-DP + disabled and SW-DP enabled + + The default setting (none of the above defined) is SWJ_CFG[2:0] set to 100 + which disable JTAG-DP and SW-DP. + +OpenOCD +======= + +I have also used OpenOCD with the STM3210E-EVAL. In this case, I used +the Olimex USB ARM OCD. See the script in configs/stm3210e-eval/tools/oocd.sh +for more information. Using the script: + +1) Start the OpenOCD GDB server + + cd <nuttx-build-directory> + configs/stm3210e-eval/tools/oocd.sh $PWD + +2) Load Nuttx + + cd <nuttx-built-directory> + arm-none-eabi-gdb nuttx + gdb> target remote localhost:3333 + gdb> mon reset + gdb> mon halt + gdb> load nuttx + +3) Running NuttX + + gdb> mon reset + gdb> c + +LEDs +==== + +The STM3210E-EVAL board has four LEDs labeled LD1, LD2, LD3 and LD4 on the +board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is +defined. In that case, the usage by the board port is defined in +include/board.h and src/up_leds.c. The LEDs are used to encode OS-related +events as follows: + + SYMBOL Meaning LED1* LED2 LED3 LED4 + ---------------- ----------------------- ----- ----- ----- ----- + LED_STARTED NuttX has been started ON OFF OFF OFF + LED_HEAPALLOCATE Heap has been allocated OFF ON OFF OFF + LED_IRQSENABLED Interrupts enabled ON ON OFF OFF + LED_STACKCREATED Idle stack created OFF OFF ON OFF + LED_INIRQ In an interrupt** ON N/C N/C OFF + LED_SIGNAL In a signal handler*** N/C ON N/C OFF + LED_ASSERTION An assertion failed ON ON N/C OFF + LED_PANIC The system has crashed N/C N/C N/C ON + LED_IDLE STM32 is is sleep mode (Optional, not used) + + * If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot + and these LEDs will give you some indication of where the failure was + ** The normal state is LED3 ON and LED1 faintly glowing. This faint glow + is because of timer interupts that result in the LED being illuminated + on a small proportion of the time. +*** LED2 may also flicker normally if signals are processed. + +Temperature Sensor +================== + +Support for the on-board LM-75 temperature sensor is available. This supported +has been verified, but has not been included in any of the available the +configurations. To set up the temperature sensor, add the following to the +NuttX configuration file + + CONFIG_I2C=y + CONFIG_I2C_LM75=y + +Then you can implement logic like the following to use the temperature sensor: + + #include <nuttx/sensors/lm75.h> + #include <arch/board/board.h> + + ret = stm32_lm75initialize("/dev/temp"); /* Register the temperature sensor */ + fd = open("/dev/temp", O_RDONLY); /* Open the temperature sensor device */ + ret = ioctl(fd, SNIOC_FAHRENHEIT, 0); /* Select Fahrenheit */ + bytesread = read(fd, buffer, 8*sizeof(b16_t)); /* Read temperature samples */ + +More complex temperature sensor operations are also available. See the IOCTAL +commands enumerated in include/nuttx/sensors/lm75.h. Also read the descriptions +of the stm32_lm75initialize() and stm32_lm75attach() interfaces in the +arch/board/board.h file (sames as configs/stm3210e-eval/include/board.h). + +RTC +=== + + The STM32 RTC may configured using the following settings. + + CONFIG_RTC - Enables general support for a hardware RTC. Specific + architectures may require other specific settings. + CONFIG_RTC_HIRES - The typical RTC keeps time to resolution of 1 + second, usually supporting a 32-bit time_t value. In this case, + the RTC is used to "seed" the normal NuttX timer and the + NuttX timer provides for higher resoution time. If CONFIG_RTC_HIRES + is enabled in the NuttX configuration, then the RTC provides higher + resolution time and completely replaces the system timer for purpose of + date and time. + CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the + frequency of the high resolution RTC must be provided. If CONFIG_RTC_HIRES + is not defined, CONFIG_RTC_FREQUENCY is assumed to be one. + CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm. + A callback function will be executed when the alarm goes off + + In hi-res mode, the STM32 RTC operates only at 16384Hz. Overflow interrupts + are handled when the 32-bit RTC counter overflows every 3 days and 43 minutes. + A BKP register is incremented on each overflow interrupt creating, effectively, + a 48-bit RTC counter. + + In the lo-res mode, the RTC operates at 1Hz. Overflow interrupts are not handled + (because the next overflow is not expected until the year 2106. + + WARNING: Overflow interrupts are lost whenever the STM32 is powered down. The + overflow interrupt may be lost even if the STM32 is powered down only momentarily. + Therefore hi-res solution is only useful in systems where the power is always on. + +STM3210E-EVAL-specific Configuration Options +============================================ + + CONFIG_ARCH - Identifies the arch/ subdirectory. This should + be set to: + + CONFIG_ARCH=arm + + CONFIG_ARCH_family - For use in C code: + + CONFIG_ARCH_ARM=y + + CONFIG_ARCH_architecture - For use in C code: + + CONFIG_ARCH_CORTEXM3=y + + CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory + + CONFIG_ARCH_CHIP=stm32 + + CONFIG_ARCH_CHIP_name - For use in C code to identify the exact + chip: + + CONFIG_ARCH_CHIP_STM32F103ZET6 + + CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG - Enables special STM32 clock + configuration features. + + CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG=n + + CONFIG_ARCH_BOARD - Identifies the configs subdirectory and + hence, the board that supports the particular chip or SoC. + + CONFIG_ARCH_BOARD=stm3210e_eval (for the STM3210E-EVAL development board) + + CONFIG_ARCH_BOARD_name - For use in C code + + CONFIG_ARCH_BOARD_STM3210E_EVAL=y + + CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation + of delay loops + + CONFIG_ENDIAN_BIG - define if big endian (default is little + endian) + + CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case): + + CONFIG_DRAM_SIZE=0x00010000 (64Kb) + + CONFIG_DRAM_START - The start address of installed DRAM + + CONFIG_DRAM_START=0x20000000 + + CONFIG_DRAM_END - Last address+1 of installed RAM + + CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) + + CONFIG_ARCH_IRQPRIO - The STM32F103Z supports interrupt prioritization + + CONFIG_ARCH_IRQPRIO=y + + CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that + have LEDs + + CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt + stack. If defined, this symbol is the size of the interrupt + stack in bytes. If not defined, the user task stacks will be + used during interrupt handling. + + CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions + + CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. + + CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that + cause a 100 second delay during boot-up. This 100 second delay + serves no purpose other than it allows you to calibratre + CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure + the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until + the delay actually is 100 seconds. + + Individual subsystems can be enabled: + AHB + --- + CONFIG_STM32_DMA1 + CONFIG_STM32_DMA2 + CONFIG_STM32_CRC + CONFIG_STM32_FSMC + CONFIG_STM32_SDIO + + APB1 + ---- + CONFIG_STM32_TIM2 + CONFIG_STM32_TIM3 + CONFIG_STM32_TIM4 + CONFIG_STM32_TIM5 + CONFIG_STM32_TIM6 + CONFIG_STM32_TIM7 + CONFIG_STM32_WWDG + CONFIG_STM32_SPI2 + CONFIG_STM32_SPI4 + CONFIG_STM32_USART2 + CONFIG_STM32_USART3 + CONFIG_STM32_UART4 + CONFIG_STM32_UART5 + CONFIG_STM32_I2C1 + CONFIG_STM32_I2C2 + CONFIG_STM32_USB + CONFIG_STM32_CAN + CONFIG_STM32_BKP + CONFIG_STM32_PWR + CONFIG_STM32_DAC1 + CONFIG_STM32_DAC2 + CONFIG_STM32_USB + + APB2 + ---- + CONFIG_STM32_ADC1 + CONFIG_STM32_ADC2 + CONFIG_STM32_TIM1 + CONFIG_STM32_SPI1 + CONFIG_STM32_TIM8 + CONFIG_STM32_USART1 + CONFIG_STM32_ADC3 + + Timer and I2C devices may need to the following to force power to be applied + unconditionally at power up. (Otherwise, the device is powered when it is + initialized). + + CONFIG_STM32_FORCEPOWER + + Timer devices may be used for different purposes. One special purpose is + to generate modulated outputs for such things as motor control. If CONFIG_STM32_TIMn + is defined (as above) then the following may also be defined to indicate that + the timer is intended to be used for pulsed output modulation, ADC conversion, + or DAC conversion. Note that ADC/DAC require two definition: Not only do you have + to assign the timer (n) for used by the ADC or DAC, but then you also have to + configure which ADC or DAC (m) it is assigned to. + + CONFIG_STM32_TIMn_PWM Reserve timer n for use by PWM, n=1,..,8 + CONFIG_STM32_TIMn_ADC Reserve timer n for use by ADC, n=1,..,8 + CONFIG_STM32_TIMn_ADCm Reserve timer n to trigger ADCm, n=1,..,8, m=1,..,3 + CONFIG_STM32_TIMn_DAC Reserve timer n for use by DAC, n=1,..,8 + CONFIG_STM32_TIMn_DACm Reserve timer n to trigger DACm, n=1,..,8, m=1,..,2 + + For each timer that is enabled for PWM usage, we need the following additional + configuration settings: + + CONFIG_STM32_TIMx_CHANNEL - Specifies the timer output channel {1,..,4} + + NOTE: The STM32 timers are each capable of generating different signals on + each of the four channels with different duty cycles. That capability is + not supported by this driver: Only one output channel per timer. + + Alternate pin mappings (should not be used with the STM3210E-EVAL board): + + CONFIG_STM32_TIM1_FULL_REMAP + CONFIG_STM32_TIM1_PARTIAL_REMAP + CONFIG_STM32_TIM2_FULL_REMAP + CONFIG_STM32_TIM2_PARTIAL_REMAP_1 + CONFIG_STM32_TIM2_PARTIAL_REMAP_2 + CONFIG_STM32_TIM3_FULL_REMAP + CONFIG_STM32_TIM3_PARTIAL_REMAP + CONFIG_STM32_TIM4_REMAP + CONFIG_STM32_USART1_REMAP + CONFIG_STM32_USART2_REMAP + CONFIG_STM32_USART3_FULL_REMAP + CONFIG_STM32_USART3_PARTIAL_REMAP + CONFIG_STM32_SPI1_REMAP + CONFIG_STM32_SPI3_REMAP + CONFIG_STM32_I2C1_REMAP + CONFIG_STM32_CAN1_FULL_REMAP + CONFIG_STM32_CAN1_PARTIAL_REMAP + CONFIG_STM32_CAN2_REMAP + + JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): + CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) + CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) + but without JNTRST. + CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled + + STM32F103Z specific device driver settings + + CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=1,2,3) or UART + m (m=4,5) for the console and ttys0 (default is the USART1). + CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received. + This specific the size of the receive buffer + CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before + being sent. This specific the size of the transmit buffer + CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be + CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8. + CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity + CONFIG_U[S]ARTn_2STOP - Two stop bits + + CONFIG_STM32_SPI_INTERRUPTS - Select to enable interrupt driven SPI + support. Non-interrupt-driven, poll-waiting is recommended if the + interrupt rate would be to high in the interrupt driven case. + CONFIG_STM32_SPI_DMA - Use DMA to improve SPI transfer performance. + Cannot be used with CONFIG_STM32_SPI_INTERRUPT. + + CONFIG_SDIO_DMA - Support DMA data transfers. Requires CONFIG_STM32_SDIO + and CONFIG_STM32_DMA2. + CONFIG_SDIO_PRI - Select SDIO interrupt prority. Default: 128 + CONFIG_SDIO_DMAPRIO - Select SDIO DMA interrupt priority. + Default: Medium + CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode. Default: + 4-bit transfer mode. + + STM3210E-EVAL CAN Configuration + + CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + CONFIG_STM32_CAN2 must also be defined) + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. + CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. + Default: 8 + CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. + Default: 4 + CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback + mode for testing. The STM32 CAN driver does support loopback mode. + CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined. + CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. + CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6 + CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 + CONFIG_CAN_REGDEBUG - If CONFIG_DEBUG is set, this will generate an + dump of all CAN registers. + + STM3210E-EVAL LCD Hardware Configuration + + CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape" + support. Default is this 320x240 "landscape" orientation + (this setting is informative only... not used). + CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait" + orientation support. In this orientation, the STM3210E-EVAL's + LCD ribbon cable is at the bottom of the display. Default is + 320x240 "landscape" orientation. + CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse + portrait" orientation support. In this orientation, the + STM3210E-EVAL's LCD ribbon cable is at the top of the display. + Default is 320x240 "landscape" orientation. + CONFIG_LCD_BACKLIGHT - Define to support a backlight. + CONFIG_LCD_PWM - If CONFIG_STM32_TIM1 is also defined, then an + adjustable backlight will be provided using timer 1 to generate + various pulse widthes. The granularity of the settings is + determined by CONFIG_LCD_MAXPOWER. If CONFIG_LCD_PWM (or + CONFIG_STM32_TIM1) is not defined, then a simple on/off backlight + is provided. + CONFIG_LCD_RDSHIFT - When reading 16-bit gram data, there appears + to be a shift in the returned data. This value fixes the offset. + Default 5. + + The LCD driver dynamically selects the LCD based on the reported LCD + ID value. However, code size can be reduced by suppressing support for + individual LCDs using: + + CONFIG_STM32_AM240320_DISABLE + CONFIG_STM32_SPFD5408B_DISABLE + CONFIG_STM32_R61580_DISABLE + +Configurations +============== + +Each STM3210E-EVAL configuration is maintained in a sudirectory and +can be selected as follow: + + cd tools + ./configure.sh stm3210e-eval/<subdir> + cd - + . ./setenv.sh + +Where <subdir> is one of the following: + + buttons: + -------- + + Uses apps/examples/buttons to exercise STM3210E-EVAL buttons and + button interrupts. + + CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows + + composite + --------- + + This configuration exercises a composite USB interface consisting + of a CDC/ACM device and a USB mass storage device. This configuration + uses apps/examples/composite. + + nsh and nsh2: + ------------ + Configure the NuttShell (nsh) located at examples/nsh. + + Differences between the two NSH configurations: + + =========== ======================= ================================ + nsh nsh2 + =========== ======================= ================================ + Toolchain: NuttX buildroot for Codesourcery for Windows (1) + Linux or Cygwin (1,2) + ----------- ----------------------- -------------------------------- + Loader: DfuSe DfuSe + ----------- ----------------------- -------------------------------- + Serial Debug output: USART1 Debug output: USART1 + Console: NSH output: USART1 NSH output: USART1 (3) + ----------- ----------------------- -------------------------------- + microSD Yes Yes + Support + ----------- ----------------------- -------------------------------- + FAT FS CONFIG_FAT_LCNAME=y CONFIG_FAT_LCNAME=y + Config CONFIG_FAT_LFN=n CONFIG_FAT_LFN=y (4) + ----------- ----------------------- -------------------------------- + Support for No Yes + Built-in + Apps + ----------- ----------------------- -------------------------------- + Built-in None apps/examples/nx + Apps apps/examples/nxhello + apps/examples/usbstorage (5) + =========== ======================= ================================ + + (1) You will probably need to modify nsh/setenv.sh or nsh2/setenv.sh + to set up the correct PATH variable for whichever toolchain you + may use. + (2) Since DfuSe is assumed, this configuration may only work under + Cygwin without modification. + (3) When any other device other than /dev/console is used for a user + interface, (1) linefeeds (\n) will not be expanded to carriage return + / linefeeds \r\n). You will need to configure your terminal program + to account for this. And (2) input is not automatically echoed so + you will have to turn local echo on. + (4) Microsoft holds several patents related to the design of + long file names in the FAT file system. Please refer to the + details in the top-level COPYING file. Please do not use FAT + long file name unless you are familiar with these patent issues. + (5) When built as an NSH add-on command (CONFIG_EXAMPLES_USBMSC_BUILTIN=y), + Caution should be used to assure that the SD drive is not in use when + the USB storage device is configured. Specifically, the SD driver + should be unmounted like: + + nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Card is mounted in NSH + ... + nsh> umount /mnd/sdcard # Unmount before connecting USB!!! + nsh> msconn # Connect the USB storage device + ... + nsh> msdis # Disconnect USB storate device + nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Restore the mount + + Failure to do this could result in corruption of the SD card format. + + nx: + --- + An example using the NuttX graphics system (NX). This example + focuses on general window controls, movement, mouse and keyboard + input. + + CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows + CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait + + nxlines: + ------ + Another example using the NuttX graphics system (NX). This + example focuses on placing lines on the background in various + orientations. + + CONFIG_STM32_CODESOURCERYW=y : CodeSourcery under Windows + CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait + + nxtext: + ------ + Another example using the NuttX graphics system (NX). This + example focuses on placing text on the background while pop-up + windows occur. Text should continue to update normally with + or without the popup windows present. + + CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin + CONFIG_LCD_RPORTRAIT=y : 240x320 reverse portrait + + NOTE: When I tried building this example with the CodeSourcery + tools, I got a hardfault inside of its libgcc. I haven't + retested since then, but beware if you choose to change the + toolchain. + + ostest: + ------ + This configuration directory, performs a simple OS test using + examples/ostest. By default, this project assumes that you are + using the DFU bootloader. + + CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin + + RIDE + ---- + This configuration builds a trivial bring-up binary. It is + useful only because it words with the RIDE7 IDE and R-Link debugger. + + CONFIG_STM32_RAISONANCE=y : Raisonance RIDE7 under Windows + + usbserial: + --------- + This configuration directory exercises the USB serial class + driver at examples/usbserial. See examples/README.txt for + more information. + + CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin + + USB debug output can be enabled as by changing the following + settings in the configuration file: + + -CONFIG_DEBUG=n + -CONFIG_DEBUG_VERBOSE=n + -CONFIG_DEBUG_USB=n + +CONFIG_DEBUG=y + +CONFIG_DEBUG_VERBOSE=y + +CONFIG_DEBUG_USB=y + + -CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=n + -CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=n + -CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n + -CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n + -CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n + +CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=y + +CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=y + +CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=y + +CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=y + +CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=y + + By default, the usbserial example uses the Prolific PL2303 + serial/USB converter emulation. The example can be modified + to use the CDC/ACM serial class by making the following changes + to the configuration file: + + -CONFIG_PL2303=y + +CONFIG_PL2303=n + + -CONFIG_CDCACM=n + +CONFIG_CDCACM=y + + The example can also be converted to use the alternative + USB serial example at apps/examples/usbterm by changing the + following: + + -CONFIGURED_APPS += examples/usbserial + +CONFIGURED_APPS += examples/usbterm + + In either the original appconfig file (before configuring) + or in the final apps/.config file (after configuring). + + usbstorage: + ---------- + This configuration directory exercises the USB mass storage + class driver at examples/usbstorage. See examples/README.txt for + more information. + + CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin + diff --git a/nuttx-configs/px4io-v2/common/Make.defs b/nuttx-configs/px4io-v2/common/Make.defs new file mode 100644 index 000000000..7f782b5b2 --- /dev/null +++ b/nuttx-configs/px4io-v2/common/Make.defs @@ -0,0 +1,175 @@ +############################################################################ +# configs/px4fmu/common/Make.defs +# +# 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. +# +############################################################################ + +# +# Generic Make.defs for the PX4FMU +# Do not specify/use this file directly - it is included by config-specific +# 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 + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m3 \ + -mthumb \ + -march=armv7-m + +# enable precise stack overflow tracking +#INSTRUMENTATIONDEFINES = -finstrument-functions \ +# -ffixed-r10 + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/px4io-v2/common/ld.script b/nuttx-configs/px4io-v2/common/ld.script new file mode 100755 index 000000000..69c2f9cb2 --- /dev/null +++ b/nuttx-configs/px4io-v2/common/ld.script @@ -0,0 +1,129 @@ +/**************************************************************************** + * configs/stm3210e-eval/nsh/ld.script + * + * Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * 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. + * + ****************************************************************************/ + +/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and + * 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH, + * FLASH memory is aliased to address 0x0000:0000 where the code expects to + * begin execution by jumping to the entry point in the 0x0800:0000 address + * range. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K +} + +OUTPUT_ARCH(arm) +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + /* The STM32F100CB has 8Kb of SRAM beginning at the following address */ + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/px4io-v2/common/setenv.sh b/nuttx-configs/px4io-v2/common/setenv.sh new file mode 100755 index 000000000..ff9a4bf8a --- /dev/null +++ b/nuttx-configs/px4io-v2/common/setenv.sh @@ -0,0 +1,47 @@ +#!/bin/bash +# configs/stm3210e-eval/dfu/setenv.sh +# +# Copyright (C) 2009 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. +# + +if [ "$(basename $0)" = "setenv.sh" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi + +WD=`pwd` +export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin" +export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" +export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4io-v2/include/README.txt b/nuttx-configs/px4io-v2/include/README.txt new file mode 100755 index 000000000..2264a80aa --- /dev/null +++ b/nuttx-configs/px4io-v2/include/README.txt @@ -0,0 +1 @@ +This directory contains header files unique to the PX4IO board. diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h new file mode 100755 index 000000000..b93ad4220 --- /dev/null +++ b/nuttx-configs/px4io-v2/include/board.h @@ -0,0 +1,177 @@ +/************************************************************************************ + * configs/px4io/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * 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 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 __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> +#ifndef __ASSEMBLY__ +# include <stdint.h> +#endif +#include <stm32.h> + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ + +/* On-board crystal frequency is 24MHz (HSE) */ + +#define STM32_BOARD_XTAL 24000000ul + +/* Use the HSE output as the system clock */ + +#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE +#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE +#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL + +/* AHB clock (HCLK) is SYSCLK (24MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB2 clock (PCLK2) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK +#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY +#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */ + +/* APB2 timer 1 will receive PCLK2. */ + +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) + +/* APB1 clock (PCLK1) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* All timers run off PCLK */ + +#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY) + +/* + * 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 + +/* + * High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ + +/* + * PPM + * + * PPM input is handled by the HRT timer. + * + * Pin is PA8, timer 1, channel 1 + */ +#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ +#define GPIO_PPM_IN GPIO_TIM1_CH1IN + +/* LED definitions ******************************************************************/ +/* PX4 has two LEDs that we will encode as: */ + +#define LED_STARTED 0 /* LED? */ +#define LED_HEAPALLOCATE 1 /* LED? */ +#define LED_IRQSENABLED 2 /* LED? + LED? */ +#define LED_STACKCREATED 3 /* LED? */ +#define LED_INIRQ 4 /* LED? + LED? */ +#define LED_SIGNAL 5 /* LED? + LED? */ +#define LED_ASSERTION 6 /* LED? + LED? + LED? */ +#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs new file mode 100644 index 000000000..bdfc4e3e2 --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/Make.defs @@ -0,0 +1,3 @@ +include ${TOPDIR}/.config + +include $(TOPDIR)/configs/px4io-v2/common/Make.defs diff --git a/nuttx-configs/px4io-v2/nsh/appconfig b/nuttx-configs/px4io-v2/nsh/appconfig new file mode 100644 index 000000000..48a41bcdb --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/appconfig @@ -0,0 +1,32 @@ +############################################################################ +# +# 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. +# +############################################################################ diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig new file mode 100755 index 000000000..846ea8fb9 --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -0,0 +1,526 @@ +############################################################################ +# configs/px4io/nsh/defconfig +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2011-2012 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. +# +############################################################################ +# +# architecture selection +# +# CONFIG_ARCH - identifies the arch subdirectory and, hence, the +# processor architecture. +# CONFIG_ARCH_family - for use in C code. This identifies the +# particular chip family that the architecture is implemented +# in. +# CONFIG_ARCH_architecture - for use in C code. This identifies the +# specific architecture within the chip family. +# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory +# CONFIG_ARCH_CHIP_name - For use in C code +# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence, +# the board that supports the particular chip or SoC. +# CONFIG_ARCH_BOARD_name - for use in C code +# CONFIG_ENDIAN_BIG - define if big endian (default is little endian) +# CONFIG_BOARD_LOOPSPERMSEC - for delay loops +# CONFIG_DRAM_SIZE - Describes the installed DRAM. +# CONFIG_DRAM_START - The start address of DRAM (physical) +# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization +# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt +# stack. If defined, this symbol is the size of the interrupt +# stack in bytes. If not defined, the user task stacks will be +# used during interrupt handling. +# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions +# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader. +# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. +# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture. +# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that +# cause a 100 second delay during boot-up. This 100 second delay +# serves no purpose other than it allows you to calibrate +# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure +# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until +# the delay actually is 100 seconds. +# CONFIG_ARCH_DMA - Support DMA initialization +# +CONFIG_ARCH="arm" +CONFIG_ARCH_ARM=y +CONFIG_ARCH_CORTEXM3=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32F100C8=y +CONFIG_ARCH_BOARD="px4io-v2" +CONFIG_ARCH_BOARD_PX4IO_V2=y +CONFIG_BOARD_LOOPSPERMSEC=2000 +CONFIG_DRAM_SIZE=0x00002000 +CONFIG_DRAM_START=0x20000000 +CONFIG_ARCH_IRQPRIO=y +CONFIG_ARCH_INTERRUPTSTACK=n +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARCH_BOOTLOADER=n +CONFIG_ARCH_LEDS=n +CONFIG_ARCH_BUTTONS=n +CONFIG_ARCH_CALIBRATION=n +CONFIG_ARCH_DMA=y +CONFIG_ARCH_MATH_H=y + +CONFIG_ARMV7M_CMNVECTOR=y + +# +# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): +# +# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG +# +# JTAG Enable options: +# +# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# but without JNTRST. +# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled +# +CONFIG_STM32_DFU=n +CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=n + +# +# Individual subsystems can be enabled: +# +# AHB: +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=n +CONFIG_STM32_CRC=n +# APB1: +# Timers 2,3 and 4 are owned by the PWM driver +CONFIG_STM32_TIM2=n +CONFIG_STM32_TIM3=n +CONFIG_STM32_TIM4=n +CONFIG_STM32_TIM5=n +CONFIG_STM32_TIM6=n +CONFIG_STM32_TIM7=n +CONFIG_STM32_WWDG=n +CONFIG_STM32_SPI2=n +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_I2C1=n +CONFIG_STM32_I2C2=n +CONFIG_STM32_BKP=n +CONFIG_STM32_PWR=n +CONFIG_STM32_DAC=n +# APB2: +# We use our own ADC driver, but leave this on for clocking purposes. +CONFIG_STM32_ADC1=y +CONFIG_STM32_ADC2=n +# TIM1 is owned by the HRT +CONFIG_STM32_TIM1=n +CONFIG_STM32_SPI1=n +CONFIG_STM32_TIM8=n +CONFIG_STM32_USART1=y +CONFIG_STM32_ADC3=n + + +# +# STM32F100 specific serial device driver settings +# +# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the +# console and ttys0 (default is the USART1). +# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. +# This specific the size of the receive buffer +# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before +# being sent. This specific the size of the transmit buffer +# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be +# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. +# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity +# CONFIG_USARTn_2STOP - Two stop bits +# +CONFIG_SERIAL_TERMIOS=y +CONFIG_STANDARD_SERIAL=y + +CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART2_SERIAL_CONSOLE=n +CONFIG_USART3_SERIAL_CONSOLE=n + +CONFIG_USART1_TXBUFSIZE=64 +CONFIG_USART2_TXBUFSIZE=64 +CONFIG_USART3_TXBUFSIZE=64 + +CONFIG_USART1_RXBUFSIZE=64 +CONFIG_USART2_RXBUFSIZE=64 +CONFIG_USART3_RXBUFSIZE=64 + +CONFIG_USART1_BAUD=115200 +CONFIG_USART2_BAUD=115200 +CONFIG_USART3_BAUD=115200 + +CONFIG_USART1_BITS=8 +CONFIG_USART2_BITS=8 +CONFIG_USART3_BITS=8 + +CONFIG_USART1_PARITY=0 +CONFIG_USART2_PARITY=0 +CONFIG_USART3_PARITY=0 + +CONFIG_USART1_2STOP=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART3_2STOP=0 + +CONFIG_USART1_RXDMA=y +SERIAL_HAVE_CONSOLE_DMA=y +# Conflicts with I2C1 DMA +CONFIG_USART2_RXDMA=n +CONFIG_USART3_RXDMA=y + +# +# General build options +# +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with +# BSPs from www.ridgerun.com using the tools/mkimage.sh script +# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_RAW_BINARY - make a raw binary format file used with many +# different loaders using the GNU objcopy program. This option +# should not be selected if you are not using the GNU toolchain. +# CONFIG_HAVE_LIBM - toolchain supports libm.a +# +CONFIG_RRLOAD_BINARY=n +CONFIG_INTELHEX_BINARY=n +CONFIG_MOTOROLA_SREC=n +CONFIG_RAW_BINARY=y +CONFIG_HAVE_LIBM=n + +# +# General OS setup +# +# CONFIG_APPS_DIR - Identifies the relative path to the directory +# that builds the application to link with NuttX. Default: ../apps +# CONFIG_DEBUG - enables built-in debug options +# CONFIG_DEBUG_VERBOSE - enables verbose debug output +# CONFIG_DEBUG_SYMBOLS - build without optimization and with +# debug symbols (needed for use with a debugger). +# CONFIG_HAVE_CXX - Enable support for C++ +# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support +# for initialization of static C++ instances for this architecture +# and for the selected toolchain (via up_cxxinitialize()). +# CONFIG_MM_REGIONS - If the architecture includes multiple +# regions of memory to allocate from, this specifies the +# number of memory regions that the memory manager must +# handle and enables the API mm_addregion(start, end); +# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot +# time console output +# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz +# or MSEC_PER_TICK=10. This setting may be defined to +# inform NuttX that the processor hardware is providing +# system timer interrupts at some interrupt interval other +# than 10 msec. +# CONFIG_RR_INTERVAL - The round robin timeslice will be set +# this number of milliseconds; Round robin scheduling can +# be disabled by setting this value to zero. +# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in +# scheduler to monitor system performance +# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a +# task name to save in the TCB. Useful if scheduler +# instrumentation is selected. Set to zero to disable. +# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY - +# Used to initialize the internal time logic. +# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions. +# You would only need this if you are concerned about accurate +# time conversions in the past or in the distant future. +# CONFIG_JULIAN_TIME - Enables Julian time conversions. You +# would only need this if you are concerned about accurate +# time conversion in the distand past. You must also define +# CONFIG_GREGORIAN_TIME in order to use Julian time. +# CONFIG_DEV_CONSOLE - Set if architecture-specific logic +# provides /dev/console. Enables stdout, stderr, stdin. +# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console +# driver (minimul support) +# CONFIG_MUTEX_TYPES: Set to enable support for recursive and +# errorcheck mutexes. Enables pthread_mutexattr_settype(). +# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority +# inheritance on mutexes and semaphores. +# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority +# inheritance is enabled. It defines the maximum number of +# different threads (minus one) that can take counts on a +# semaphore with priority inheritance support. This may be +# set to zero if priority inheritance is disabled OR if you +# are only using semaphores as mutexes (only one holder) OR +# if no more than two threads participate using a counting +# semaphore. +# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled, +# then this setting is the maximum number of higher priority +# threads (minus 1) than can be waiting for another thread +# to release a count on a semaphore. This value may be set +# to zero if no more than one thread is expected to wait for +# a semaphore. +# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors +# by task_create() when a new task is started. If set, all +# files/drivers will appear to be closed in the new task. +# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first +# three file descriptors (stdin, stdout, stderr) by task_create() +# when a new task is started. If set, all files/drivers will +# appear to be closed in the new task except for stdin, stdout, +# and stderr. +# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket +# desciptors by task_create() when a new task is started. If +# set, all sockets will appear to be closed in the new task. +# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to +# handle delayed processing from interrupt handlers. This feature +# is required for some drivers but, if there are not complaints, +# can be safely disabled. The worker thread also performs +# garbage collection -- completing any delayed memory deallocations +# from interrupt handlers. If the worker thread is disabled, +# then that clean will be performed by the IDLE thread instead +# (which runs at the lowest of priority and may not be appropriate +# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE +# is enabled, then the following options can also be used: +# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker +# thread. Default: 50 +# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for +# work in units of microseconds. Default: 50*1000 (50 MS). +# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker +# thread. Default: CONFIG_IDLETHREAD_STACKSIZE. +# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up +# the worker thread. Default: 4 +# CONFIG_SCHED_WAITPID - Enable the waitpid() API +# CONFIG_SCHED_ATEXIT - Enabled the atexit() API +# +CONFIG_USER_ENTRYPOINT="user_start" +#CONFIG_APPS_DIR= +CONFIG_DEBUG=n +CONFIG_DEBUG_VERBOSE=n +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_FS=n +CONFIG_DEBUG_GRAPHICS=n +CONFIG_DEBUG_LCD=n +CONFIG_DEBUG_USB=n +CONFIG_DEBUG_NET=n +CONFIG_DEBUG_RTC=n +CONFIG_DEBUG_ANALOG=n +CONFIG_DEBUG_PWM=n +CONFIG_DEBUG_CAN=n +CONFIG_DEBUG_I2C=n +CONFIG_DEBUG_INPUT=n + +CONFIG_MSEC_PER_TICK=1 +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_MM_REGIONS=1 +CONFIG_MM_SMALL=y +CONFIG_ARCH_LOWPUTC=y +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=n +CONFIG_TASK_NAME_SIZE=8 +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_GREGORIAN_TIME=n +CONFIG_JULIAN_TIME=n +# this eats ~1KiB of RAM ... work out why +CONFIG_DEV_CONSOLE=y +CONFIG_DEV_LOWCONSOLE=n +CONFIG_MUTEX_TYPES=n +CONFIG_PRIORITY_INHERITANCE=n +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=0 +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WORKQUEUE=n +CONFIG_SCHED_WORKPRIORITY=50 +CONFIG_SCHED_WORKPERIOD=50000 +CONFIG_SCHED_WORKSTACKSIZE=1024 +CONFIG_SIG_SIGWORK=4 +CONFIG_SCHED_WAITPID=n +CONFIG_SCHED_ATEXIT=n + +# +# The following can be used to disable categories of +# APIs supported by the OS. If the compiler supports +# weak functions, then it should not be necessary to +# disable functions unless you want to restrict usage +# of those APIs. +# +# There are certain dependency relationships in these +# features. +# +# o mq_notify logic depends on signals to awaken tasks +# waiting for queues to become full or empty. +# o pthread_condtimedwait() depends on signals to wake +# up waiting tasks. +# +CONFIG_DISABLE_CLOCK=n +CONFIG_DISABLE_POSIX_TIMERS=y +CONFIG_DISABLE_PTHREAD=y +CONFIG_DISABLE_SIGNALS=y +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_DISABLE_ENVIRON=y +CONFIG_DISABLE_POLL=y + +# +# Misc libc settings +# +# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a +# little smaller if we do not support fieldwidthes +# +CONFIG_NOPRINTF_FIELDWIDTH=n + +# +# Allow for architecture optimized implementations +# +# The architecture can provide optimized versions of the +# following to improve system performance +# +CONFIG_ARCH_MEMCPY=n +CONFIG_ARCH_MEMCMP=n +CONFIG_ARCH_MEMMOVE=n +CONFIG_ARCH_MEMSET=n +CONFIG_ARCH_STRCMP=n +CONFIG_ARCH_STRCPY=n +CONFIG_ARCH_STRNCPY=n +CONFIG_ARCH_STRLEN=n +CONFIG_ARCH_STRNLEN=n +CONFIG_ARCH_BZERO=n + +# +# Sizes of configurable things (0 disables) +# +# CONFIG_MAX_TASKS - The maximum number of simultaneously +# active tasks. This value must be a power of two. +# CONFIG_MAX_TASK_ARGS - This controls the maximum number of +# of parameters that a task may receive (i.e., maxmum value +# of 'argc') +# CONFIG_NPTHREAD_KEYS - The number of items of thread- +# specific data that can be retained +# CONFIG_NFILE_DESCRIPTORS - The maximum number of file +# descriptors (one for each open) +# CONFIG_NFILE_STREAMS - The maximum number of streams that +# can be fopen'ed +# CONFIG_NAME_MAX - The maximum size of a file name. +# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate +# on fopen. (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled +# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added +# to force automatic, line-oriented flushing the output buffer +# for putc(), fputc(), putchar(), puts(), fputs(), printf(), +# fprintf(), and vfprintf(). When a newline is encountered in +# the output string, the output buffer will be flushed. This +# (slightly) increases the NuttX footprint but supports the kind +# of behavior that people expect for printf(). +# CONFIG_NUNGET_CHARS - Number of characters that can be +# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message +# structures. The system manages a pool of preallocated +# message structures to minimize dynamic allocations +# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with +# a fixed payload size given by this settin (does not include +# other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler +# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog +# structures. The system manages a pool of preallocated +# watchdog structures to minimize dynamic allocations +# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX +# timer structures. The system manages a pool of preallocated +# timer structures to minimize dynamic allocations. Set to +# zero for all dynamic allocations. +# +CONFIG_MAX_TASKS=4 +CONFIG_MAX_TASK_ARGS=4 +CONFIG_NPTHREAD_KEYS=2 +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NFILE_STREAMS=0 +CONFIG_NAME_MAX=12 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=n +CONFIG_NUNGET_CHARS=2 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=4 +CONFIG_PREALLOC_TIMERS=0 + + +# +# Settings for apps/nshlib +# +# CONFIG_NSH_BUILTIN_APPS - Support external registered, +# "named" applications that can be executed from the NSH +# command line (see apps/README.txt for more information). +# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer +# CONFIG_NSH_STRERROR - Use strerror(errno) +# CONFIG_NSH_LINELEN - Maximum length of one command line +# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi +# CONFIG_NSH_DISABLESCRIPT - Disable scripting support +# CONFIG_NSH_DISABLEBG - Disable background commands +# CONFIG_NSH_ROMFSETC - Use startup script in /etc +# CONFIG_NSH_CONSOLE - Use serial console front end +# CONFIG_NSH_TELNET - Use telnetd console front end +# CONFIG_NSH_ARCHINIT - Platform provides architecture +# specific initialization (nsh_archinitialize()). +# + +# Disable NSH completely +CONFIG_NSH_CONSOLE=n + +# +# Stack and heap information +# +# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP +# operation from FLASH but must copy initialized .data sections to RAM. +# (should also be =n for the STM3210E-EVAL which always runs from flash) +# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH +# but copy themselves entirely into RAM for better performance. +# CONFIG_CUSTOM_STACK - The up_ implementation will handle +# all stack operations outside of the nuttx model. +# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only) +# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack. +# This is the thread that (1) performs the inital boot of the system up +# to the point where user_start() is spawned, and (2) there after is the +# IDLE thread that executes only when there is no other thread ready to +# run. +# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate +# for the main user thread that begins at the user_start() entry point. +# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size +# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size +# CONFIG_HEAP_BASE - The beginning of the heap +# CONFIG_HEAP_SIZE - The size of the heap +# +CONFIG_BOOT_RUNFROMFLASH=n +CONFIG_BOOT_COPYTORAM=n +CONFIG_CUSTOM_STACK=n +CONFIG_STACK_POINTER= +CONFIG_IDLETHREAD_STACKSIZE=1024 +CONFIG_USERMAIN_STACKSIZE=1200 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=1024 +CONFIG_HEAP_BASE= +CONFIG_HEAP_SIZE= diff --git a/nuttx-configs/px4io-v2/nsh/setenv.sh b/nuttx-configs/px4io-v2/nsh/setenv.sh new file mode 100755 index 000000000..ff9a4bf8a --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/setenv.sh @@ -0,0 +1,47 @@ +#!/bin/bash +# configs/stm3210e-eval/dfu/setenv.sh +# +# Copyright (C) 2009 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. +# + +if [ "$(basename $0)" = "setenv.sh" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi + +WD=`pwd` +export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin" +export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" +export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4io-v2/src/Makefile b/nuttx-configs/px4io-v2/src/Makefile new file mode 100644 index 000000000..bb9539d16 --- /dev/null +++ b/nuttx-configs/px4io-v2/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/stm3210e-eval/src/Makefile +# +# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt <spudmonkey@racsa.co.cr> +# +# 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 $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c + +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + @touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep diff --git a/nuttx-configs/px4io-v2/src/README.txt b/nuttx-configs/px4io-v2/src/README.txt new file mode 100644 index 000000000..d4eda82fd --- /dev/null +++ b/nuttx-configs/px4io-v2/src/README.txt @@ -0,0 +1 @@ +This directory contains drivers unique to the STMicro STM3210E-EVAL development board. diff --git a/nuttx-configs/px4io-v2/src/empty.c b/nuttx-configs/px4io-v2/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx-configs/px4io-v2/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/px4io-v2/test/Make.defs b/nuttx-configs/px4io-v2/test/Make.defs new file mode 100644 index 000000000..87508e22e --- /dev/null +++ b/nuttx-configs/px4io-v2/test/Make.defs @@ -0,0 +1,3 @@ +include ${TOPDIR}/.config + +include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs diff --git a/nuttx-configs/px4io-v2/test/appconfig b/nuttx-configs/px4io-v2/test/appconfig new file mode 100644 index 000000000..3cfc41b43 --- /dev/null +++ b/nuttx-configs/px4io-v2/test/appconfig @@ -0,0 +1,44 @@ +############################################################################ +# configs/stm3210e-eval/nsh/appconfig +# +# Copyright (C) 2011-2012 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +CONFIGURED_APPS += system/readline +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += reboot + +CONFIGURED_APPS += drivers/boards/px4iov2 diff --git a/nuttx-configs/px4io-v2/test/defconfig b/nuttx-configs/px4io-v2/test/defconfig new file mode 100755 index 000000000..19dfefdf8 --- /dev/null +++ b/nuttx-configs/px4io-v2/test/defconfig @@ -0,0 +1,544 @@ +############################################################################ +# configs/px4io/nsh/defconfig +# +# Copyright (C) 2009-2012 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. +# +############################################################################ +# +# architecture selection +# +# CONFIG_ARCH - identifies the arch subdirectory and, hence, the +# processor architecture. +# CONFIG_ARCH_family - for use in C code. This identifies the +# particular chip family that the architecture is implemented +# in. +# CONFIG_ARCH_architecture - for use in C code. This identifies the +# specific architecture within the chip familyl. +# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory +# CONFIG_ARCH_CHIP_name - For use in C code +# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence, +# the board that supports the particular chip or SoC. +# CONFIG_ARCH_BOARD_name - for use in C code +# CONFIG_ENDIAN_BIG - define if big endian (default is little endian) +# CONFIG_BOARD_LOOPSPERMSEC - for delay loops +# CONFIG_DRAM_SIZE - Describes the installed DRAM. +# CONFIG_DRAM_START - The start address of DRAM (physical) +# CONFIG_DRAM_END - Last address+1 of installed RAM +# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization +# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt +# stack. If defined, this symbol is the size of the interrupt +# stack in bytes. If not defined, the user task stacks will be +# used during interrupt handling. +# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions +# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader. +# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. +# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture. +# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that +# cause a 100 second delay during boot-up. This 100 second delay +# serves no purpose other than it allows you to calibrate +# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure +# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until +# the delay actually is 100 seconds. +# CONFIG_ARCH_DMA - Support DMA initialization +# +CONFIG_ARCH=arm +CONFIG_ARCH_ARM=y +CONFIG_ARCH_CORTEXM3=y +CONFIG_ARCH_CHIP=stm32 +CONFIG_ARCH_CHIP_STM32F100C8=y +CONFIG_ARCH_BOARD=px4iov2 +CONFIG_ARCH_BOARD_PX4IO_V2=y +CONFIG_BOARD_LOOPSPERMSEC=24000 +CONFIG_DRAM_SIZE=0x00002000 +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) +CONFIG_ARCH_IRQPRIO=y +CONFIG_ARCH_INTERRUPTSTACK=n +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARCH_BOOTLOADER=n +CONFIG_ARCH_LEDS=n +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CALIBRATION=n +CONFIG_ARCH_DMA=n +CONFIG_ARMV7M_CMNVECTOR=y + +# +# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): +# +# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG +# +# JTAG Enable options: +# +# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# but without JNTRST. +# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled +# +CONFIG_STM32_DFU=n +CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=n + +# +# Individual subsystems can be enabled: +# AHB: +CONFIG_STM32_DMA1=n +CONFIG_STM32_DMA2=n +CONFIG_STM32_CRC=n +# APB1: +# Timers 2,3 and 4 are owned by the PWM driver +CONFIG_STM32_TIM2=n +CONFIG_STM32_TIM3=n +CONFIG_STM32_TIM4=n +CONFIG_STM32_TIM5=n +CONFIG_STM32_TIM6=n +CONFIG_STM32_TIM7=n +CONFIG_STM32_WWDG=n +CONFIG_STM32_SPI2=n +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=n +CONFIG_STM32_BKP=n +CONFIG_STM32_PWR=n +CONFIG_STM32_DAC=n +# APB2: +CONFIG_STM32_ADC1=y +CONFIG_STM32_ADC2=n +# TIM1 is owned by the HRT +CONFIG_STM32_TIM1=n +CONFIG_STM32_SPI1=n +CONFIG_STM32_TIM8=n +CONFIG_STM32_USART1=y +CONFIG_STM32_ADC3=n + +# +# Timer and I2C devices may need to the following to force power to be applied: +# +#CONFIG_STM32_FORCEPOWER=y + +# +# STM32F100 specific serial device driver settings +# +# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the +# console and ttys0 (default is the USART1). +# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. +# This specific the size of the receive buffer +# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before +# being sent. This specific the size of the transmit buffer +# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be +# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. +# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity +# CONFIG_USARTn_2STOP - Two stop bits +# +CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART2_SERIAL_CONSOLE=n +CONFIG_USART3_SERIAL_CONSOLE=n + +CONFIG_USART1_TXBUFSIZE=64 +CONFIG_USART2_TXBUFSIZE=64 +CONFIG_USART3_TXBUFSIZE=64 + +CONFIG_USART1_RXBUFSIZE=64 +CONFIG_USART2_RXBUFSIZE=64 +CONFIG_USART3_RXBUFSIZE=64 + +CONFIG_USART1_BAUD=57600 +CONFIG_USART2_BAUD=115200 +CONFIG_USART3_BAUD=115200 + +CONFIG_USART1_BITS=8 +CONFIG_USART2_BITS=8 +CONFIG_USART3_BITS=8 + +CONFIG_USART1_PARITY=0 +CONFIG_USART2_PARITY=0 +CONFIG_USART3_PARITY=0 + +CONFIG_USART1_2STOP=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART3_2STOP=0 + +# +# General build options +# +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with +# BSPs from www.ridgerun.com using the tools/mkimage.sh script +# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_RAW_BINARY - make a raw binary format file used with many +# different loaders using the GNU objcopy program. This option +# should not be selected if you are not using the GNU toolchain. +# CONFIG_HAVE_LIBM - toolchain supports libm.a +# +CONFIG_RRLOAD_BINARY=n +CONFIG_INTELHEX_BINARY=n +CONFIG_MOTOROLA_SREC=n +CONFIG_RAW_BINARY=y +CONFIG_HAVE_LIBM=n + +# +# General OS setup +# +# CONFIG_APPS_DIR - Identifies the relative path to the directory +# that builds the application to link with NuttX. Default: ../apps +# CONFIG_DEBUG - enables built-in debug options +# CONFIG_DEBUG_VERBOSE - enables verbose debug output +# CONFIG_DEBUG_SYMBOLS - build without optimization and with +# debug symbols (needed for use with a debugger). +# CONFIG_HAVE_CXX - Enable support for C++ +# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support +# for initialization of static C++ instances for this architecture +# and for the selected toolchain (via up_cxxinitialize()). +# CONFIG_MM_REGIONS - If the architecture includes multiple +# regions of memory to allocate from, this specifies the +# number of memory regions that the memory manager must +# handle and enables the API mm_addregion(start, end); +# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot +# time console output +# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz +# or MSEC_PER_TICK=10. This setting may be defined to +# inform NuttX that the processor hardware is providing +# system timer interrupts at some interrupt interval other +# than 10 msec. +# CONFIG_RR_INTERVAL - The round robin timeslice will be set +# this number of milliseconds; Round robin scheduling can +# be disabled by setting this value to zero. +# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in +# scheduler to monitor system performance +# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a +# task name to save in the TCB. Useful if scheduler +# instrumentation is selected. Set to zero to disable. +# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY - +# Used to initialize the internal time logic. +# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions. +# You would only need this if you are concerned about accurate +# time conversions in the past or in the distant future. +# CONFIG_JULIAN_TIME - Enables Julian time conversions. You +# would only need this if you are concerned about accurate +# time conversion in the distand past. You must also define +# CONFIG_GREGORIAN_TIME in order to use Julian time. +# CONFIG_DEV_CONSOLE - Set if architecture-specific logic +# provides /dev/console. Enables stdout, stderr, stdin. +# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console +# driver (minimul support) +# CONFIG_MUTEX_TYPES: Set to enable support for recursive and +# errorcheck mutexes. Enables pthread_mutexattr_settype(). +# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority +# inheritance on mutexes and semaphores. +# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority +# inheritance is enabled. It defines the maximum number of +# different threads (minus one) that can take counts on a +# semaphore with priority inheritance support. This may be +# set to zero if priority inheritance is disabled OR if you +# are only using semaphores as mutexes (only one holder) OR +# if no more than two threads participate using a counting +# semaphore. +# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled, +# then this setting is the maximum number of higher priority +# threads (minus 1) than can be waiting for another thread +# to release a count on a semaphore. This value may be set +# to zero if no more than one thread is expected to wait for +# a semaphore. +# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors +# by task_create() when a new task is started. If set, all +# files/drivers will appear to be closed in the new task. +# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first +# three file descriptors (stdin, stdout, stderr) by task_create() +# when a new task is started. If set, all files/drivers will +# appear to be closed in the new task except for stdin, stdout, +# and stderr. +# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket +# desciptors by task_create() when a new task is started. If +# set, all sockets will appear to be closed in the new task. +# CONFIG_NXFLAT. Enable support for the NXFLAT binary format. +# This format will support execution of NuttX binaries located +# in a ROMFS filesystem (see examples/nxflat). +# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to +# handle delayed processing from interrupt handlers. This feature +# is required for some drivers but, if there are not complaints, +# can be safely disabled. The worker thread also performs +# garbage collection -- completing any delayed memory deallocations +# from interrupt handlers. If the worker thread is disabled, +# then that clean will be performed by the IDLE thread instead +# (which runs at the lowest of priority and may not be appropriate +# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE +# is enabled, then the following options can also be used: +# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker +# thread. Default: 50 +# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for +# work in units of microseconds. Default: 50*1000 (50 MS). +# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker +# thread. Default: CONFIG_IDLETHREAD_STACKSIZE. +# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up +# the worker thread. Default: 4 +# +#CONFIG_APPS_DIR= +CONFIG_DEBUG=n +CONFIG_DEBUG_VERBOSE=n +CONFIG_DEBUG_SYMBOLS=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=n +CONFIG_MM_REGIONS=1 +CONFIG_MM_SMALL=y +CONFIG_ARCH_LOWPUTC=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_INSTRUMENTATION=n +CONFIG_TASK_NAME_SIZE=0 +CONFIG_START_YEAR=2009 +CONFIG_START_MONTH=9 +CONFIG_START_DAY=21 +CONFIG_GREGORIAN_TIME=n +CONFIG_JULIAN_TIME=n +CONFIG_DEV_CONSOLE=y +CONFIG_DEV_LOWCONSOLE=n +CONFIG_MUTEX_TYPES=n +CONFIG_PRIORITY_INHERITANCE=n +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=0 +CONFIG_FDCLONE_DISABLE=n +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_NXFLAT=n +CONFIG_SCHED_WORKQUEUE=n +CONFIG_SCHED_WORKPRIORITY=50 +CONFIG_SCHED_WORKPERIOD=(50*1000) +CONFIG_SCHED_WORKSTACKSIZE=512 +CONFIG_SIG_SIGWORK=4 + +CONFIG_USER_ENTRYPOINT="nsh_main" +# +# The following can be used to disable categories of +# APIs supported by the OS. If the compiler supports +# weak functions, then it should not be necessary to +# disable functions unless you want to restrict usage +# of those APIs. +# +# There are certain dependency relationships in these +# features. +# +# o mq_notify logic depends on signals to awaken tasks +# waiting for queues to become full or empty. +# o pthread_condtimedwait() depends on signals to wake +# up waiting tasks. +# +CONFIG_DISABLE_CLOCK=n +CONFIG_DISABLE_POSIX_TIMERS=y +CONFIG_DISABLE_PTHREAD=n +CONFIG_DISABLE_SIGNALS=n +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_DISABLE_ENVIRON=y +CONFIG_DISABLE_POLL=y + +# +# Misc libc settings +# +# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a +# little smaller if we do not support fieldwidthes +# +CONFIG_NOPRINTF_FIELDWIDTH=n + +# +# Allow for architecture optimized implementations +# +# The architecture can provide optimized versions of the +# following to improve system performance +# +CONFIG_ARCH_MEMCPY=n +CONFIG_ARCH_MEMCMP=n +CONFIG_ARCH_MEMMOVE=n +CONFIG_ARCH_MEMSET=n +CONFIG_ARCH_STRCMP=n +CONFIG_ARCH_STRCPY=n +CONFIG_ARCH_STRNCPY=n +CONFIG_ARCH_STRLEN=n +CONFIG_ARCH_STRNLEN=n +CONFIG_ARCH_BZERO=n + +# +# Sizes of configurable things (0 disables) +# +# CONFIG_MAX_TASKS - The maximum number of simultaneously +# active tasks. This value must be a power of two. +# CONFIG_MAX_TASK_ARGS - This controls the maximum number of +# of parameters that a task may receive (i.e., maxmum value +# of 'argc') +# CONFIG_NPTHREAD_KEYS - The number of items of thread- +# specific data that can be retained +# CONFIG_NFILE_DESCRIPTORS - The maximum number of file +# descriptors (one for each open) +# CONFIG_NFILE_STREAMS - The maximum number of streams that +# can be fopen'ed +# CONFIG_NAME_MAX - The maximum size of a file name. +# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate +# on fopen. (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_NUNGET_CHARS - Number of characters that can be +# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message +# structures. The system manages a pool of preallocated +# message structures to minimize dynamic allocations +# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with +# a fixed payload size given by this settin (does not include +# other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler +# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog +# structures. The system manages a pool of preallocated +# watchdog structures to minimize dynamic allocations +# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX +# timer structures. The system manages a pool of preallocated +# timer structures to minimize dynamic allocations. Set to +# zero for all dynamic allocations. +# +CONFIG_MAX_TASKS=4 +CONFIG_MAX_TASK_ARGS=4 +CONFIG_NPTHREAD_KEYS=2 +CONFIG_NFILE_DESCRIPTORS=6 +CONFIG_NFILE_STREAMS=4 +CONFIG_NAME_MAX=32 +CONFIG_STDIO_BUFFER_SIZE=64 +CONFIG_NUNGET_CHARS=2 +CONFIG_PREALLOC_MQ_MSGS=1 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=3 +CONFIG_PREALLOC_TIMERS=1 + + +# +# Settings for apps/nshlib +# +# CONFIG_NSH_BUILTIN_APPS - Support external registered, +# "named" applications that can be executed from the NSH +# command line (see apps/README.txt for more information). +# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer +# CONFIG_NSH_STRERROR - Use strerror(errno) +# CONFIG_NSH_LINELEN - Maximum length of one command line +# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi +# CONFIG_NSH_DISABLESCRIPT - Disable scripting support +# CONFIG_NSH_DISABLEBG - Disable background commands +# CONFIG_NSH_ROMFSETC - Use startup script in /etc +# CONFIG_NSH_CONSOLE - Use serial console front end +# CONFIG_NSH_TELNET - Use telnetd console front end +# CONFIG_NSH_ARCHINIT - Platform provides architecture +# specific initialization (nsh_archinitialize()). +# +# If CONFIG_NSH_TELNET is selected: +# CONFIG_NSH_IOBUFFER_SIZE -- Telnetd I/O buffer size +# CONFIG_NSH_DHCPC - Obtain address using DHCP +# CONFIG_NSH_IPADDR - Provides static IP address +# CONFIG_NSH_DRIPADDR - Provides static router IP address +# CONFIG_NSH_NETMASK - Provides static network mask +# CONFIG_NSH_NOMAC - Use a bogus MAC address +# +# If CONFIG_NSH_ROMFSETC is selected: +# CONFIG_NSH_ROMFSMOUNTPT - ROMFS mountpoint +# CONFIG_NSH_INITSCRIPT - Relative path to init script +# CONFIG_NSH_ROMFSDEVNO - ROMFS RAM device minor +# CONFIG_NSH_ROMFSSECTSIZE - ROMF sector size +# CONFIG_NSH_FATDEVNO - FAT FS RAM device minor +# CONFIG_NSH_FATSECTSIZE - FAT FS sector size +# CONFIG_NSH_FATNSECTORS - FAT FS number of sectors +# CONFIG_NSH_FATMOUNTPT - FAT FS mountpoint +# +CONFIG_BUILTIN=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=64 +CONFIG_NSH_STRERROR=n +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_NESTDEPTH=1 +CONFIG_NSH_DISABLESCRIPT=y +CONFIG_NSH_DISABLEBG=n +CONFIG_NSH_ROMFSETC=n +CONFIG_NSH_CONSOLE=y +CONFIG_NSH_TELNET=n +CONFIG_NSH_ARCHINIT=n +CONFIG_NSH_IOBUFFER_SIZE=256 +CONFIG_NSH_STACKSIZE=1024 +CONFIG_NSH_DHCPC=n +CONFIG_NSH_NOMAC=n +CONFIG_NSH_IPADDR=(10<<24|0<<16|0<<8|2) +CONFIG_NSH_DRIPADDR=(10<<24|0<<16|0<<8|1) +CONFIG_NSH_NETMASK=(255<<24|255<<16|255<<8|0) +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=64 +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT=/tmp + +# +# Architecture-specific NSH options +# +CONFIG_NSH_MMCSDSPIPORTNO=0 +CONFIG_NSH_MMCSDSLOTNO=0 +CONFIG_NSH_MMCSDMINOR=0 + +# +# Stack and heap information +# +# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP +# operation from FLASH but must copy initialized .data sections to RAM. +# (should also be =n for the STM3210E-EVAL which always runs from flash) +# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH +# but copy themselves entirely into RAM for better performance. +# CONFIG_CUSTOM_STACK - The up_ implementation will handle +# all stack operations outside of the nuttx model. +# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only) +# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack. +# This is the thread that (1) performs the inital boot of the system up +# to the point where user_start() is spawned, and (2) there after is the +# IDLE thread that executes only when there is no other thread ready to +# run. +# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate +# for the main user thread that begins at the user_start() entry point. +# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size +# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size +# CONFIG_HEAP_BASE - The beginning of the heap +# CONFIG_HEAP_SIZE - The size of the heap +# +CONFIG_BOOT_RUNFROMFLASH=n +CONFIG_BOOT_COPYTORAM=n +CONFIG_CUSTOM_STACK=n +CONFIG_STACK_POINTER= +CONFIG_IDLETHREAD_STACKSIZE=800 +CONFIG_USERMAIN_STACKSIZE=1024 +CONFIG_PTHREAD_STACK_MIN=256 +CONFIG_PTHREAD_STACK_DEFAULT=512 +CONFIG_HEAP_BASE= +CONFIG_HEAP_SIZE= diff --git a/nuttx-configs/px4io-v2/test/setenv.sh b/nuttx-configs/px4io-v2/test/setenv.sh new file mode 100755 index 000000000..d83685192 --- /dev/null +++ b/nuttx-configs/px4io-v2/test/setenv.sh @@ -0,0 +1,47 @@ +#!/bin/bash +# configs/stm3210e-eval/dfu/setenv.sh +# +# Copyright (C) 2009 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt <spudmonkey@racsa.co.cr> +# +# 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. +# + +if [ "$(basename $0)" = "setenv.sh" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi + +WD=`pwd` +export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin" +export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin" +export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h index 383a046ff..56173abf6 100644 --- a/src/drivers/boards/px4fmu/px4fmu_internal.h +++ b/src/drivers/boards/px4fmu/px4fmu_internal.h @@ -58,6 +58,9 @@ __BEGIN_DECLS ****************************************************************************************************/ /* Configuration ************************************************************************************/ +/* PX4IO connection configuration */ +#define PX4IO_SERIAL_DEVICE "/dev/ttyS2" + //#ifdef CONFIG_STM32_SPI2 //# error "SPI2 is not supported on this board" //#endif diff --git a/src/drivers/boards/px4fmuv2/module.mk b/src/drivers/boards/px4fmuv2/module.mk new file mode 100644 index 000000000..eb8841e4d --- /dev/null +++ b/src/drivers/boards/px4fmuv2/module.mk @@ -0,0 +1,9 @@ +# +# Board-specific startup code for the PX4FMUv2 +# + +SRCS = px4fmu_can.c \ + px4fmu_init.c \ + px4fmu_pwm_servo.c \ + px4fmu_spi.c \ + px4fmu_usb.c diff --git a/src/drivers/boards/px4fmuv2/px4fmu_can.c b/src/drivers/boards/px4fmuv2/px4fmu_can.c new file mode 100644 index 000000000..86ba183b8 --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_can.c @@ -0,0 +1,144 @@ +/**************************************************************************** + * + * 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 px4fmu_can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include <errno.h> +#include <debug.h> + +#include <nuttx/can.h> +#include <arch/board/board.h> + +#include "chip.h" +#include "up_arch.h" + +#include "stm32.h" +#include "stm32_can.h" +#include "px4fmu_internal.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/* Debug ***************************************************************************/ +/* Non-standard debug that may be enabled just for testing CAN */ + +#ifdef CONFIG_DEBUG_CAN +# define candbg dbg +# define canvdbg vdbg +# define canlldbg lldbg +# define canllvdbg llvdbg +#else +# define candbg(x...) +# define canvdbg(x...) +# define canlldbg(x...) +# define canllvdbg(x...) +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + candbg("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + candbg("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif
\ No newline at end of file diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c new file mode 100644 index 000000000..57f2812b8 --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_init.c @@ -0,0 +1,263 @@ +/**************************************************************************** + * + * 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 px4fmu_init.c + * + * PX4FMU-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <stdio.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/arch.h> +#include <nuttx/spi.h> +#include <nuttx/i2c.h> +#include <nuttx/sdio.h> +#include <nuttx/mmcsd.h> +#include <nuttx/analog/adc.h> + +#include <stm32.h> +#include "px4fmu_internal.h" +#include <stm32_uart.h> + +#include <arch/board/board.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_led.h> + +#include <systemlib/cpuload.h> + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi1; +static struct spi_dev_s *spi2; +static struct sdio_dev_s *sdio; + +#include <math.h> + +#ifdef __cplusplus +__EXPORT int matherr(struct __exception *e) +{ + return 1; +} +#else +__EXPORT int matherr(struct exception *e) +{ + return 1; +} +#endif + +__EXPORT int nsh_archinitialize(void) +{ + + /* configure ADC pins */ + stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */ + stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */ + stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */ + stm32_configgpio(GPIO_ADC1_IN10); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN11); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN12); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */ + stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */ + stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ + + /* configure power supply control/sense pins */ + stm32_configgpio(GPIO_VDD_5V_PERIPH_EN); + stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); + stm32_configgpio(GPIO_VDD_BRICK_VALID); + stm32_configgpio(GPIO_VDD_SERVO_VALID); + stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC); + stm32_configgpio(GPIO_VDD_5V_PERIPH_OC); + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* set up the serial DMA polling */ + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); + + // initial LED state + // XXX need to make this work again +// drv_led_start(); + up_ledoff(LED_AMBER); + + /* Configure SPI-based devices */ + + spi1 = up_spiinitialize(1); + + if (!spi1) { + message("[boot] FAILED to initialize SPI port 1\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* Default SPI1 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi1, 10000000); + SPI_SETBITS(spi1, 8); + SPI_SETMODE(spi1, SPIDEV_MODE3); + SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi1, PX4_SPIDEV_BARO, false); + up_udelay(20); + + message("[boot] Successfully initialized SPI port 1\n"); + + /* Get the SPI port for the FRAM */ + + spi2 = up_spiinitialize(2); + + if (!spi2) { + message("[boot] FAILED to initialize SPI port 2\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi2, 375000000); + SPI_SETBITS(spi2, 8); + SPI_SETMODE(spi2, SPIDEV_MODE3); + SPI_SELECT(spi2, SPIDEV_FLASH, false); + + message("[boot] Successfully initialized SPI port 2\n"); + + #ifdef CONFIG_MMCSD + /* First, get an instance of the SDIO interface */ + + sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO); + if (!sdio) { + message("nsh_archinitialize: Failed to initialize SDIO slot %d\n", + CONFIG_NSH_MMCSDSLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio); + if (ret != OK) { + message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + /* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */ + sdio_mediachange(sdio, true); + + message("[boot] Initialized SDIO\n"); + #endif + + return OK; +} diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h new file mode 100644 index 000000000..ad66ce563 --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h @@ -0,0 +1,143 @@ +/**************************************************************************** + * + * 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 px4fmu_internal.h + * + * PX4FMU internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/compiler.h> +#include <stdint.h> + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include <stm32.h> + + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ +/* Configuration ************************************************************************************/ + +/* PX4IO connection configuration */ +#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" +#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX +#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX +#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ +#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 +#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2 +#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2 +#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + + +/* PX4FMU GPIOs ***********************************************************************************/ +/* LEDs */ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) + +/* External interrupts */ + +/* SPI chip selects */ +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) + +/* User GPIOs + * + * GPIO0-5 are the PWM servo outputs. + */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13) +#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) +#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) + +/* Power supply control and monitoring GPIOs */ +#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) +#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) +#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) +#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) + +/* 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) + +/**************************************************************************************************** + * 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); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c new file mode 100644 index 000000000..d1656005b --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * 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 px4fmu_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include <stdint.h> + +#include <drivers/stm32/drv_pwm_servo.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> + +#include <stm32.h> +#include <stm32_gpio.h> +#include <stm32_tim.h> + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM1_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB2ENR_TIM1EN, + .clock_freq = STM32_APB2_TIM1_CLKIN + }, + { + .base = STM32_TIM4_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM4EN, + .clock_freq = STM32_APB1_TIM4_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM1_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1000, + } +}; diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmuv2/px4fmu_spi.c new file mode 100644 index 000000000..5e90c227d --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_spi.c @@ -0,0 +1,141 @@ +/**************************************************************************** + * + * 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 px4fmu_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#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.h> +#include "px4fmu_internal.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(GPIO_SPI_CS_FRAM); + stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1); +#endif +} + +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_ACCEL_MAG: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_BARO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + break; + + default: + break; + } +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + + +#ifdef CONFIG_STM32_SPI2 +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected); +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* FRAM is always present */ + return SPI_STATUS_PRESENT; +} +#endif diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmuv2/px4fmu_usb.c new file mode 100644 index 000000000..3492e2c68 --- /dev/null +++ b/src/drivers/boards/px4fmuv2/px4fmu_usb.c @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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 px4fmu_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <debug.h> + +#include <nuttx/usb/usbdev.h> +#include <nuttx/usb/usbdev_trace.h> + +#include <up_arch.h> +#include <stm32.h> +#include "px4fmu_internal.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); + /* XXX We only support device mode + stm32_configgpio(GPIO_OTGFS_PWRON); + stm32_configgpio(GPIO_OTGFS_OVER); + */ +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + ulldbg("resume: %d\n", resume); +} + diff --git a/src/drivers/boards/px4iov2/module.mk b/src/drivers/boards/px4iov2/module.mk new file mode 100644 index 000000000..85f94e8be --- /dev/null +++ b/src/drivers/boards/px4iov2/module.mk @@ -0,0 +1,6 @@ +# +# Board-specific startup code for the PX4IOv2 +# + +SRCS = px4iov2_init.c \ + px4iov2_pwm_servo.c diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4iov2/px4iov2_init.c new file mode 100644 index 000000000..e95298bf5 --- /dev/null +++ b/src/drivers/boards/px4iov2/px4iov2_init.c @@ -0,0 +1,162 @@ +/**************************************************************************** + * + * 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 px4iov2_init.c + * + * PX4FMU-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <stdio.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/arch.h> + +#include <stm32.h> +#include "px4iov2_internal.h" + +#include <arch/board/board.h> + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + + /* configure GPIOs */ + + /* LEDS - default to off */ + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); + stm32_configgpio(GPIO_LED3); + + stm32_configgpio(GPIO_BTN_SAFETY); + + /* spektrum power enable is active high - disable it by default */ + /* XXX might not want to do this on warm restart? */ + stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false); + stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); + + stm32_configgpio(GPIO_SERVO_FAULT_DETECT); + + /* RSSI inputs */ + stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */ + stm32_configgpio(GPIO_ADC_RSSI); + + /* servo rail voltage */ + stm32_configgpio(GPIO_ADC_VSERVO); + + stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_SBUS_OUTPUT, false); + stm32_configgpio(GPIO_SBUS_OUTPUT); + + /* sbus output enable is active low - disable it by default */ + stm32_gpiowrite(GPIO_SBUS_OENABLE, true); + stm32_configgpio(GPIO_SBUS_OENABLE); + + stm32_configgpio(GPIO_PPM); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_PWM1, false); + stm32_configgpio(GPIO_PWM1); + + stm32_gpiowrite(GPIO_PWM2, false); + stm32_configgpio(GPIO_PWM2); + + stm32_gpiowrite(GPIO_PWM3, false); + stm32_configgpio(GPIO_PWM3); + + stm32_gpiowrite(GPIO_PWM4, false); + stm32_configgpio(GPIO_PWM4); + + stm32_gpiowrite(GPIO_PWM5, false); + stm32_configgpio(GPIO_PWM5); + + stm32_gpiowrite(GPIO_PWM6, false); + stm32_configgpio(GPIO_PWM6); + + stm32_gpiowrite(GPIO_PWM7, false); + stm32_configgpio(GPIO_PWM7); + + stm32_gpiowrite(GPIO_PWM8, false); + stm32_configgpio(GPIO_PWM8); +} diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h new file mode 100755 index 000000000..2bf65e047 --- /dev/null +++ b/src/drivers/boards/px4iov2/px4iov2_internal.h @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * 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 px4iov2_internal.h + * + * PX4IOV2 internal definitions + */ + +#pragma once + +/****************************************************************************** + * Included Files + ******************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/compiler.h> +#include <stdint.h> + +/* these headers are not C++ safe */ +#include <stm32.h> + + +/****************************************************************************** + * Definitions + ******************************************************************************/ +/* Configuration **************************************************************/ + +/****************************************************************************** + * Serial + ******************************************************************************/ +#define PX4FMU_SERIAL_BASE STM32_USART2_BASE +#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2 +#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX +#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX +#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX +#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX +#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY +#define PX4FMU_SERIAL_BITRATE 1500000 + +/****************************************************************************** + * GPIOS + ******************************************************************************/ + +/* LEDS **********************************************************************/ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) +#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) + +/* Safety switch button *******************************************************/ + +#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) + +/* Power switch controls ******************************************************/ + +#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15) + +/* Analog inputs **************************************************************/ + +#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) + +/* the same rssi signal goes to both an adc and a timer input */ +#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) +#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12) + +/* PWM pins **************************************************************/ + +#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8) + +#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) +#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) +#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) +#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) +#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) + +/* SBUS pins *************************************************************/ + +/* XXX these should be UART pins */ +#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) +#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) + diff --git a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c new file mode 100644 index 000000000..4f1b9487c --- /dev/null +++ b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c @@ -0,0 +1,123 @@ +/**************************************************************************** + * + * 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 px4iov2_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include <stdint.h> + +#include <drivers/stm32/drv_pwm_servo.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> + +#include <stm32.h> +#include <stm32_gpio.h> +#include <stm32_tim.h> + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM2_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM2EN, + .clock_freq = STM32_APB1_TIM2_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + }, + { + .base = STM32_TIM4_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM4EN, + .clock_freq = STM32_APB1_TIM4_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM2_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH3OUT, + .timer_index = 2, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH4OUT, + .timer_index = 2, + .timer_channel = 4, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1000, + } +}; diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 422321850..1972d2efc 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -111,21 +111,21 @@ CDev::~CDev() int CDev::init() { - int ret = OK; - // base class init first - ret = Device::init(); + int ret = Device::init(); if (ret != OK) goto out; // now register the driver - ret = register_driver(_devname, &fops, 0666, (void *)this); + if (_devname != nullptr) { + ret = register_driver(_devname, &fops, 0666, (void *)this); - if (ret != OK) - goto out; + if (ret != OK) + goto out; - _registered = true; + _registered = true; + } out: return ret; diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index 04a5222c3..1c6f9b7f4 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -223,5 +223,22 @@ interrupt(int irq, void *context) return OK; } +int +Device::read(unsigned offset, void *data, unsigned count) +{ + return -ENODEV; +} + +int +Device::write(unsigned offset, void *data, unsigned count) +{ + return -ENODEV; +} + +int +Device::ioctl(unsigned operation, unsigned &arg) +{ + return -ENODEV; +} } // namespace device
\ No newline at end of file diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 7d375aab9..75f35ff0f 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -69,10 +69,61 @@ class __EXPORT Device { public: /** + * Destructor. + * + * Public so that anonymous devices can be destroyed. + */ + virtual ~Device(); + + /** * Interrupt handler. */ virtual void interrupt(void *ctx); /**< interrupt handler */ + /* + * Direct access methods. + */ + + /** + * Initialise the driver and make it ready for use. + * + * @return OK if the driver initialized OK, negative errno otherwise; + */ + virtual int init(); + + /** + * Read directly from the device. + * + * The actual size of each unit quantity is device-specific. + * + * @param offset The device address at which to start reading + * @param data The buffer into which the read values should be placed. + * @param count The number of items to read. + * @return The number of items read on success, negative errno otherwise. + */ + virtual int read(unsigned address, void *data, unsigned count); + + /** + * Write directly to the device. + * + * The actual size of each unit quantity is device-specific. + * + * @param address The device address at which to start writing. + * @param data The buffer from which values should be read. + * @param count The number of items to write. + * @return The number of items written on success, negative errno otherwise. + */ + virtual int write(unsigned address, void *data, unsigned count); + + /** + * Perform a device-specific operation. + * + * @param operation The operation to perform. + * @param arg An argument to the operation. + * @return Negative errno on error, OK or positive value on success. + */ + virtual int ioctl(unsigned operation, unsigned &arg); + protected: const char *_name; /**< driver name */ bool _debug_enabled; /**< if true, debug messages are printed */ @@ -85,14 +136,6 @@ protected: */ Device(const char *name, int irq = 0); - ~Device(); - - /** - * Initialise the driver and make it ready for use. - * - * @return OK if the driver initialised OK. - */ - virtual int init(); /** * Enable the device interrupt @@ -189,7 +232,7 @@ public: /** * Destructor */ - ~CDev(); + virtual ~CDev(); virtual int init(); @@ -282,6 +325,7 @@ public: * Test whether the device is currently open. * * This can be used to avoid tearing down a device that is still active. + * Note - not virtual, cannot be overridden by a subclass. * * @return True if the device is currently open. */ @@ -396,9 +440,9 @@ public: const char *devname, uint32_t base, int irq = 0); - ~PIO(); + virtual ~PIO(); - int init(); + virtual int init(); protected: @@ -407,7 +451,7 @@ protected: * * @param offset Register offset in bytes from the base address. */ - uint32_t reg(uint32_t offset) { + uint32_t reg(uint32_t offset) { return *(volatile uint32_t *)(_base + offset); } diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index b4a9cdd53..549879352 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev public: - /** - * Get the address - */ - uint16_t get_address() { - return _address; - } - + /** + * Get the address + */ + int16_t get_address() { return _address; } + protected: /** * The number of times a read or write operation will be retried on @@ -90,7 +88,7 @@ protected: uint16_t address, uint32_t frequency, int irq = 0); - ~I2C(); + virtual ~I2C(); virtual int init(); diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h index d2d01efb3..e0122372a 100644 --- a/src/drivers/device/spi.h +++ b/src/drivers/device/spi.h @@ -71,7 +71,7 @@ protected: enum spi_mode_e mode, uint32_t frequency, int irq = 0); - ~SPI(); + virtual ~SPI(); virtual int init(); diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index 510983d4b..c7c25048a 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -68,8 +68,42 @@ #endif -#ifndef PX4IO_DEVICE_PATH -# error No GPIO support for this board. +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/* + * PX4FMUv2 GPIO numbers. + * + * There are no alternate functions on this board. + */ +# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */ +# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */ +# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */ +# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */ +# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */ +# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */ + +# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */ +# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */ +# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */ +# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */ +# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */ +# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */ + +/** + * 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 PX4FMU_DEVICE_PATH "/dev/px4fmu" +# define PX4IO_DEVICE_PATH "/dev/px4io" + +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 +/* no GPIO driver on the PX4IOv1 board */ +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +/* no GPIO driver on the PX4IOv2 board */ #endif /* diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 98098c83b..f47481823 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -78,6 +78,7 @@ static const int ERROR = -1; /* register addresses */ #define ADDR_WHO_AM_I 0x0F +#define WHO_I_AM_H 0xD7 #define WHO_I_AM 0xD4 #define ADDR_CTRL_REG1 0x20 @@ -351,7 +352,7 @@ L3GD20::probe() (void)read_reg(ADDR_WHO_AM_I); /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM || read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) return OK; return -EIO; diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp new file mode 100644 index 000000000..ba7316e55 --- /dev/null +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -0,0 +1,1470 @@ +/**************************************************************************** + * + * Copyright (C) 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 + * 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 lsm303d.cpp + * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stddef.h> +#include <stdlib.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#include <nuttx/arch.h> +#include <nuttx/clock.h> + +#include <drivers/drv_hrt.h> +#include <arch/board/board.h> + +#include <drivers/device/spi.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_mag.h> + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + + + +/* register addresses: A: accel, M: mag, T: temp */ +#define ADDR_WHO_AM_I 0x0F +#define WHO_I_AM 0x49 + +#define ADDR_OUT_L_T 0x05 +#define ADDR_OUT_H_T 0x06 +#define ADDR_STATUS_M 0x07 +#define ADDR_OUT_X_L_M 0x08 +#define ADDR_OUT_X_H_M 0x09 +#define ADDR_OUT_Y_L_M 0x0A +#define ADDR_OUT_Y_H_M 0x0B +#define ADDR_OUT_Z_L_M 0x0C +#define ADDR_OUT_Z_H_M 0x0D + +#define ADDR_OUT_TEMP_A 0x26 +#define ADDR_STATUS_A 0x27 +#define ADDR_OUT_X_L_A 0x28 +#define ADDR_OUT_X_H_A 0x29 +#define ADDR_OUT_Y_L_A 0x2A +#define ADDR_OUT_Y_H_A 0x2B +#define ADDR_OUT_Z_L_A 0x2C +#define ADDR_OUT_Z_H_A 0x2D + +#define ADDR_CTRL_REG0 0x1F +#define ADDR_CTRL_REG1 0x20 +#define ADDR_CTRL_REG2 0x21 +#define ADDR_CTRL_REG3 0x22 +#define ADDR_CTRL_REG4 0x23 +#define ADDR_CTRL_REG5 0x24 +#define ADDR_CTRL_REG6 0x25 +#define ADDR_CTRL_REG7 0x26 + +#define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4)) +#define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4)) +#define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4)) +#define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4)) +#define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4)) + +#define REG1_CONT_UPDATE_A (0<<3) +#define REG1_Z_ENABLE_A (1<<2) +#define REG1_Y_ENABLE_A (1<<1) +#define REG1_X_ENABLE_A (1<<0) + +#define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6)) +#define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6)) +#define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6)) +#define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6)) +#define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6)) + +#define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3)) +#define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3)) +#define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3)) +#define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3)) +#define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3)) +#define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3)) + +#define REG5_ENABLE_T (1<<7) + +#define REG5_RES_HIGH_M ((1<<6) | (1<<5)) +#define REG5_RES_LOW_M ((0<<6) | (0<<5)) + +#define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2)) +#define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2)) +#define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2)) +#define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2)) +#define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2)) +#define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2)) +#define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2)) +#define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2)) + +#define REG6_FULL_SCALE_BITS_M ((1<<7) | (1<<6)) +#define REG6_FULL_SCALE_2GA_M ((0<<7) | (0<<6)) +#define REG6_FULL_SCALE_4GA_M ((0<<7) | (1<<6)) +#define REG6_FULL_SCALE_8GA_M ((1<<7) | (0<<6)) +#define REG6_FULL_SCALE_12GA_M ((1<<7) | (1<<6)) + +#define REG7_CONT_MODE_M ((0<<1) | (0<<0)) + + +#define INT_CTRL_M 0x12 +#define INT_SRC_M 0x13 + + +extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } + + +class LSM303D_mag; + +class LSM303D : public device::SPI +{ +public: + LSM303D(int bus, const char* path, spi_dev_e device); + virtual ~LSM303D(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + + friend class LSM303D_mag; + + virtual ssize_t mag_read(struct file *filp, char *buffer, size_t buflen); + virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + + LSM303D_mag *_mag; + + struct hrt_call _accel_call; + struct hrt_call _mag_call; + + unsigned _call_accel_interval; + unsigned _call_mag_interval; + + unsigned _num_accel_reports; + volatile unsigned _next_accel_report; + volatile unsigned _oldest_accel_report; + struct accel_report *_accel_reports; + + struct accel_scale _accel_scale; + float _accel_range_scale; + float _accel_range_m_s2; + orb_advert_t _accel_topic; + + unsigned _num_mag_reports; + volatile unsigned _next_mag_report; + volatile unsigned _oldest_mag_report; + struct mag_report *_mag_reports; + + struct mag_scale _mag_scale; + float _mag_range_scale; + float _mag_range_ga; + orb_advert_t _mag_topic; + + perf_counter_t _accel_sample_perf; + perf_counter_t _mag_sample_perf; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Static trampoline for the mag because it runs at a lower rate + * + * @param arg Instance pointer for the driver that is polling. + */ + static void mag_measure_trampoline(void *arg); + + /** + * Fetch accel measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Fetch mag measurements from the sensor and update the report ring. + */ + void mag_measure(); + + /** + * Read a register from the LSM303D + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + + /** + * Write a register in the LSM303D + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the LSM303D + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the LSM303D accel measurement range. + * + * @param max_g The measurement range of the accel is in g (9.81m/s^2) + * Zero selects the maximum supported range. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_range(unsigned max_g); + + /** + * Set the LSM303D mag measurement range. + * + * @param max_ga The measurement range of the mag is in Ga + * Zero selects the maximum supported range. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int mag_set_range(unsigned max_g); + + /** + * Set the LSM303D accel anti-alias filter. + * + * @param bandwidth The anti-alias filter bandwidth in Hz + * Zero selects the highest bandwidth + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_antialias_filter_bandwidth(unsigned bandwith); + + /** + * Get the LSM303D accel anti-alias filter. + * + * @param bandwidth The anti-alias filter bandwidth in Hz + * @return OK if the value was read and supported, ERROR otherwise. + */ + int get_antialias_filter_bandwidth(unsigned &bandwidth); + + /** + * Set the LSM303D internal accel sampling frequency. + * + * @param frequency The internal accel sampling frequency is set to not less than + * this value. + * Zero selects the maximum rate supported. + * @return OK if the value can be supported. + */ + int set_samplerate(unsigned frequency); + + /** + * Set the LSM303D internal mag sampling frequency. + * + * @param frequency The internal mag sampling frequency is set to not less than + * this value. + * Zero selects the maximum rate supported. + * @return OK if the value can be supported. + */ + int mag_set_samplerate(unsigned frequency); +}; + +/** + * Helper class implementing the mag driver node. + */ +class LSM303D_mag : public device::CDev +{ +public: + LSM303D_mag(LSM303D *parent); + ~LSM303D_mag(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +protected: + friend class LSM303D; + + void parent_poll_notify(); +private: + LSM303D *_parent; + + void measure(); + + void measure_trampoline(void *arg); +}; + + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + + +LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : + SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000), + _mag(new LSM303D_mag(this)), + _call_accel_interval(0), + _call_mag_interval(0), + _num_accel_reports(0), + _next_accel_report(0), + _oldest_accel_report(0), + _accel_reports(nullptr), + _accel_range_scale(0.0f), + _accel_range_m_s2(0.0f), + _accel_topic(-1), + _num_mag_reports(0), + _next_mag_report(0), + _oldest_mag_report(0), + _mag_reports(nullptr), + _mag_range_scale(0.0f), + _mag_range_ga(0.0f), + _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), + _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")) +{ + // enable debug() calls + _debug_enabled = true; + + _mag_range_scale = 12.0f/32767.0f; + + // default scale factors + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + _mag_scale.x_offset = 0; + _mag_scale.x_scale = 1.0f; + _mag_scale.y_offset = 0; + _mag_scale.y_scale = 1.0f; + _mag_scale.z_offset = 0; + _mag_scale.z_scale = 1.0f; +} + +LSM303D::~LSM303D() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_accel_reports != nullptr) + delete[] _accel_reports; + if (_mag_reports != nullptr) + delete[] _mag_reports; + + delete _mag; + + /* delete the perf counter */ + perf_free(_accel_sample_perf); + perf_free(_mag_sample_perf); +} + +int +LSM303D::init() +{ + int ret = ERROR; + int mag_ret; + int fd_mag; + + /* do SPI init (and probe) first */ + if (SPI::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_accel_reports = 2; + _oldest_accel_report = _next_accel_report = 0; + _accel_reports = new struct accel_report[_num_accel_reports]; + + if (_accel_reports == nullptr) + goto out; + + /* advertise accel topic */ + memset(&_accel_reports[0], 0, sizeof(_accel_reports[0])); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]); + + _num_mag_reports = 2; + _oldest_mag_report = _next_mag_report = 0; + _mag_reports = new struct mag_report[_num_mag_reports]; + + if (_mag_reports == nullptr) + goto out; + + /* advertise mag topic */ + memset(&_mag_reports[0], 0, sizeof(_mag_reports[0])); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]); + + /* enable accel, XXX do this with an ioctl? */ + write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A); + + /* enable mag, XXX do this with an ioctl? */ + write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); + write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + + /* XXX should we enable FIFO? */ + + set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */ + set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */ + set_samplerate(400); /* max sample rate */ + + mag_set_range(4); /* XXX: take highest sensor range of 12GA? */ + mag_set_samplerate(100); + + /* XXX test this when another mag is used */ + /* do CDev init for the mag device node, keep it optional */ + mag_ret = _mag->init(); + + if (mag_ret != OK) { + _mag_topic = -1; + } + + ret = OK; +out: + return ret; +} + +int +LSM303D::probe() +{ + /* read dummy value to void to clear SPI statemachine on sensor */ + (void)read_reg(ADDR_WHO_AM_I); + + /* verify that the device is attached and functioning */ + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + return OK; + + return -EIO; +} + +ssize_t +LSM303D::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct accel_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_accel_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_accel_report != _next_accel_report) { + memcpy(buffer, _accel_reports + _oldest_accel_report, sizeof(*_accel_reports)); + ret += sizeof(_accel_reports[0]); + INCREMENT(_oldest_accel_report, _num_accel_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_accel_report = _next_accel_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _accel_reports, sizeof(*_accel_reports)); + ret = sizeof(*_accel_reports); + + return ret; +} + +ssize_t +LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct mag_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_mag_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_mag_report != _next_mag_report) { + memcpy(buffer, _mag_reports + _oldest_mag_report, sizeof(*_mag_reports)); + ret += sizeof(_mag_reports[0]); + INCREMENT(_oldest_mag_report, _num_mag_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_mag_report = _next_mag_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _mag_reports, sizeof(*_mag_reports)); + ret = sizeof(*_mag_reports); + + return ret; +} + +int +LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_accel_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + + return ioctl(filp, SENSORIOCSPOLLRATE, 1600); + + case SENSOR_POLLRATE_DEFAULT: + /* With internal low pass filters enabled, 250 Hz is sufficient */ + /* XXX for vibration tests with 800 Hz */ + return ioctl(filp, SENSORIOCSPOLLRATE, 800); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_accel_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* adjust sample rate of sensor */ + set_samplerate(arg); + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _accel_call.period = _call_accel_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_accel_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_accel_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* account for sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct accel_report *buf = new struct accel_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _accel_reports; + _num_accel_reports = arg; + _accel_reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_accel_reports - 1; + + case SENSORIOCRESET: + /* XXX implement */ + return -EINVAL; + +// case ACCELIOCSLOWPASS: + case ACCELIOCGLOWPASS: + + unsigned bandwidth; + + if (OK == get_antialias_filter_bandwidth(bandwidth)) + return bandwidth; + else + return -EINVAL; + + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_mag_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + /* 50 Hz is max for mag */ + return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_mag_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* adjust sample rate of sensor */ + mag_set_samplerate(arg); + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _mag_call.period = _call_mag_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_mag_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_mag_interval; + case SENSORIOCSQUEUEDEPTH: + case SENSORIOCGQUEUEDEPTH: + case SENSORIOCRESET: + return ioctl(filp, cmd, arg); + + case MAGIOCSSAMPLERATE: +// case MAGIOCGSAMPLERATE: + /* XXX not implemented */ + return -EINVAL; + + case MAGIOCSLOWPASS: +// case MAGIOCGLOWPASS: + /* XXX not implemented */ +// _set_dlpf_filter((uint16_t)arg); + return -EINVAL; + + case MAGIOCSSCALE: + /* copy scale in */ + memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale)); + return OK; + + case MAGIOCGSCALE: + /* copy scale out */ + memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale)); + return OK; + + case MAGIOCSRANGE: +// case MAGIOCGRANGE: + /* XXX not implemented */ + // XXX change these two values on set: + // _mag_range_scale = xx + // _mag_range_ga = xx + return -EINVAL; + + case MAGIOCSELFTEST: + /* XXX not implemented */ +// return self_test(); + return -EINVAL; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +LSM303D::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +void +LSM303D::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +LSM303D::set_range(unsigned max_g) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG2_FULL_SCALE_BITS_A; + float new_range = 0.0f; + + if (max_g == 0) + max_g = 16; + + if (max_g <= 2) { + new_range = 2.0f; + setbits |= REG2_FULL_SCALE_2G_A; + + } else if (max_g <= 4) { + new_range = 4.0f; + setbits |= REG2_FULL_SCALE_4G_A; + + } else if (max_g <= 6) { + new_range = 6.0f; + setbits |= REG2_FULL_SCALE_6G_A; + + } else if (max_g <= 8) { + new_range = 8.0f; + setbits |= REG2_FULL_SCALE_8G_A; + + } else if (max_g <= 16) { + new_range = 16.0f; + setbits |= REG2_FULL_SCALE_16G_A; + + } else { + return -EINVAL; + } + + _accel_range_m_s2 = new_range * 9.80665f; + _accel_range_scale = _accel_range_m_s2 / 32768.0f; + + modify_reg(ADDR_CTRL_REG2, clearbits, setbits); + + return OK; +} + +int +LSM303D::mag_set_range(unsigned max_ga) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG6_FULL_SCALE_BITS_M; + float new_range = 0.0f; + + if (max_ga == 0) + max_ga = 12; + + if (max_ga <= 2) { + new_range = 2.0f; + setbits |= REG6_FULL_SCALE_2GA_M; + + } else if (max_ga <= 4) { + new_range = 4.0f; + setbits |= REG6_FULL_SCALE_4GA_M; + + } else if (max_ga <= 8) { + new_range = 8.0f; + setbits |= REG6_FULL_SCALE_8GA_M; + + } else if (max_ga <= 12) { + new_range = 12.0f; + setbits |= REG6_FULL_SCALE_12GA_M; + + } else { + return -EINVAL; + } + + _mag_range_ga = new_range; + _mag_range_scale = _mag_range_ga / 32768.0f; + + modify_reg(ADDR_CTRL_REG6, clearbits, setbits); + + return OK; +} + +int +LSM303D::set_antialias_filter_bandwidth(unsigned bandwidth) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; + + if (bandwidth == 0) + bandwidth = 773; + + if (bandwidth <= 50) { + setbits |= REG2_AA_FILTER_BW_50HZ_A; + + } else if (bandwidth <= 194) { + setbits |= REG2_AA_FILTER_BW_194HZ_A; + + } else if (bandwidth <= 362) { + setbits |= REG2_AA_FILTER_BW_362HZ_A; + + } else if (bandwidth <= 773) { + setbits |= REG2_AA_FILTER_BW_773HZ_A; + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG2, clearbits, setbits); + + return OK; +} + +int +LSM303D::get_antialias_filter_bandwidth(unsigned &bandwidth) +{ + uint8_t readbits = read_reg(ADDR_CTRL_REG2); + + if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_50HZ_A) + bandwidth = 50; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_194HZ_A) + bandwidth = 194; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_362HZ_A) + bandwidth = 362; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_773HZ_A) + bandwidth = 773; + else + return ERROR; + + return OK; +} + +int +LSM303D::set_samplerate(unsigned frequency) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG1_RATE_BITS_A; + + if (frequency == 0) + frequency = 1600; + + if (frequency <= 100) { + setbits |= REG1_RATE_100HZ_A; + + } else if (frequency <= 200) { + setbits |= REG1_RATE_200HZ_A; + + } else if (frequency <= 400) { + setbits |= REG1_RATE_400HZ_A; + + } else if (frequency <= 800) { + setbits |= REG1_RATE_800HZ_A; + + } else if (frequency <= 1600) { + setbits |= REG1_RATE_1600HZ_A; + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG1, clearbits, setbits); + + return OK; +} + +int +LSM303D::mag_set_samplerate(unsigned frequency) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG5_RATE_BITS_M; + + if (frequency == 0) + frequency = 100; + + if (frequency <= 25) { + setbits |= REG5_RATE_25HZ_M; + + } else if (frequency <= 50) { + setbits |= REG5_RATE_50HZ_M; + + } else if (frequency <= 100) { + setbits |= REG5_RATE_100HZ_M; + + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG5, clearbits, setbits); + + return OK; +} + +void +LSM303D::start() +{ + /* make sure we are stopped first */ + stop(); + + /* reset the report ring */ + _oldest_accel_report = _next_accel_report = 0; + _oldest_mag_report = _next_mag_report = 0; + + /* start polling at the specified rate */ + hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this); + hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this); +} + +void +LSM303D::stop() +{ + hrt_cancel(&_accel_call); + hrt_cancel(&_mag_call); +} + +void +LSM303D::measure_trampoline(void *arg) +{ + LSM303D *dev = (LSM303D *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +LSM303D::mag_measure_trampoline(void *arg) +{ + LSM303D *dev = (LSM303D *)arg; + + /* make another measurement */ + dev->mag_measure(); +} + +void +LSM303D::measure() +{ + /* status register and data as read back from the device */ + +#pragma pack(push, 1) + struct { + uint8_t cmd; + uint8_t status; + int16_t x; + int16_t y; + int16_t z; + } raw_accel_report; +#pragma pack(pop) + + accel_report *accel_report = &_accel_reports[_next_accel_report]; + + /* start the performance counter */ + perf_begin(_accel_sample_perf); + + /* fetch data from the sensor */ + raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; + transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + accel_report->timestamp = hrt_absolute_time(); + + accel_report->x_raw = raw_accel_report.x; + accel_report->y_raw = raw_accel_report.y; + accel_report->z_raw = raw_accel_report.z; + + accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + accel_report->scaling = _accel_range_scale; + accel_report->range_m_s2 = _accel_range_m_s2; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_accel_report, _num_accel_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_accel_report == _oldest_accel_report) + INCREMENT(_oldest_accel_report, _num_accel_reports); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, accel_report); + + /* stop the perf counter */ + perf_end(_accel_sample_perf); +} + +void +LSM303D::mag_measure() +{ + /* status register and data as read back from the device */ +#pragma pack(push, 1) + struct { + uint8_t cmd; + uint8_t status; + int16_t x; + int16_t y; + int16_t z; + } raw_mag_report; +#pragma pack(pop) + + mag_report *mag_report = &_mag_reports[_next_mag_report]; + + /* start the performance counter */ + perf_begin(_mag_sample_perf); + + /* fetch data from the sensor */ + raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; + transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + mag_report->timestamp = hrt_absolute_time(); + + mag_report->x_raw = raw_mag_report.x; + mag_report->y_raw = raw_mag_report.y; + mag_report->z_raw = raw_mag_report.z; + mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; + mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; + mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; + mag_report->scaling = _mag_range_scale; + mag_report->range_ga = _mag_range_ga; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_mag_report, _num_mag_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_mag_report == _oldest_mag_report) + INCREMENT(_oldest_mag_report, _num_mag_reports); + + /* XXX please check this poll_notify, is it the right one? */ + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, mag_report); + + /* stop the perf counter */ + perf_end(_mag_sample_perf); +} + +void +LSM303D::print_info() +{ + perf_print_counter(_accel_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_accel_reports, _oldest_accel_report, _next_accel_report, _accel_reports); + perf_print_counter(_mag_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_mag_reports, _oldest_mag_report, _next_mag_report, _mag_reports); +} + +LSM303D_mag::LSM303D_mag(LSM303D *parent) : + CDev("LSM303D_mag", MAG_DEVICE_PATH), + _parent(parent) +{ +} + +LSM303D_mag::~LSM303D_mag() +{ +} + +void +LSM303D_mag::parent_poll_notify() +{ + poll_notify(POLLIN); +} + +ssize_t +LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen) +{ + return _parent->mag_read(filp, buffer, buflen); +} + +int +LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + return _parent->mag_ioctl(filp, cmd, arg); +} + +void +LSM303D_mag::measure() +{ + _parent->mag_measure(); +} + +void +LSM303D_mag::measure_trampoline(void *arg) +{ + _parent->mag_measure_trampoline(arg); +} + +/** + * Local functions in support of the shell command. + */ +namespace lsm303d +{ + +LSM303D *g_dev; + +void start(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd, fd_mag; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + + /* don't fail if open cannot be opened */ + if (0 <= fd_mag) { + if (ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + } + + + exit(0); +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd_accel = -1; + struct accel_report a_report; + ssize_t sz; + int filter_bandwidth; + + /* get the driver */ + fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd_accel < 0) + err(1, "%s open failed", ACCEL_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd_accel, &a_report, sizeof(a_report)); + + if (sz != sizeof(a_report)) + err(1, "immediate read failed"); + + + warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x); + warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y); + warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z); + warnx("accel x: \t%d\traw", (int)a_report.x_raw); + warnx("accel y: \t%d\traw", (int)a_report.y_raw); + warnx("accel z: \t%d\traw", (int)a_report.z_raw); + + warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2); + if (ERROR == (filter_bandwidth = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) + warnx("accel antialias filter bandwidth: fail"); + else + warnx("accel antialias filter bandwidth: %d Hz", filter_bandwidth); + + int fd_mag = -1; + struct mag_report m_report; + + /* get the driver */ + fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd_mag < 0) + err(1, "%s open failed", MAG_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd_mag, &m_report, sizeof(m_report)); + + if (sz != sizeof(m_report)) + err(1, "immediate read failed"); + + warnx("mag x: \t% 9.5f\tga", (double)m_report.x); + warnx("mag y: \t% 9.5f\tga", (double)m_report.y); + warnx("mag z: \t% 9.5f\tga", (double)m_report.z); + warnx("mag x: \t%d\traw", (int)m_report.x_raw); + warnx("mag y: \t%d\traw", (int)m_report.y_raw); + warnx("mag z: \t%d\traw", (int)m_report.z_raw); + warnx("mag range: %8.4f ga", (double)m_report.range_ga); + + /* XXX add poll-rate tests here too */ + +// reset(); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running\n"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + + +} // namespace + +int +lsm303d_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + + */ + if (!strcmp(argv[1], "start")) + lsm303d::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + lsm303d::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + lsm303d::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + lsm303d::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk new file mode 100644 index 000000000..e93b1e331 --- /dev/null +++ b/src/drivers/lsm303d/module.mk @@ -0,0 +1,6 @@ +# +# LSM303D accel/mag driver +# + +MODULE_COMMAND = lsm303d +SRCS = lsm303d.cpp diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk index 3c4b0f093..20f8aa173 100644 --- a/src/drivers/ms5611/module.mk +++ b/src/drivers/ms5611/module.mk @@ -37,4 +37,4 @@ MODULE_COMMAND = ms5611 -SRCS = ms5611.cpp +SRCS = ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 59ab5936e..9d9888a90 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -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 @@ -33,13 +33,11 @@ /** * @file ms5611.cpp - * Driver for the MS5611 barometric pressure sensor connected via I2C. + * Driver for the MS5611 barometric pressure sensor connected via I2C or SPI. */ #include <nuttx/config.h> -#include <drivers/device/i2c.h> - #include <sys/types.h> #include <stdint.h> #include <stdbool.h> @@ -59,12 +57,14 @@ #include <arch/board/board.h> +#include <drivers/device/device.h> +#include <drivers/drv_baro.h> #include <drivers/drv_hrt.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> -#include <drivers/drv_baro.h> +#include "ms5611.h" /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -76,35 +76,25 @@ static const int ERROR = -1; # error This requires CONFIG_SCHED_WORKQUEUE. #endif -/** - * Calibration PROM as reported by the device. - */ -#pragma pack(push,1) -struct ms5611_prom_s { - uint16_t factory_setup; - uint16_t c1_pressure_sens; - uint16_t c2_pressure_offset; - uint16_t c3_temp_coeff_pres_sens; - uint16_t c4_temp_coeff_pres_offset; - uint16_t c5_reference_temp; - uint16_t c6_temp_coeff_temp; - uint16_t serial_and_crc; -}; +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) -/** - * Grody hack for crc4() +/* helper macro for arithmetic - returns the square of the argument */ +#define POW2(_x) ((_x) * (_x)) + +/* + * MS5611 internal constants and data structures. */ -union ms5611_prom_u { - uint16_t c[8]; - struct ms5611_prom_s s; -}; -#pragma pack(pop) -class MS5611 : public device::I2C +/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ +#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ +#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ + +class MS5611 : public device::CDev { public: - MS5611(int bus); - virtual ~MS5611(); + MS5611(device::Device *interface, ms5611::prom_u &prom_buf); + ~MS5611(); virtual int init(); @@ -117,10 +107,9 @@ public: void print_info(); protected: - virtual int probe(); + Device *_interface; -private: - union ms5611_prom_u _prom; + ms5611::prom_s _prom; struct work_s _work; unsigned _measure_ticks; @@ -149,16 +138,7 @@ private: perf_counter_t _buffer_overflows; /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. + * Initialize the automatic measurement state machine and start it. * * @note This function is called at open and error time. It might make sense * to make it more aggressive about resetting the bus in case of errors. @@ -198,70 +178,23 @@ private: * * @return OK if the measurement command was successful. */ - int measure(); + virtual int measure(); /** * Collect the result of the most recent measurement. */ - int collect(); - - /** - * Send a reset command to the MS5611. - * - * This is required after any bus reset. - */ - int cmd_reset(); - - /** - * Read the MS5611 PROM - * - * @return OK if the PROM reads successfully. - */ - int read_prom(); - - /** - * PROM CRC routine ported from MS5611 application note - * - * @param n_prom Pointer to words read from PROM. - * @return True if the CRC matches. - */ - bool crc4(uint16_t *n_prom); - + virtual int collect(); }; -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* helper macro for arithmetic - returns the square of the argument */ -#define POW2(_x) ((_x) * (_x)) - -/* - * MS5611 internal constants and data structures. - */ - -/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ -#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ -#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ - -#define MS5611_BUS PX4_I2C_BUS_ONBOARD -#define MS5611_ADDRESS_1 PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */ -#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ - -#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ -#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ -#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ -#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ -#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ -#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ - /* * Driver 'main' command. */ extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); - -MS5611::MS5611(int bus) : - I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000), +MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : + CDev("MS5611", BARO_DEVICE_PATH), + _interface(interface), + _prom(prom_buf.s), _measure_ticks(0), _num_reports(0), _next_report(0), @@ -279,10 +212,7 @@ MS5611::MS5611(int bus) : _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) { - // enable debug() calls - _debug_enabled = true; - - // work_cancel in the dtor will explode if we don't do this... + // work_cancel in stop_cycle called from the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); } @@ -294,23 +224,30 @@ MS5611::~MS5611() /* free any existing reports */ if (_reports != nullptr) delete[] _reports; + + delete _interface; } int MS5611::init() { - int ret = ERROR; + int ret; - /* do I2C init (and probe) first */ - if (I2C::init() != OK) + ret = CDev::init(); + if (ret != OK) { + debug("CDev init failed"); goto out; + } /* allocate basic report buffers */ _num_reports = 2; _reports = new struct baro_report[_num_reports]; - if (_reports == nullptr) + if (_reports == nullptr) { + debug("can't get memory for reports"); + ret = -ENOMEM; goto out; + } _oldest_report = _next_report = 0; @@ -318,49 +255,17 @@ MS5611::init() memset(&_reports[0], 0, sizeof(_reports[0])); _baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]); - if (_baro_topic < 0) + if (_baro_topic < 0) { debug("failed to create sensor_baro object"); + ret = -ENOSPC; + goto out; + } ret = OK; out: return ret; } -int -MS5611::probe() -{ - _retries = 10; - - if ((OK == probe_address(MS5611_ADDRESS_1)) || - (OK == probe_address(MS5611_ADDRESS_2))) { - /* - * Disable retries; we may enable them selectively in some cases, - * but the device gets confused if we retry some of the commands. - */ - _retries = 0; - return OK; - } - - return -EIO; -} - -int -MS5611::probe_address(uint8_t address) -{ - /* select the address we are going to try */ - set_address(address); - - /* send reset command */ - if (OK != cmd_reset()) - return -EIO; - - /* read PROM */ - if (OK != read_prom()) - return -EIO; - - return OK; -} - ssize_t MS5611::read(struct file *filp, char *buffer, size_t buflen) { @@ -546,8 +451,9 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) break; } - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); + /* give it to the bus-specific superclass */ + // return bus_ioctl(filp, cmd, arg); + return CDev::ioctl(filp, cmd, arg); } void @@ -572,7 +478,7 @@ MS5611::stop_cycle() void MS5611::cycle_trampoline(void *arg) { - MS5611 *dev = (MS5611 *)arg; + MS5611 *dev = reinterpret_cast<MS5611 *>(arg); dev->cycle(); } @@ -592,7 +498,7 @@ MS5611::cycle() /* * The ms5611 seems to regularly fail to respond to * its address; this happens often enough that we'd rather not - * spam the console with the message. + * spam the console with a message for this. */ } else { //log("collection error %d", ret); @@ -654,17 +560,12 @@ MS5611::measure() /* * In phase zero, request temperature; in other phases, request pressure. */ - uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; + unsigned addr = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; /* * Send the command to begin measuring. - * - * Disable retries on this command; we can't know whether failure - * means the device did or did not see the write. */ - _retries = 0; - ret = transfer(&cmd_data, 1, nullptr, 0); - + ret = _interface->ioctl(IOCTL_MEASURE, addr); if (OK != ret) perf_count(_comms_errors); @@ -677,47 +578,33 @@ int MS5611::collect() { int ret; - uint8_t cmd; - uint8_t data[3]; - union { - uint8_t b[4]; - uint32_t w; - } cvt; - - /* read the most recent measurement */ - cmd = 0; + uint32_t raw; perf_begin(_sample_perf); /* this should be fairly close to the end of the conversion, so the best approximation of the time */ _reports[_next_report].timestamp = hrt_absolute_time(); - ret = transfer(&cmd, 1, &data[0], 3); - if (ret != OK) { + /* read the most recent measurement - read offset/size are hardcoded in the interface */ + ret = _interface->read(0, (void *)&raw, 0); + if (ret < 0) { perf_count(_comms_errors); perf_end(_sample_perf); return ret; } - /* fetch the raw value */ - cvt.b[0] = data[2]; - cvt.b[1] = data[1]; - cvt.b[2] = data[0]; - cvt.b[3] = 0; - uint32_t raw = cvt.w; - /* handle a measurement */ if (_measure_phase == 0) { /* temperature offset (in ADC units) */ - int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8); + int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8); /* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */ - _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23); + _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23); /* base sensor scale/offset values */ - _SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8); - _OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7); + _SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8); + _OFF = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7); /* temperature compensation */ if (_TEMP < 2000) { @@ -761,30 +648,7 @@ MS5611::collect() * double precision: ms5611_read: 992 events, 258641us elapsed, min 202us max 305us * single precision: ms5611_read: 963 events, 208066us elapsed, min 202us max 241us */ -#if 0/* USE_FLOAT */ - /* tropospheric properties (0-11km) for standard atmosphere */ - const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */ - const float a = -6.5f / 1000f; /* temperature gradient in degrees per metre */ - const float g = 9.80665f; /* gravity constant in m/s/s */ - const float R = 287.05f; /* ideal gas constant in J/kg/K */ - - /* current pressure at MSL in kPa */ - float p1 = _msl_pressure / 1000.0f; - - /* measured pressure in kPa */ - float p = P / 1000.0f; - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - _reports[_next_report].altitude = (((powf((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#else /* tropospheric properties (0-11km) for standard atmosphere */ const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ @@ -807,7 +671,7 @@ MS5611::collect() * a */ _reports[_next_report].altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#endif + /* publish it */ orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]); @@ -832,55 +696,49 @@ MS5611::collect() return OK; } -int -MS5611::cmd_reset() +void +MS5611::print_info() { - unsigned old_retrycount = _retries; - uint8_t cmd = ADDR_RESET_CMD; - int result; - - /* bump the retry count */ - _retries = 10; - result = transfer(&cmd, 1, nullptr, 0); - _retries = old_retrycount; + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); + printf("TEMP: %d\n", _TEMP); + printf("SENS: %lld\n", _SENS); + printf("OFF: %lld\n", _OFF); + printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - return result; + printf("factory_setup %u\n", _prom.factory_setup); + printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens); + printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset); + printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens); + printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset); + printf("c5_reference_temp %u\n", _prom.c5_reference_temp); + printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp); + printf("serial_and_crc %u\n", _prom.serial_and_crc); } -int -MS5611::read_prom() +/** + * Local functions in support of the shell command. + */ +namespace ms5611 { - uint8_t prom_buf[2]; - union { - uint8_t b[2]; - uint16_t w; - } cvt; - - /* - * Wait for PROM contents to be in the device (2.8 ms) in the case we are - * called immediately after reset. - */ - usleep(3000); - /* read and convert PROM words */ - for (int i = 0; i < 8; i++) { - uint8_t cmd = ADDR_PROM_SETUP + (i * 2); - - if (OK != transfer(&cmd, 1, &prom_buf[0], 2)) - break; - - /* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */ - cvt.b[0] = prom_buf[1]; - cvt.b[1] = prom_buf[0]; - _prom.c[i] = cvt.w; - } +MS5611 *g_dev; - /* calculate CRC and return success/failure accordingly */ - return crc4(&_prom.c[0]) ? OK : -EIO; -} +void start(); +void test(); +void reset(); +void info(); +void calibrate(unsigned altitude); +/** + * MS5611 crc4 cribbed from the datasheet + */ bool -MS5611::crc4(uint16_t *n_prom) +crc4(uint16_t *n_prom) { int16_t cnt; uint16_t n_rem; @@ -922,43 +780,6 @@ MS5611::crc4(uint16_t *n_prom) return (0x000F & crc_read) == (n_rem ^ 0x00); } -void -MS5611::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); - printf("TEMP: %d\n", _TEMP); - printf("SENS: %lld\n", _SENS); - printf("OFF: %lld\n", _OFF); - printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - - printf("factory_setup %u\n", _prom.s.factory_setup); - printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens); - printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset); - printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens); - printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset); - printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp); - printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp); - printf("serial_and_crc %u\n", _prom.s.serial_and_crc); -} - -/** - * Local functions in support of the shell command. - */ -namespace ms5611 -{ - -MS5611 *g_dev; - -void start(); -void test(); -void reset(); -void info(); -void calibrate(unsigned altitude); /** * Start the driver. @@ -967,27 +788,45 @@ void start() { int fd; + prom_u prom_buf; if (g_dev != nullptr) errx(1, "already started"); - /* create the driver */ - g_dev = new MS5611(MS5611_BUS); + device::Device *interface = nullptr; - if (g_dev == nullptr) - goto fail; + /* create the driver, try SPI first, fall back to I2C if unsuccessful */ + if (MS5611_spi_interface != nullptr) + interface = MS5611_spi_interface(prom_buf); + if (interface == nullptr && (MS5611_i2c_interface != nullptr)) + interface = MS5611_i2c_interface(prom_buf); - if (OK != g_dev->init()) + if (interface == nullptr) + errx(1, "failed to allocate an interface"); + + if (interface->init() != OK) { + delete interface; + errx(1, "interface init failed"); + } + + g_dev = new MS5611(interface, prom_buf); + if (g_dev == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + if (g_dev->init() != OK) goto fail; /* set the poll rate to default, starts automatic data collection */ fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) + if (fd < 0) { + warnx("can't open baro device"); goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + } + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + warnx("failed setting default poll rate"); goto fail; + } exit(0); @@ -1154,11 +993,11 @@ calibrate(unsigned altitude) const float g = 9.80665f; /* gravity constant in m/s/s */ const float R = 287.05f; /* ideal gas constant in J/kg/K */ - warnx("averaged pressure %10.4fkPa at %um", pressure, altitude); + warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude); p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); - warnx("calculated MSL pressure %10.4fkPa", p1); + warnx("calculated MSL pressure %10.4fkPa", (double)p1); /* save as integer Pa */ p1 *= 1000.0f; @@ -1211,4 +1050,4 @@ ms5611_main(int argc, char *argv[]) } errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); -} +}
\ No newline at end of file diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h new file mode 100644 index 000000000..76fb84de8 --- /dev/null +++ b/src/drivers/ms5611/ms5611.h @@ -0,0 +1,85 @@ +/**************************************************************************** + * + * 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 + * 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 ms5611.h + * + * Shared defines for the ms5611 driver. + */ + +#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ +#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ +#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ +#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ +#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ +#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ + +/* interface ioctls */ +#define IOCTL_RESET 2 +#define IOCTL_MEASURE 3 + +namespace ms5611 +{ + +/** + * Calibration PROM as reported by the device. + */ +#pragma pack(push,1) +struct prom_s { + uint16_t factory_setup; + uint16_t c1_pressure_sens; + uint16_t c2_pressure_offset; + uint16_t c3_temp_coeff_pres_sens; + uint16_t c4_temp_coeff_pres_offset; + uint16_t c5_reference_temp; + uint16_t c6_temp_coeff_temp; + uint16_t serial_and_crc; +}; + +/** + * Grody hack for crc4() + */ +union prom_u { + uint16_t c[8]; + prom_s s; +}; +#pragma pack(pop) + +extern bool crc4(uint16_t *n_prom); + +} /* namespace */ + +/* interface factories */ +extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function; +extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function; + diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp new file mode 100644 index 000000000..06867cc9d --- /dev/null +++ b/src/drivers/ms5611/ms5611_i2c.cpp @@ -0,0 +1,276 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 ms5611_i2c.cpp + * + * I2C interface for MS5611 + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <unistd.h> + +#include <arch/board/board.h> + +#include <drivers/device/i2c.h> + +#include "ms5611.h" + +#ifdef PX4_I2C_OBDEV_MS5611 + +#ifndef PX4_I2C_BUS_ONBOARD + #define MS5611_BUS 1 +#else + #define MS5611_BUS PX4_I2C_BUS_ONBOARD +#endif + +#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */ +#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ + + + +device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf); + +class MS5611_I2C : public device::I2C +{ +public: + MS5611_I2C(int bus, ms5611::prom_u &prom_buf); + virtual ~MS5611_I2C(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count); + virtual int ioctl(unsigned operation, unsigned &arg); + +protected: + virtual int probe(); + +private: + ms5611::prom_u &_prom; + + int _probe_address(uint8_t address); + + /** + * Send a reset command to the MS5611. + * + * This is required after any bus reset. + */ + int _reset(); + + /** + * Send a measure command to the MS5611. + * + * @param addr Which address to use for the measure operation. + */ + int _measure(unsigned addr); + + /** + * Read the MS5611 PROM + * + * @return OK if the PROM reads successfully. + */ + int _read_prom(); + +}; + +device::Device * +MS5611_i2c_interface(ms5611::prom_u &prom_buf) +{ + return new MS5611_I2C(MS5611_BUS, prom_buf); +} + +MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) : + I2C("MS5611_I2C", nullptr, bus, 0, 400000), + _prom(prom) +{ +} + +MS5611_I2C::~MS5611_I2C() +{ +} + +int +MS5611_I2C::init() +{ + /* this will call probe(), and thereby _probe_address */ + return I2C::init(); +} + +int +MS5611_I2C::read(unsigned offset, void *data, unsigned count) +{ + union _cvt { + uint8_t b[4]; + uint32_t w; + } *cvt = (_cvt *)data; + uint8_t buf[3]; + + /* read the most recent measurement */ + uint8_t cmd = 0; + int ret = transfer(&cmd, 1, &buf[0], 3); + if (ret == OK) { + /* fetch the raw value */ + cvt->b[0] = buf[2]; + cvt->b[1] = buf[1]; + cvt->b[2] = buf[0]; + cvt->b[3] = 0; + } + + return ret; +} + +int +MS5611_I2C::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + case IOCTL_RESET: + ret = _reset(); + break; + + case IOCTL_MEASURE: + ret = _measure(arg); + break; + + default: + ret = EINVAL; + } + + return ret; +} + +int +MS5611_I2C::probe() +{ + _retries = 10; + + if ((OK == _probe_address(MS5611_ADDRESS_1)) || + (OK == _probe_address(MS5611_ADDRESS_2))) { + /* + * Disable retries; we may enable them selectively in some cases, + * but the device gets confused if we retry some of the commands. + */ + _retries = 0; + return OK; + } + + return -EIO; +} + +int +MS5611_I2C::_probe_address(uint8_t address) +{ + /* select the address we are going to try */ + set_address(address); + + /* send reset command */ + if (OK != _reset()) + return -EIO; + + /* read PROM */ + if (OK != _read_prom()) + return -EIO; + + return OK; +} + + +int +MS5611_I2C::_reset() +{ + unsigned old_retrycount = _retries; + uint8_t cmd = ADDR_RESET_CMD; + int result; + + /* bump the retry count */ + _retries = 10; + result = transfer(&cmd, 1, nullptr, 0); + _retries = old_retrycount; + + return result; +} + +int +MS5611_I2C::_measure(unsigned addr) +{ + /* + * Disable retries on this command; we can't know whether failure + * means the device did or did not see the command. + */ + _retries = 0; + + uint8_t cmd = addr; + return transfer(&cmd, 1, nullptr, 0); +} + +int +MS5611_I2C::_read_prom() +{ + uint8_t prom_buf[2]; + union { + uint8_t b[2]; + uint16_t w; + } cvt; + + /* + * Wait for PROM contents to be in the device (2.8 ms) in the case we are + * called immediately after reset. + */ + usleep(3000); + + /* read and convert PROM words */ + for (int i = 0; i < 8; i++) { + uint8_t cmd = ADDR_PROM_SETUP + (i * 2); + + if (OK != transfer(&cmd, 1, &prom_buf[0], 2)) + break; + + /* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */ + cvt.b[0] = prom_buf[1]; + cvt.b[1] = prom_buf[0]; + _prom.c[i] = cvt.w; + } + + /* calculate CRC and return success/failure accordingly */ + return ms5611::crc4(&_prom.c[0]) ? OK : -EIO; +} + +#endif /* PX4_I2C_OBDEV_MS5611 */ diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp new file mode 100644 index 000000000..156832a61 --- /dev/null +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -0,0 +1,252 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 ms5611_spi.cpp + * + * SPI interface for MS5611 + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <unistd.h> + +#include <arch/board/board.h> + +#include <drivers/device/spi.h> + +#include "ms5611.h" + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + +#ifdef PX4_SPIDEV_BARO + +device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf); + +class MS5611_SPI : public device::SPI +{ +public: + MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf); + virtual ~MS5611_SPI(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + ms5611::prom_u &_prom; + + /** + * Send a reset command to the MS5611. + * + * This is required after any bus reset. + */ + int _reset(); + + /** + * Send a measure command to the MS5611. + * + * @param addr Which address to use for the measure operation. + */ + int _measure(unsigned addr); + + /** + * Read the MS5611 PROM + * + * @return OK if the PROM reads successfully. + */ + int _read_prom(); + + /** + * Read a 16-bit register value. + * + * @param reg The register to read. + */ + uint16_t _reg16(unsigned reg); +}; + +device::Device * +MS5611_spi_interface(ms5611::prom_u &prom_buf) +{ + return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); +} + +MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : + SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000), + _prom(prom_buf) +{ +} + +MS5611_SPI::~MS5611_SPI() +{ +} + +int +MS5611_SPI::init() +{ + int ret; + + ret = SPI::init(); + if (ret != OK) { + debug("SPI init failed"); + goto out; + } + + /* send reset command */ + ret = _reset(); + if (ret != OK) { + debug("reset failed"); + goto out; + } + + /* read PROM */ + ret = _read_prom(); + if (ret != OK) { + debug("prom readout failed"); + goto out; + } + +out: + return ret; +} + +int +MS5611_SPI::read(unsigned offset, void *data, unsigned count) +{ + union _cvt { + uint8_t b[4]; + uint32_t w; + } *cvt = (_cvt *)data; + uint8_t buf[4]; + + /* read the most recent measurement */ + buf[0] = 0 | DIR_WRITE; + int ret = transfer(&buf[0], &buf[0], sizeof(buf)); + + if (ret == OK) { + /* fetch the raw value */ + cvt->b[0] = buf[3]; + cvt->b[1] = buf[2]; + cvt->b[2] = buf[1]; + cvt->b[3] = 0; + + ret = count; + } + + return ret; +} + +int +MS5611_SPI::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + case IOCTL_RESET: + ret = _reset(); + break; + + case IOCTL_MEASURE: + ret = _measure(arg); + break; + + default: + ret = EINVAL; + } + + if (ret != OK) { + errno = ret; + return -1; + } + return 0; +} + +int +MS5611_SPI::_reset() +{ + uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE; + + return transfer(&cmd, nullptr, 1); +} + +int +MS5611_SPI::_measure(unsigned addr) +{ + uint8_t cmd = addr | DIR_WRITE; + + return transfer(&cmd, nullptr, 1); +} + + +int +MS5611_SPI::_read_prom() +{ + /* + * Wait for PROM contents to be in the device (2.8 ms) in the case we are + * called immediately after reset. + */ + usleep(3000); + + /* read and convert PROM words */ + for (int i = 0; i < 8; i++) { + uint8_t cmd = (ADDR_PROM_SETUP + (i * 2)); + _prom.c[i] = _reg16(cmd); + } + + /* calculate CRC and return success/failure accordingly */ + return ms5611::crc4(&_prom.c[0]) ? OK : -EIO; +} + +uint16_t +MS5611_SPI::_reg16(unsigned reg) +{ + uint8_t cmd[3]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return (uint16_t)(cmd[1] << 8) | cmd[2]; +} + +#endif /* PX4_SPIDEV_BARO */ diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a98b527b1..70147d56a 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -34,7 +34,7 @@ /** * @file fmu.cpp * - * Driver/configurator for the PX4 FMU multi-purpose port. + * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards. */ #include <nuttx/config.h> @@ -57,9 +57,18 @@ #include <drivers/device/device.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_gpio.h> -#include <drivers/boards/px4fmu/px4fmu_internal.h> #include <drivers/drv_hrt.h> +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) +# include <drivers/boards/px4fmu/px4fmu_internal.h> +# define FMU_HAVE_PPM +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) +# include <drivers/boards/px4fmuv2/px4fmu_internal.h> +# undef FMU_HAVE_PPM +#else +# error Unrecognised FMU board. +#endif + #include <systemlib/systemlib.h> #include <systemlib/err.h> #include <systemlib/mixer/mixer.h> @@ -71,15 +80,18 @@ #include <uORB/topics/actuator_outputs.h> #include <systemlib/err.h> -#include <systemlib/ppm_decode.h> +#ifdef FMU_HAVE_PPM +# include <systemlib/ppm_decode.h> +#endif class PX4FMU : public device::CDev { public: enum Mode { + MODE_NONE, MODE_2PWM, MODE_4PWM, - MODE_NONE + MODE_6PWM, }; PX4FMU(); virtual ~PX4FMU(); @@ -146,6 +158,7 @@ private: }; const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, @@ -154,6 +167,22 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {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}, +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + + {0, GPIO_VDD_5V_PERIPH_EN, 0}, + {0, GPIO_VDD_3V3_SENSORS_EN, 0}, + {GPIO_VDD_BRICK_VALID, 0, 0}, + {GPIO_VDD_SERVO_VALID, 0, 0}, + {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, + {GPIO_VDD_5V_PERIPH_OC, 0, 0}, +#endif }; const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); @@ -271,9 +300,36 @@ PX4FMU::set_mode(Mode mode) * are presented on the output pins. */ switch (mode) { - case MODE_2PWM: // multi-port with flow control lines as PWM - case MODE_4PWM: // multi-port as 4 PWM outs - debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); + case MODE_2PWM: // v1 multi-port with flow control lines as PWM + debug("MODE_2PWM"); + + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0x3); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + + break; + + case MODE_4PWM: // v1 multi-port as 4 PWM outs + debug("MODE_4PWM"); + + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0xf); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + + break; + + case MODE_6PWM: // v2 PWMs as 6 PWM outs + debug("MODE_6PWM"); /* default output rates */ _pwm_default_rate = 50; @@ -281,7 +337,7 @@ PX4FMU::set_mode(Mode mode) _pwm_alt_rate_channels = 0; /* XXX magic numbers */ - up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); + up_pwm_servo_init(0x3f); set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); break; @@ -399,14 +455,14 @@ PX4FMU::task_main() fds[1].fd = _t_armed; fds[1].events = POLLIN; - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; - +#ifdef FMU_HAVE_PPM // rc input, published to ORB struct rc_input_values rc_in; orb_advert_t to_input_rc = 0; memset(&rc_in, 0, sizeof(rc_in)); rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; +#endif log("starting"); @@ -460,6 +516,23 @@ PX4FMU::task_main() /* can we mix? */ if (_mixers != nullptr) { + unsigned num_outputs; + + switch (_mode) { + case MODE_2PWM: + num_outputs = 2; + break; + case MODE_4PWM: + num_outputs = 4; + break; + case MODE_6PWM: + num_outputs = 6; + break; + default: + num_outputs = 0; + break; + } + /* do mixing */ outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); outputs.timestamp = hrt_absolute_time(); @@ -512,6 +585,7 @@ PX4FMU::task_main() } } +#ifdef FMU_HAVE_PPM // see if we have new PPM input data if (ppm_last_valid_decode != rc_in.timestamp) { // we have a new PPM frame. Publish it. @@ -531,6 +605,8 @@ PX4FMU::task_main() orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); } } +#endif + } ::close(_t_actuators); @@ -579,6 +655,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) switch (_mode) { case MODE_2PWM: case MODE_4PWM: + case MODE_6PWM: ret = pwm_ioctl(filp, cmd, arg); break; @@ -623,16 +700,24 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); break; - case PWM_SERVO_SET(2): + case PWM_SERVO_SET(5): + case PWM_SERVO_SET(4): + if (_mode < MODE_6PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { + case PWM_SERVO_SET(2): + if (_mode < MODE_4PWM) { ret = -EINVAL; break; } /* FALLTHROUGH */ - case PWM_SERVO_SET(0): case PWM_SERVO_SET(1): + case PWM_SERVO_SET(0): if (arg < 2100) { up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); } else { @@ -641,16 +726,24 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; - case PWM_SERVO_GET(2): + case PWM_SERVO_GET(5): + case PWM_SERVO_GET(4): + if (_mode < MODE_6PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { + case PWM_SERVO_GET(2): + if (_mode < MODE_4PWM) { ret = -EINVAL; break; } /* FALLTHROUGH */ - case PWM_SERVO_GET(0): case PWM_SERVO_GET(1): + case PWM_SERVO_GET(0): *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); break; @@ -658,16 +751,26 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(1): case PWM_SERVO_GET_RATEGROUP(2): case PWM_SERVO_GET_RATEGROUP(3): + case PWM_SERVO_GET_RATEGROUP(4): + case PWM_SERVO_GET_RATEGROUP(5): *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { + switch (_mode) { + case MODE_6PWM: + *(unsigned *)arg = 6; + break; + case MODE_4PWM: *(unsigned *)arg = 4; - - } else { + break; + case MODE_2PWM: *(unsigned *)arg = 2; + break; + default: + ret = -EINVAL; + break; } break; @@ -743,17 +846,17 @@ ssize_t PX4FMU::write(file *filp, const char *buffer, size_t len) { unsigned count = len / 2; - uint16_t values[4]; + uint16_t values[6]; - if (count > 4) { - // we only have 4 PWM outputs on the FMU - count = 4; + if (count > 6) { + // we have at most 6 outputs + count = 6; } // allow for misaligned values - memcpy(values, buffer, count*2); + memcpy(values, buffer, count * 2); - for (uint8_t i=0; i<count; i++) { + for (uint8_t i = 0; i < count; i++) { up_pwm_servo_set(i, values[i]); } return count * 2; @@ -763,19 +866,28 @@ void PX4FMU::gpio_reset(void) { /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip - * to input mode. + * Setup default GPIO config - all pins as GPIOs, input if + * possible otherwise output if possible. */ - for (unsigned i = 0; i < _ngpio; i++) - stm32_configgpio(_gpio_tab[i].input); + for (unsigned i = 0; i < _ngpio; i++) { + if (_gpio_tab[i].input != 0) { + stm32_configgpio(_gpio_tab[i].input); + } else if (_gpio_tab[i].output != 0) { + stm32_configgpio(_gpio_tab[i].output); + } + } +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* if we have a GPIO direction control, set it to zero (input) */ stm32_gpiowrite(GPIO_GPIO_DIR, 0); stm32_configgpio(GPIO_GPIO_DIR); +#endif } void PX4FMU::gpio_set_function(uint32_t gpios, int function) { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* * 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. @@ -787,6 +899,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) if (GPIO_SET_OUTPUT == function) stm32_gpiowrite(GPIO_GPIO_DIR, 1); } +#endif /* configure selected GPIOs as required */ for (unsigned i = 0; i < _ngpio; i++) { @@ -809,9 +922,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) } } +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* flip buffer to input mode if required */ if ((GPIO_SET_INPUT == function) && (gpios & 3)) stm32_gpiowrite(GPIO_GPIO_DIR, 0); +#endif } void @@ -912,14 +1027,21 @@ fmu_new_mode(PortMode new_mode) /* nothing more to do here */ break; - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - case PORT_FULL_PWM: +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* select 4-pin PWM mode */ servo_mode = PX4FMU::MODE_4PWM; +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + servo_mode = PX4FMU::MODE_6PWM; +#endif + break; + + /* mixed modes supported on v1 board only */ +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + case PORT_FULL_SERIAL: + /* set all multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; break; case PORT_GPIO_AND_SERIAL: @@ -938,6 +1060,9 @@ fmu_new_mode(PortMode new_mode) /* select 2-pin PWM mode */ servo_mode = PX4FMU::MODE_2PWM; break; +#endif + default: + return -1; } /* adjust GPIO config for serial mode(s) */ @@ -995,6 +1120,12 @@ test(void) if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed"); + + if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed"); +#endif + close(fd); exit(0); @@ -1053,12 +1184,13 @@ fmu_main(int argc, char *argv[]) if (!strcmp(verb, "mode_gpio")) { new_mode = PORT_FULL_GPIO; - } else if (!strcmp(verb, "mode_serial")) { - new_mode = PORT_FULL_SERIAL; - } else if (!strcmp(verb, "mode_pwm")) { new_mode = PORT_FULL_PWM; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + } else if (!strcmp(verb, "mode_serial")) { + new_mode = PORT_FULL_SERIAL; + } else if (!strcmp(verb, "mode_gpio_serial")) { new_mode = PORT_GPIO_AND_SERIAL; @@ -1067,6 +1199,7 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(verb, "mode_pwm_gpio")) { new_mode = PORT_PWM_AND_GPIO; +#endif } /* was a new mode set? */ @@ -1088,6 +1221,10 @@ fmu_main(int argc, char *argv[]) fake(argc - 1, argv + 1); fprintf(stderr, "FMU: unrecognised command, try:\n"); +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + fprintf(stderr, " mode_gpio, mode_pwm\n"); +#endif exit(1); } diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk index 328e5a684..2054faa12 100644 --- a/src/drivers/px4io/module.mk +++ b/src/drivers/px4io/module.mk @@ -38,4 +38,9 @@ MODULE_COMMAND = px4io SRCS = px4io.cpp \ - uploader.cpp + px4io_uploader.cpp \ + px4io_serial.cpp \ + px4io_i2c.cpp + +# XXX prune to just get UART registers +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ae56b70b3..e9f26b0d3 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -58,7 +58,6 @@ #include <arch/board/board.h> #include <drivers/device/device.h> -#include <drivers/device/i2c.h> #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_gpio.h> @@ -83,16 +82,20 @@ #include <debug.h> #include <mavlink/mavlink_log.h> -#include "uploader.h" #include <modules/px4iofirmware/protocol.h> +#include "uploader.h" + +extern device::Device *PX4IO_i2c_interface() weak_function; +extern device::Device *PX4IO_serial_interface() weak_function; + #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) -class PX4IO : public device::I2C +class PX4IO : public device::CDev { public: - PX4IO(); + PX4IO(device::Device *interface); virtual ~PX4IO(); virtual int init(); @@ -103,8 +106,8 @@ public: /** * Set the update rate for actuator outputs from FMU to IO. * - * @param rate The rate in Hz actuator outpus are sent to IO. - * Min 10 Hz, max 400 Hz + * @param rate The rate in Hz actuator outpus are sent to IO. + * Min 10 Hz, max 400 Hz */ int set_update_rate(int rate); @@ -119,14 +122,14 @@ public: /** * Push failsafe values to IO. * - * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) - * @param len Number of channels, could up to 8 + * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) + * @param len Number of channels, could up to 8 */ int set_failsafe_values(const uint16_t *vals, unsigned len); /** - * Print the current status of IO - */ + * Print the current status of IO + */ void print_status(); inline void set_dsm_vcc_ctl(bool enable) @@ -140,7 +143,10 @@ public: }; private: + device::Device *_interface; + // XXX + unsigned _hardware; unsigned _max_actuators; unsigned _max_controls; unsigned _max_rc_input; @@ -328,8 +334,10 @@ PX4IO *g_dev; } -PX4IO::PX4IO() : - I2C("px4io", PX4IO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), +PX4IO::PX4IO(device::Device *interface) : + CDev("px4io", PX4IO_DEVICE_PATH), + _interface(interface), + _hardware(0), _max_actuators(0), _max_controls(0), _max_rc_input(0), @@ -381,6 +389,9 @@ PX4IO::~PX4IO() if (_task != -1) task_delete(_task); + if (_interface != nullptr) + delete _interface; + g_dev = nullptr; } @@ -392,31 +403,30 @@ PX4IO::init() ASSERT(_task == -1); /* do regular cdev init */ - ret = I2C::init(); + ret = CDev::init(); if (ret != OK) return ret; - /* - * Enable a couple of retries for operations to IO. - * - * Register read/write operations are intentionally idempotent - * so this is safe as designed. - */ - _retries = 2; - /* get some parameters */ + unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + if (protocol != PX4IO_PROTOCOL_VERSION) { + log("protocol/firmware mismatch"); + mavlink_log_emergency(_mavlink_fd, "[IO] protocol/firmware mismatch, abort."); + return -1; + } + _hardware = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION); _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); - _max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT); + _max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT); _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2; _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); if ((_max_actuators < 1) || (_max_actuators > 255) || - (_max_relays < 1) || (_max_relays > 255) || - (_max_transfer < 16) || (_max_transfer > 255) || + (_max_relays > 32) || + (_max_transfer < 16) || (_max_transfer > 255) || (_max_rc_input < 1) || (_max_rc_input > 255)) { - log("failed getting parameters from PX4IO"); - mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort."); + log("config read error"); + mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort."); return -1; } if (_max_rc_input > RC_INPUT_MAX_CHANNELS) @@ -590,6 +600,14 @@ PX4IO::task_main() _t_param = orb_subscribe(ORB_ID(parameter_update)); orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ + if ((_t_actuators < 0) || + (_t_armed < 0) || + (_t_vstatus < 0) || + (_t_param < 0)) { + log("subscription(s) failed"); + goto out; + } + /* poll descriptor */ pollfd fds[4]; fds[0].fd = _t_actuators; @@ -686,6 +704,7 @@ PX4IO::task_main() unlock(); +out: debug("exiting"); /* clean up the alternate device node */ @@ -968,38 +987,38 @@ int PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) { uint32_t channel_count; - int ret = OK; + int ret; /* we don't have the status bits, so input_source has to be set elsewhere */ input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN; + static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); + uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog]; + /* - * XXX Because the channel count and channel data are fetched - * separately, there is a risk of a race between the two - * that could leave us with channel data and a count that - * are out of sync. - * Fixing this would require a guarantee of atomicity from - * IO, and a single fetch for both count and channels. + * Read the channel count and the first 9 channels. * - * XXX Since IO has the input calibration info, we ought to be - * able to get the pre-fixed-up controls directly. - * - * XXX can we do this more cheaply? If we knew we had DMA, it would - * almost certainly be better to just get all the inputs... + * This should be the common case (9 channel R/C control being a reasonable upper bound). */ - channel_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); - if (channel_count == _io_reg_get_error) - return -EIO; - if (channel_count > RC_INPUT_MAX_CHANNELS) - channel_count = RC_INPUT_MAX_CHANNELS; - input_rc.channel_count = channel_count; + input_rc.timestamp = hrt_absolute_time(); + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, ®s[0], prolog + 9); + if (ret != OK) + return ret; - if (channel_count > 0) { - ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count); - if (ret == OK) - input_rc.timestamp = hrt_absolute_time(); + /* + * Get the channel count any any extra channels. This is no more expensive than reading the + * channel count once. + */ + channel_count = regs[0]; + if (channel_count > 9) { + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); + if (ret != OK) + return ret; } + input_rc.channel_count = channel_count; + memcpy(input_rc.values, ®s[prolog], channel_count * 2); + return ret; } @@ -1129,24 +1148,9 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned return -EINVAL; } - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; - - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_NORESTART; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_set: error %d", ret); + int ret = _interface->write((page << 8) | offset, (void *)values, num_values); + if (ret != num_values) + debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret); return ret; } @@ -1159,24 +1163,15 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value) int PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) { - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; - - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_READ; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); + /* range check the transfer */ + if (num_values > ((_max_transfer) / sizeof(*values))) { + debug("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2); + return -EINVAL; + } - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_get: data error %d", ret); + int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values); + if (ret != num_values) + debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret); return ret; } @@ -1270,9 +1265,9 @@ void PX4IO::print_status() { /* basic configuration */ - printf("protocol %u software %u bootloader %u buffer %uB\n", + printf("protocol %u hardware %u bootloader %u buffer %uB\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", @@ -1302,7 +1297,7 @@ PX4IO::print_status() ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : "")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); - printf("alarms 0x%04x%s%s%s%s%s%s%s\n", + printf("alarms 0x%04x%s%s%s%s%s%s%s%s\n", alarms, ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""), @@ -1310,18 +1305,26 @@ PX4IO::print_status() ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); + ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : "")); /* now clear alarms */ io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF); - printf("vbatt %u ibatt %u vbatt scale %u\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); - printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", - (double)_battery_amp_per_volt, - (double)_battery_amp_bias, - (double)_battery_mamphour_total); + if (_hardware == 1) { + printf("vbatt %u ibatt %u vbatt scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", + (double)_battery_amp_per_volt, + (double)_battery_amp_bias, + (double)_battery_mamphour_total); + } else if (_hardware == 2) { + printf("vservo %u vservo scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI)); + } printf("actuators"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); @@ -1647,14 +1650,45 @@ extern "C" __EXPORT int px4io_main(int argc, char *argv[]); namespace { +device::Device * +get_interface() +{ + device::Device *interface = nullptr; + + /* try for a serial interface */ + if (PX4IO_serial_interface != nullptr) + interface = PX4IO_serial_interface(); + if (interface != nullptr) + goto got; + + /* try for an I2C interface if we haven't got a serial one */ + if (PX4IO_i2c_interface != nullptr) + interface = PX4IO_i2c_interface(); + if (interface != nullptr) + goto got; + + errx(1, "cannot alloc interface"); + +got: + if (interface->init() != OK) { + delete interface; + errx(1, "interface init failed"); + } + + return interface; +} + void start(int argc, char *argv[]) { if (g_dev != nullptr) errx(1, "already loaded"); + /* allocate the interface */ + device::Device *interface = get_interface(); + /* create the driver - it will set g_dev */ - (void)new PX4IO(); + (void)new PX4IO(interface); if (g_dev == nullptr) errx(1, "driver alloc failed"); @@ -1824,8 +1858,19 @@ monitor(void) } } +void +if_test(unsigned mode) +{ + device::Device *interface = get_interface(); + + int result = interface->ioctl(1, mode); /* XXX magic numbers */ + delete interface; + + errx(0, "test returned %d", result); } +} /* namespace */ + int px4io_main(int argc, char *argv[]) { @@ -1836,28 +1881,85 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) start(argc - 1, argv + 1); - if (!strcmp(argv[1], "limit")) { + if (!strcmp(argv[1], "update")) { if (g_dev != nullptr) { + printf("[px4io] loaded, detaching first\n"); + /* stop the driver */ + delete g_dev; + } - if ((argc > 2)) { - g_dev->set_update_rate(atoi(argv[2])); - } else { - errx(1, "missing argument (50 - 200 Hz)"); - return 1; - } + PX4IO_Uploader *up; + const char *fn[3]; + + /* work out what we're uploading... */ + if (argc > 2) { + fn[0] = argv[2]; + fn[1] = nullptr; + + } else { + fn[0] = "/fs/microsd/px4io.bin"; + fn[1] = "/etc/px4io.bin"; + fn[2] = nullptr; + } + + up = new PX4IO_Uploader; + int ret = up->upload(&fn[0]); + delete up; + + switch (ret) { + case OK: + break; + + case -ENOENT: + errx(1, "PX4IO firmware file not found"); + + case -EEXIST: + case -EIO: + errx(1, "error updating PX4IO - check that bootloader mode is enabled"); + + case -EINVAL: + errx(1, "verify failed - retry the update"); + + case -ETIMEDOUT: + errx(1, "timed out waiting for bootloader - power-cycle and try again"); + + default: + errx(1, "unexpected error %d", ret); + } + + return ret; + } + + if (!strcmp(argv[1], "iftest")) { + if (g_dev != nullptr) + errx(1, "can't iftest when started"); + + if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0); + } + + /* commands below here require a started driver */ + + if (g_dev == nullptr) + errx(1, "not started"); + + if (!strcmp(argv[1], "limit")) { + + if ((argc > 2)) { + g_dev->set_update_rate(atoi(argv[2])); + } else { + errx(1, "missing argument (50 - 200 Hz)"); + return 1; } exit(0); } if (!strcmp(argv[1], "current")) { - if (g_dev != nullptr) { - if ((argc > 3)) { - g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); - } else { - errx(1, "missing argument (apm_per_volt, amp_offset)"); - return 1; - } + if ((argc > 3)) { + g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); + } else { + errx(1, "missing argument (apm_per_volt, amp_offset)"); + return 1; } exit(0); } @@ -1868,70 +1970,53 @@ px4io_main(int argc, char *argv[]) errx(1, "failsafe command needs at least one channel value (ppm)"); } - if (g_dev != nullptr) { + /* set values for first 8 channels, fill unassigned channels with 1500. */ + uint16_t failsafe[8]; + + for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) { - /* set values for first 8 channels, fill unassigned channels with 1500. */ - uint16_t failsafe[8]; - - for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) - { - /* set channel to commanline argument or to 900 for non-provided channels */ - if (argc > i + 2) { - failsafe[i] = atoi(argv[i+2]); - if (failsafe[i] < 800 || failsafe[i] > 2200) { - errx(1, "value out of range of 800 < value < 2200. Aborting."); - } - } else { - /* a zero value will result in stopping to output any pulse */ - failsafe[i] = 0; + /* set channel to commandline argument or to 900 for non-provided channels */ + if (argc > i + 2) { + failsafe[i] = atoi(argv[i+2]); + if (failsafe[i] < 800 || failsafe[i] > 2200) { + errx(1, "value out of range of 800 < value < 2200. Aborting."); } + } else { + /* a zero value will result in stopping to output any pulse */ + failsafe[i] = 0; } + } - int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); + int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); - if (ret != OK) - errx(ret, "failed setting failsafe values"); - } else { - errx(1, "not loaded"); - } + if (ret != OK) + errx(ret, "failed setting failsafe values"); exit(0); } if (!strcmp(argv[1], "recovery")) { - if (g_dev != nullptr) { - /* - * Enable in-air restart support. - * We can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - g_dev->ioctl(nullptr, PX4IO_INAIR_RESTART_ENABLE, 1); - } else { - errx(1, "not loaded"); - } + /* + * Enable in-air restart support. + * We can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); exit(0); } if (!strcmp(argv[1], "stop")) { - if (g_dev != nullptr) { - /* stop the driver */ - delete g_dev; - } else { - errx(1, "not loaded"); - } + /* stop the driver */ + delete g_dev; exit(0); } if (!strcmp(argv[1], "status")) { - if (g_dev != nullptr) { - printf("[px4io] loaded\n"); - g_dev->print_status(); - } else { - printf("[px4io] not loaded\n"); - } + printf("[px4io] loaded\n"); + g_dev->print_status(); exit(0); } @@ -1958,58 +2043,6 @@ px4io_main(int argc, char *argv[]) exit(0); } - /* note, stop not currently implemented */ - - if (!strcmp(argv[1], "update")) { - - if (g_dev != nullptr) { - printf("[px4io] loaded, detaching first\n"); - /* stop the driver */ - delete g_dev; - } - - PX4IO_Uploader *up; - const char *fn[3]; - - /* work out what we're uploading... */ - if (argc > 2) { - fn[0] = argv[2]; - fn[1] = nullptr; - - } else { - fn[0] = "/fs/microsd/px4io.bin"; - fn[1] = "/etc/px4io.bin"; - fn[2] = nullptr; - } - - up = new PX4IO_Uploader; - int ret = up->upload(&fn[0]); - delete up; - - switch (ret) { - case OK: - break; - - case -ENOENT: - errx(1, "PX4IO firmware file not found"); - - case -EEXIST: - case -EIO: - errx(1, "error updating PX4IO - check that bootloader mode is enabled"); - - case -EINVAL: - errx(1, "verify failed - retry the update"); - - case -ETIMEDOUT: - errx(1, "timed out waiting for bootloader - power-cycle and try again"); - - default: - errx(1, "unexpected error %d", ret); - } - - return ret; - } - if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp new file mode 100644 index 000000000..e0c3e5608 --- /dev/null +++ b/src/drivers/px4io/px4io_i2c.cpp @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 px4io_i2c.cpp + * + * I2C interface for PX4IO + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <unistd.h> + +#include <arch/board/board.h> + +#include <drivers/device/i2c.h> + +#ifdef PX4_I2C_OBDEV_PX4IO + +device::Device *PX4IO_i2c_interface(); + +class PX4IO_I2C : public device::I2C +{ +public: + PX4IO_I2C(int bus, uint8_t address); + virtual ~PX4IO_I2C(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + +}; + +device::Device +*PX4IO_i2c_interface() +{ + return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); +} + +PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) : + I2C("PX4IO_i2c", nullptr, bus, address, 320000) +{ + _retries = 3; +} + +PX4IO_I2C::~PX4IO_I2C() +{ +} + +int +PX4IO_I2C::init() +{ + int ret; + + ret = I2C::init(); + if (ret != OK) + goto out; + + /* XXX really should do something more here */ + +out: + return 0; +} + +int +PX4IO_I2C::ioctl(unsigned operation, unsigned &arg) +{ + return 0; +} + +int +PX4IO_I2C::write(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); + + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + + msgv[1].flags = I2C_M_NORESTART; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = 2 * count; + + int ret = transfer(msgv, 2); + if (ret == OK) + ret = count; + return ret; +} + +int +PX4IO_I2C::read(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); + + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + + msgv[1].flags = I2C_M_READ; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = 2 * count; + + int ret = transfer(msgv, 2); + if (ret == OK) + ret = count; + return ret; +} + +#endif /* PX4_I2C_OBDEV_PX4IO */
\ No newline at end of file diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp new file mode 100644 index 000000000..840b96f5b --- /dev/null +++ b/src/drivers/px4io/px4io_serial.cpp @@ -0,0 +1,673 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 px4io_serial.cpp + * + * Serial interface for PX4IO + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <assert.h> +#include <debug.h> +#include <time.h> +#include <errno.h> +#include <string.h> + +#include <arch/board/board.h> + +/* XXX might be able to prune these */ +#include <nuttx/arch.h> +#include <chip.h> +#include <up_internal.h> +#include <up_arch.h> + +#include <debug.h> + +#include <drivers/device/device.h> +#include <drivers/drv_hrt.h> +#include <drivers/boards/px4fmuv2/px4fmu_internal.h> /* XXX should really not be hardcoding v2 here */ + +#include <systemlib/perf_counter.h> + +#include <modules/px4iofirmware/protocol.h> + +#ifdef PX4IO_SERIAL_BASE + +device::Device *PX4IO_serial_interface(); + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x)) +#define rSR REG(STM32_USART_SR_OFFSET) +#define rDR REG(STM32_USART_DR_OFFSET) +#define rBRR REG(STM32_USART_BRR_OFFSET) +#define rCR1 REG(STM32_USART_CR1_OFFSET) +#define rCR2 REG(STM32_USART_CR2_OFFSET) +#define rCR3 REG(STM32_USART_CR3_OFFSET) +#define rGTPR REG(STM32_USART_GTPR_OFFSET) + +class PX4IO_serial : public device::Device +{ +public: + PX4IO_serial(); + virtual ~PX4IO_serial(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + /* + * XXX tune this value + * + * At 1.5Mbps each register takes 13.3µs, and we always transfer a full packet. + * Packet overhead is 26µs for the four-byte header. + * + * 32 registers = 451µs + * + * Maybe we can just send smaller packets (e.g. 8 regs) and loop for larger (less common) + * transfers? Could cause issues with any regs expecting to be written atomically... + */ + static IOPacket _dma_buffer; // XXX static to ensure DMA-able memory + + DMA_HANDLE _tx_dma; + DMA_HANDLE _rx_dma; + + /** saved DMA status */ + static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values + static const unsigned _dma_status_waiting = 0x00000000; + volatile unsigned _rx_dma_status; + + /** bus-ownership lock */ + sem_t _bus_semaphore; + + /** client-waiting lock/signal */ + sem_t _completion_semaphore; + + /** + * Start the transaction with IO and wait for it to complete. + */ + int _wait_complete(); + + /** + * DMA completion handler. + */ + static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); + void _do_rx_dma_callback(unsigned status); + + /** + * Serial interrupt handler. + */ + static int _interrupt(int vector, void *context); + void _do_interrupt(); + + /** + * Cancel any DMA in progress with an error. + */ + void _abort_dma(); + + /** + * Performance counters. + */ + perf_counter_t _pc_txns; + perf_counter_t _pc_dmasetup; + perf_counter_t _pc_retries; + perf_counter_t _pc_timeouts; + perf_counter_t _pc_crcerrs; + perf_counter_t _pc_dmaerrs; + perf_counter_t _pc_protoerrs; + perf_counter_t _pc_uerrs; + perf_counter_t _pc_idle; + perf_counter_t _pc_badidle; + +}; + +IOPacket PX4IO_serial::_dma_buffer; +static PX4IO_serial *g_interface; + +device::Device +*PX4IO_serial_interface() +{ + return new PX4IO_serial(); +} + +PX4IO_serial::PX4IO_serial() : + Device("PX4IO_serial"), + _tx_dma(nullptr), + _rx_dma(nullptr), + _rx_dma_status(_dma_status_inactive), + _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), + _pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")), + _pc_retries(perf_alloc(PC_COUNT, "io_retries ")), + _pc_timeouts(perf_alloc(PC_COUNT, "io_timeouts ")), + _pc_crcerrs(perf_alloc(PC_COUNT, "io_crcerrs ")), + _pc_dmaerrs(perf_alloc(PC_COUNT, "io_dmaerrs ")), + _pc_protoerrs(perf_alloc(PC_COUNT, "io_protoerrs")), + _pc_uerrs(perf_alloc(PC_COUNT, "io_uarterrs ")), + _pc_idle(perf_alloc(PC_COUNT, "io_idle ")), + _pc_badidle(perf_alloc(PC_COUNT, "io_badidle ")) +{ + g_interface = this; +} + +PX4IO_serial::~PX4IO_serial() +{ + if (_tx_dma != nullptr) { + stm32_dmastop(_tx_dma); + stm32_dmafree(_tx_dma); + } + if (_rx_dma != nullptr) { + stm32_dmastop(_rx_dma); + stm32_dmafree(_rx_dma); + } + + /* reset the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* detach our interrupt handler */ + up_disable_irq(PX4IO_SERIAL_VECTOR); + irq_detach(PX4IO_SERIAL_VECTOR); + + /* restore the GPIOs */ + stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO); + stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO); + + /* and kill our semaphores */ + sem_destroy(&_completion_semaphore); + sem_destroy(&_bus_semaphore); + + perf_free(_pc_txns); + perf_free(_pc_dmasetup); + perf_free(_pc_retries); + perf_free(_pc_timeouts); + perf_free(_pc_crcerrs); + perf_free(_pc_dmaerrs); + perf_free(_pc_protoerrs); + perf_free(_pc_uerrs); + perf_free(_pc_idle); + perf_free(_pc_badidle); + + if (g_interface == this) + g_interface = nullptr; +} + +int +PX4IO_serial::init() +{ + /* allocate DMA */ + _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); + _rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP); + if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) + return -1; + + /* configure pins for serial use */ + stm32_configgpio(PX4IO_SERIAL_TX_GPIO); + stm32_configgpio(PX4IO_SERIAL_RX_GPIO); + + /* reset & configure the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* eat any existing interrupt status */ + (void)rSR; + (void)rDR; + + /* configure line speed */ + uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2); + uint32_t mantissa = usartdiv32 >> 5; + uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1; + rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT); + + /* attach serial interrupt handler */ + irq_attach(PX4IO_SERIAL_VECTOR, _interrupt); + up_enable_irq(PX4IO_SERIAL_VECTOR); + + /* enable UART in DMA mode, enable error and line idle interrupts */ + /* rCR3 = USART_CR3_EIE;*/ + rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE; + + /* create semaphores */ + sem_init(&_completion_semaphore, 0, 0); + sem_init(&_bus_semaphore, 0, 1); + + + /* XXX this could try talking to IO */ + + return 0; +} + +int +PX4IO_serial::ioctl(unsigned operation, unsigned &arg) +{ + + switch (operation) { + + case 1: /* XXX magic number - test operation */ + switch (arg) { + case 0: + lowsyslog("test 0\n"); + + /* kill DMA, this is a PIO test */ + stm32_dmastop(_tx_dma); + stm32_dmastop(_rx_dma); + rCR3 &= ~(USART_CR3_DMAR | USART_CR3_DMAT); + + for (;;) { + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0x55; + } + return 0; + + case 1: + { + unsigned fails = 0; + for (unsigned count = 0;; count++) { + uint16_t value = count & 0xffff; + + if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) + fails++; + + if (count >= 5000) { + lowsyslog("==== test 1 : %u failures ====\n", fails); + perf_print_counter(_pc_txns); + perf_print_counter(_pc_dmasetup); + perf_print_counter(_pc_retries); + perf_print_counter(_pc_timeouts); + perf_print_counter(_pc_crcerrs); + perf_print_counter(_pc_dmaerrs); + perf_print_counter(_pc_protoerrs); + perf_print_counter(_pc_uerrs); + perf_print_counter(_pc_idle); + perf_print_counter(_pc_badidle); + count = 0; + } + } + return 0; + } + case 2: + lowsyslog("test 2\n"); + return 0; + } + default: + break; + } + + return -1; +} + +int +PX4IO_serial::write(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); + + if (count > PKT_MAX_REGS) + return -EINVAL; + + sem_wait(&_bus_semaphore); + + int result; + for (unsigned retries = 0; retries < 3; retries++) { + + _dma_buffer.count_code = count | PKT_CODE_WRITE; + _dma_buffer.page = page; + _dma_buffer.offset = offset; + memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * count)); + for (unsigned i = count; i < PKT_MAX_REGS; i++) + _dma_buffer.regs[i] = 0x55aa; + + /* XXX implement check byte */ + + /* start the transaction and wait for it to complete */ + result = _wait_complete(); + + /* successful transaction? */ + if (result == OK) { + + /* check result in packet */ + if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) { + + /* IO didn't like it - no point retrying */ + result = -EINVAL; + perf_count(_pc_protoerrs); + } + + break; + } + perf_count(_pc_retries); + } + + sem_post(&_bus_semaphore); + + if (result == OK) + result = count; + return result; +} + +int +PX4IO_serial::read(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + uint16_t *values = reinterpret_cast<uint16_t *>(data); + + if (count > PKT_MAX_REGS) + return -EINVAL; + + sem_wait(&_bus_semaphore); + + int result; + for (unsigned retries = 0; retries < 3; retries++) { + + _dma_buffer.count_code = count | PKT_CODE_READ; + _dma_buffer.page = page; + _dma_buffer.offset = offset; + + /* start the transaction and wait for it to complete */ + result = _wait_complete(); + + /* successful transaction? */ + if (result == OK) { + + /* check result in packet */ + if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) { + + /* IO didn't like it - no point retrying */ + result = -EINVAL; + perf_count(_pc_protoerrs); + + /* compare the received count with the expected count */ + } else if (PKT_COUNT(_dma_buffer) != count) { + + /* IO returned the wrong number of registers - no point retrying */ + result = -EIO; + perf_count(_pc_protoerrs); + + /* successful read */ + } else { + + /* copy back the result */ + memcpy(values, &_dma_buffer.regs[0], (2 * count)); + } + + break; + } + perf_count(_pc_retries); + } + + sem_post(&_bus_semaphore); + + if (result == OK) + result = count; + return result; +} + +int +PX4IO_serial::_wait_complete() +{ + /* clear any lingering error status */ + (void)rSR; + (void)rDR; + + /* start RX DMA */ + perf_begin(_pc_txns); + perf_begin(_pc_dmasetup); + + /* DMA setup time ~3µs */ + _rx_dma_status = _dma_status_waiting; + + /* + * Note that we enable circular buffer mode as a workaround for + * there being no API to disable the DMA FIFO. We need direct mode + * because otherwise when the line idle interrupt fires there + * will be packet bytes still in the DMA FIFO, and we will assume + * that the idle was spurious. + * + * XXX this should be fixed with a NuttX change. + */ + stm32_dmasetup( + _rx_dma, + PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET, + reinterpret_cast<uint32_t>(&_dma_buffer), + sizeof(_dma_buffer), + DMA_SCR_CIRC | /* XXX see note above */ + DMA_SCR_DIR_P2M | + DMA_SCR_MINC | + DMA_SCR_PSIZE_8BITS | + DMA_SCR_MSIZE_8BITS | + DMA_SCR_PBURST_SINGLE | + DMA_SCR_MBURST_SINGLE); + stm32_dmastart(_rx_dma, _dma_callback, this, false); + rCR3 |= USART_CR3_DMAR; + + /* start TX DMA - no callback if we also expect a reply */ + /* DMA setup time ~3µs */ + _dma_buffer.crc = 0; + _dma_buffer.crc = crc_packet(&_dma_buffer); + stm32_dmasetup( + _tx_dma, + PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET, + reinterpret_cast<uint32_t>(&_dma_buffer), + PKT_SIZE(_dma_buffer), + DMA_SCR_DIR_M2P | + DMA_SCR_MINC | + DMA_SCR_PSIZE_8BITS | + DMA_SCR_MSIZE_8BITS | + DMA_SCR_PBURST_SINGLE | + DMA_SCR_MBURST_SINGLE); + stm32_dmastart(_tx_dma, nullptr, nullptr, false); + rCR3 |= USART_CR3_DMAT; + + perf_end(_pc_dmasetup); + + /* compute the deadline for a 5ms timeout */ + struct timespec abstime; + clock_gettime(CLOCK_REALTIME, &abstime); +#if 0 + abstime.tv_sec++; /* long timeout for testing */ +#else + abstime.tv_nsec += 10000000; /* 0ms timeout */ + if (abstime.tv_nsec > 1000000000) { + abstime.tv_sec++; + abstime.tv_nsec -= 1000000000; + } +#endif + + /* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */ + int ret; + for (;;) { + ret = sem_timedwait(&_completion_semaphore, &abstime); + + if (ret == OK) { + /* check for DMA errors */ + if (_rx_dma_status & DMA_STATUS_TEIF) { + perf_count(_pc_dmaerrs); + ret = -EIO; + break; + } + + /* check packet CRC - corrupt packet errors mean IO receive CRC error */ + uint8_t crc = _dma_buffer.crc; + _dma_buffer.crc = 0; + if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) { + perf_count(_pc_crcerrs); + ret = -EIO; + break; + } + + /* successful txn (may still be reporting an error) */ + break; + } + + if (errno == ETIMEDOUT) { + /* something has broken - clear out any partial DMA state and reconfigure */ + _abort_dma(); + perf_count(_pc_timeouts); + perf_cancel(_pc_txns); /* don't count this as a transaction */ + break; + } + + /* we might? see this for EINTR */ + lowsyslog("unexpected ret %d/%d\n", ret, errno); + } + + /* reset DMA status */ + _rx_dma_status = _dma_status_inactive; + + /* update counters */ + perf_end(_pc_txns); + + return ret; +} + +void +PX4IO_serial::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) +{ + if (arg != nullptr) { + PX4IO_serial *ps = reinterpret_cast<PX4IO_serial *>(arg); + + ps->_do_rx_dma_callback(status); + } +} + +void +PX4IO_serial::_do_rx_dma_callback(unsigned status) +{ + /* on completion of a reply, wake the waiter */ + if (_rx_dma_status == _dma_status_waiting) { + + /* check for packet overrun - this will occur after DMA completes */ + uint32_t sr = rSR; + if (sr & (USART_SR_ORE | USART_SR_RXNE)) { + (void)rDR; + status = DMA_STATUS_TEIF; + } + + /* save RX status */ + _rx_dma_status = status; + + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + + /* complete now */ + sem_post(&_completion_semaphore); + } +} + +int +PX4IO_serial::_interrupt(int irq, void *context) +{ + if (g_interface != nullptr) + g_interface->_do_interrupt(); + return 0; +} + +void +PX4IO_serial::_do_interrupt() +{ + uint32_t sr = rSR; /* get UART status register */ + (void)rDR; /* read DR to clear status */ + + if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */ + USART_SR_NE | /* noise error - we have lost a byte due to noise */ + USART_SR_FE)) { /* framing error - start/stop bit lost or line break */ + + /* + * If we are in the process of listening for something, these are all fatal; + * abort the DMA with an error. + */ + if (_rx_dma_status == _dma_status_waiting) { + _abort_dma(); + perf_count(_pc_uerrs); + + /* complete DMA as though in error */ + _do_rx_dma_callback(DMA_STATUS_TEIF); + + return; + } + + /* XXX we might want to use FE / line break as an out-of-band handshake ... handle it here */ + + /* don't attempt to handle IDLE if it's set - things went bad */ + return; + } + + if (sr & USART_SR_IDLE) { + + /* if there is DMA reception going on, this is a short packet */ + if (_rx_dma_status == _dma_status_waiting) { + + /* verify that the received packet is complete */ + unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma); + if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) { + perf_count(_pc_badidle); + return; + } + + perf_count(_pc_idle); + + /* stop the receive DMA */ + stm32_dmastop(_rx_dma); + + /* complete the short reception */ + _do_rx_dma_callback(DMA_STATUS_TCIF); + } + } +} + +void +PX4IO_serial::_abort_dma() +{ + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + (void)rSR; + (void)rDR; + (void)rDR; + + /* stop DMA */ + stm32_dmastop(_tx_dma); + stm32_dmastop(_rx_dma); +} + +#endif /* PX4IO_SERIAL_BASE */
\ No newline at end of file diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index 9e3f041e3..ec22a5e17 100644 --- a/src/drivers/px4io/uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -52,51 +52,19 @@ #include <termios.h> #include <sys/stat.h> +#include <crc32.h> + #include "uploader.h" -static const uint32_t crctab[] = -{ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, - 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, - 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, - 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, - 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, - 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, - 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, - 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, - 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, - 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, - 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, - 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d -}; - -static uint32_t -crc32(const uint8_t *src, unsigned len, unsigned state) -{ - for (unsigned i = 0; i < len; i++) - state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8); - return state; -} +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +#include <drivers/boards/px4fmuv2/px4fmu_internal.h> +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 +#include <drivers/boards/px4fmu/px4fmu_internal.h> +#endif + +// define for comms logging +//#define UDEBUG PX4IO_Uploader::PX4IO_Uploader() : _io_fd(-1), @@ -115,7 +83,11 @@ PX4IO_Uploader::upload(const char *filenames[]) const char *filename = NULL; size_t fw_size; - _io_fd = open("/dev/ttyS2", O_RDWR); +#ifndef PX4IO_SERIAL_DEVICE +#error Must define PX4IO_SERIAL_DEVICE in board configuration to support firmware upload +#endif + + _io_fd = open(PX4IO_SERIAL_DEVICE, O_RDWR); if (_io_fd < 0) { log("could not open interface"); @@ -258,12 +230,16 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) int ret = ::poll(&fds[0], 1, timeout); if (ret < 1) { - //log("poll timeout %d", ret); +#ifdef UDEBUG + log("poll timeout %d", ret); +#endif return -ETIMEDOUT; } read(_io_fd, &c, 1); - //log("recv 0x%02x", c); +#ifdef UDEBUG + log("recv 0x%02x", c); +#endif return OK; } @@ -289,16 +265,20 @@ PX4IO_Uploader::drain() do { ret = recv(c, 1000); +#ifdef UDEBUG if (ret == OK) { - //log("discard 0x%02x", c); + log("discard 0x%02x", c); } +#endif } while (ret == OK); } int PX4IO_Uploader::send(uint8_t c) { - //log("send 0x%02x", c); +#ifdef UDEBUG + log("send 0x%02x", c); +#endif if (write(_io_fd, &c, 1) != 1) return -errno; @@ -572,14 +552,14 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local) return -errno; /* calculate crc32 sum */ - sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum); + sum = crc32part((uint8_t *)&file_buf, sizeof(file_buf), sum); bytes_read += count; } /* fill the rest with 0xff */ while (bytes_read < fw_size_remote) { - sum = crc32(&fill_blank, sizeof(fill_blank), sum); + sum = crc32part(&fill_blank, sizeof(fill_blank), sum); bytes_read += sizeof(fill_blank); } diff --git a/src/drivers/rgbled/module.mk b/src/drivers/rgbled/module.mk new file mode 100644 index 000000000..39b53ec9e --- /dev/null +++ b/src/drivers/rgbled/module.mk @@ -0,0 +1,6 @@ +# +# TCA62724FMG driver for RGB LED +# + +MODULE_COMMAND = rgbled +SRCS = rgbled.cpp diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp new file mode 100644 index 000000000..dae41d934 --- /dev/null +++ b/src/drivers/rgbled/rgbled.cpp @@ -0,0 +1,489 @@ +/**************************************************************************** + * + * 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 rgbled.cpp + * + * Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. + * + * + */ + +#include <nuttx/config.h> + +#include <arch/board/board.h> +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <fcntl.h> +#include <unistd.h> +#include <stdio.h> +#include <ctype.h> + +#include <nuttx/wqueue.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include "device/rgbled.h" + +#define LED_ONTIME 120 +#define LED_OFFTIME 120 + +#define ADDR PX4_I2C_OBDEV_LED /**< I2C adress of TCA62724FMG */ +#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */ +#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */ +#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */ +#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */ +#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/ + +#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */ +#define SETTING_ENABLE 0x02 /**< on */ + + +enum ledModes { + LED_MODE_TEST, + LED_MODE_SYSTEMSTATE, + LED_MODE_OFF +}; + +class RGBLED : public device::I2C +{ +public: + RGBLED(int bus, int rgbled); + virtual ~RGBLED(); + + + virtual int init(); + virtual int probe(); + virtual int info(); + virtual int setMode(enum ledModes mode); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + + enum ledColors { + LED_COLOR_OFF, + LED_COLOR_RED, + LED_COLOR_YELLOW, + LED_COLOR_PURPLE, + LED_COLOR_GREEN, + LED_COLOR_BLUE, + LED_COLOR_WHITE, + LED_COLOR_AMBER, + }; + + enum ledBlinkModes { + LED_BLINK_ON, + LED_BLINK_OFF + }; + + work_s _work; + + int led_colors[8]; + int led_blink; + + int mode; + int running; + + void setLEDColor(int ledcolor); + static void led_trampoline(void *arg); + void led(); + + int set(bool on, uint8_t r, uint8_t g, uint8_t b); + int set_on(bool on); + int set_rgb(uint8_t r, uint8_t g, uint8_t b); + int get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b); +}; + +/* for now, we only support one RGBLED */ +namespace +{ + RGBLED *g_rgbled; +} + + +extern "C" __EXPORT int rgbled_main(int argc, char *argv[]); + +RGBLED::RGBLED(int bus, int rgbled) : + I2C("rgbled", RGBLED_DEVICE_PATH, bus, rgbled, 100000), + led_colors({0,0,0,0,0,0,0,0}), + led_blink(LED_BLINK_OFF), + mode(LED_MODE_OFF), + running(false) +{ + memset(&_work, 0, sizeof(_work)); +} + +RGBLED::~RGBLED() +{ +} + +int +RGBLED::init() +{ + int ret; + ret = I2C::init(); + + if (ret != OK) { + warnx("I2C init failed"); + return ret; + } + + /* start off */ + set(false, 0, 0, 0); + + return OK; +} + +int +RGBLED::setMode(enum ledModes new_mode) +{ + switch (new_mode) { + case LED_MODE_SYSTEMSTATE: + case LED_MODE_TEST: + mode = new_mode; + if (!running) { + running = true; + set_on(true); + work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1); + } + break; + case LED_MODE_OFF: + + default: + if (running) { + running = false; + set_on(false); + } + mode = LED_MODE_OFF; + break; + } + + return OK; +} + +int +RGBLED::probe() +{ + int ret; + bool on, not_powersave; + uint8_t r, g, b; + + ret = get(on, not_powersave, r, g, b); + + return ret; +} + +int +RGBLED::info() +{ + int ret; + bool on, not_powersave; + uint8_t r, g, b; + + ret = get(on, not_powersave, r, g, b); + + if (ret == OK) { + /* we don't care about power-save mode */ + log("state: %s", on ? "ON" : "OFF"); + log("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b); + } else { + warnx("failed to read led"); + } + + return ret; +} + +int +RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = ENOTTY; + + switch (cmd) { + + default: + break; + } + + return ret; +} + + +void +RGBLED::led_trampoline(void *arg) +{ + RGBLED *rgbl = reinterpret_cast<RGBLED *>(arg); + + rgbl->led(); +} + + + +void +RGBLED::led() +{ + static int led_thread_runcount=0; + static int led_interval = 1000; + + switch (mode) { + case LED_MODE_TEST: + /* Demo LED pattern for now */ + led_colors[0] = LED_COLOR_YELLOW; + led_colors[1] = LED_COLOR_AMBER; + led_colors[2] = LED_COLOR_RED; + led_colors[3] = LED_COLOR_PURPLE; + led_colors[4] = LED_COLOR_BLUE; + led_colors[5] = LED_COLOR_GREEN; + led_colors[6] = LED_COLOR_WHITE; + led_colors[7] = LED_COLOR_OFF; + led_blink = LED_BLINK_ON; + break; + + case LED_MODE_SYSTEMSTATE: + /* XXX TODO set pattern */ + led_colors[0] = LED_COLOR_OFF; + led_colors[1] = LED_COLOR_OFF; + led_colors[2] = LED_COLOR_OFF; + led_colors[3] = LED_COLOR_OFF; + led_colors[4] = LED_COLOR_OFF; + led_colors[5] = LED_COLOR_OFF; + led_colors[6] = LED_COLOR_OFF; + led_colors[7] = LED_COLOR_OFF; + led_blink = LED_BLINK_OFF; + + break; + + case LED_MODE_OFF: + default: + return; + break; + } + + + if (led_thread_runcount & 1) { + if (led_blink == LED_BLINK_ON) + setLEDColor(LED_COLOR_OFF); + led_interval = LED_OFFTIME; + } else { + setLEDColor(led_colors[(led_thread_runcount/2) % 8]); + led_interval = LED_ONTIME; + } + + led_thread_runcount++; + + + if(running) { + /* re-queue ourselves to run again later */ + work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, led_interval); + } else { + set_on(false); + } +} + +void RGBLED::setLEDColor(int ledcolor) { + switch (ledcolor) { + case LED_COLOR_OFF: // off + set_rgb(0,0,0); + break; + case LED_COLOR_RED: // red + set_rgb(255,0,0); + break; + case LED_COLOR_YELLOW: // yellow + set_rgb(255,70,0); + break; + case LED_COLOR_PURPLE: // purple + set_rgb(255,0,255); + break; + case LED_COLOR_GREEN: // green + set_rgb(0,255,0); + break; + case LED_COLOR_BLUE: // blue + set_rgb(0,0,255); + break; + case LED_COLOR_WHITE: // white + set_rgb(255,255,255); + break; + case LED_COLOR_AMBER: // amber + set_rgb(255,20,0); + break; + } +} + +int +RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b) +{ + uint8_t settings_byte = 0; + + if (on) + settings_byte |= SETTING_ENABLE; +/* powersave not used */ +// if (not_powersave) + settings_byte |= SETTING_NOT_POWERSAVE; + + const uint8_t msg[5] = { SUB_ADDR_START, (uint8_t)(b*15/255), (uint8_t)(g*15/255), (uint8_t)(r*15/255), settings_byte}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +RGBLED::set_on(bool on) +{ + uint8_t settings_byte = 0; + + if (on) + settings_byte |= SETTING_ENABLE; + +/* powersave not used */ +// if (not_powersave) + settings_byte |= SETTING_NOT_POWERSAVE; + + const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b) +{ + const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)(b*15/255), SUB_ADDR_PWM1, (uint8_t)(g*15/255), SUB_ADDR_PWM2, (uint8_t)(r*15/255)}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + + +int +RGBLED::get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b) +{ + uint8_t result[2]; + int ret; + + ret = transfer(nullptr, 0, &result[0], 2); + + if (ret == OK) { + on = result[0] & SETTING_ENABLE; + not_powersave = result[0] & SETTING_NOT_POWERSAVE; + /* XXX check, looks wrong */ + r = (result[0] & 0x0f)*255/15; + g = (result[1] & 0xf0)*255/15; + b = (result[1] & 0x0f)*255/15; + } + + return ret; +} + +void rgbled_usage(); + + +void rgbled_usage() { + warnx("missing command: try 'start', 'systemstate', 'test', 'info', 'off'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); + errx(0, " -a addr (0x%x)", ADDR); +} + +int +rgbled_main(int argc, char *argv[]) +{ + int i2cdevice = PX4_I2C_BUS_LED; + int rgbledadr = ADDR; /* 7bit */ + + int ch; + while ((ch = getopt(argc, argv, "a:b:")) != EOF) { + switch (ch) { + case 'a': + rgbledadr = strtol(optarg, NULL, 0); + break; + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + default: + rgbled_usage(); + } + } + argc -= optind; + argv += optind; + const char *verb = argv[0]; + + if (!strcmp(verb, "start")) { + if (g_rgbled != nullptr) + errx(1, "already started"); + + g_rgbled = new RGBLED(i2cdevice, rgbledadr); + + if (g_rgbled == nullptr) + errx(1, "new failed"); + + if (OK != g_rgbled->init()) { + delete g_rgbled; + g_rgbled = nullptr; + errx(1, "init failed"); + } + + exit(0); + } + + /* need the driver past this point */ + if (g_rgbled == nullptr) { + fprintf(stderr, "not started\n"); + rgbled_usage(); + exit(0); + } + + if (!strcmp(verb, "test")) { + g_rgbled->setMode(LED_MODE_TEST); + exit(0); + } + + if (!strcmp(verb, "systemstate")) { + g_rgbled->setMode(LED_MODE_SYSTEMSTATE); + exit(0); + } + + if (!strcmp(verb, "info")) { + g_rgbled->info(); + exit(0); + } + + if (!strcmp(verb, "off")) { + g_rgbled->setMode(LED_MODE_OFF); + exit(0); + } + + rgbled_usage(); +} diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 1020eb946..48c95b3dd 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -227,7 +227,6 @@ ADC::init() if ((hrt_absolute_time() - now) > 500) { log("sample timeout"); return -1; - return 0xffff; } } @@ -282,7 +281,7 @@ ADC::close_last(struct file *filp) void ADC::_tick_trampoline(void *arg) { - ((ADC *)arg)->_tick(); + (reinterpret_cast<ADC *>(arg))->_tick(); } void @@ -366,8 +365,15 @@ int adc_main(int argc, char *argv[]) { if (g_adc == nullptr) { - /* XXX this hardcodes the default channel set for PX4FMU - should be configurable */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + /* XXX this hardcodes the default channel set for PX4FMUv1 - should be configurable */ g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + /* XXX this hardcodes the default channel set for PX4FMUv2 - should be configurable */ + g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | + (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)); +#endif if (g_adc == nullptr) errx(1, "couldn't allocate the ADC driver"); diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 7ef3db970..1cc18afda 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -70,7 +70,7 @@ #include "stm32_gpio.h" #include "stm32_tim.h" -#ifdef CONFIG_HRT_TIMER +#ifdef HRT_TIMER /* HRT configuration */ #if HRT_TIMER == 1 @@ -275,7 +275,7 @@ static void hrt_call_invoke(void); /* * Specific registers and bits used by PPM sub-functions */ -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. * @@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status); # define CCMR1_PPM 0 # define CCMR2_PPM 0 # define CCER_PPM 0 -#endif /* CONFIG_HRT_PPM */ +#endif /* HRT_PPM_CHANNEL */ /* * Initialise the timer we are going to use. @@ -907,4 +907,4 @@ hrt_latency_update(void) } -#endif /* CONFIG_HRT_TIMER */ +#endif /* HRT_TIMER */ diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 167ef30a8..2284be84d 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -117,10 +117,6 @@ #include <systemlib/err.h> -#ifndef CONFIG_HRT_TIMER -# error This driver requires CONFIG_HRT_TIMER -#endif - /* Tone alarm configuration */ #if TONE_ALARM_TIMER == 2 # define TONE_ALARM_BASE STM32_TIM2_BASE diff --git a/src/include/device/rgbled.h b/src/include/device/rgbled.h new file mode 100644 index 000000000..a18920892 --- /dev/null +++ b/src/include/device/rgbled.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * 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 + * 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 rgbled.h + * + * RGB led device API + */ + +#pragma once + +#include <stdint.h> +#include <sys/ioctl.h> + +/* more devices will be 1, 2, etc */ +#define RGBLED_DEVICE_PATH "/dev/rgbled0" + +/* + * ioctl() definitions + */ + +#define _RGBLEDIOCBASE (0x2900) +#define _RGBLEDIOC(_n) (_IOC(_RGBLEDIOCBASE, _n)) + +/** play the named script in *(char *)arg, repeating forever */ +#define RGBLED_PLAY_SCRIPT_NAMED _RGBLEDIOC(1) + +/** play the numbered script in (arg), repeating forever */ +#define RGBLED_PLAY_SCRIPT _RGBLEDIOC(2) + +/** + * Set the user script; (arg) is a pointer to an array of script lines, + * where each line is an array of four bytes giving <duration>, <command>, arg[0-2] + * + * The script is terminated by a zero command. + */ +#define RGBLED_SET_USER_SCRIPT _RGBLEDIOC(3) diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 43d96fb06..74037d1c2 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -59,14 +59,14 @@ static perf_counter_t c_gather_ppm; void controls_init(void) { - /* DSM input */ + /* DSM input (USART1) */ dsm_init("/dev/ttyS0"); - /* S.bus input */ + /* S.bus input (USART3) */ sbus_init("/dev/ttyS2"); /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; @@ -124,7 +124,7 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; perf_end(c_gather_ppm); - ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); + ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS); /* * In some cases we may have received a frame, but input has still @@ -197,7 +197,7 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < MAX_CONTROL_CHANNELS); + ASSERT(mapped < PX4IO_CONTROL_CHANNELS); /* invert channel if pitch - pulling the lever down means pitching up by convention */ if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ @@ -209,7 +209,7 @@ controls_tick() { } /* set un-assigned controls to zero */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { if (!(assigned_channels & (1 << i))) r_rc_values[i] = 0; } @@ -319,8 +319,8 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > MAX_CONTROL_CHANNELS) - *num_values = MAX_CONTROL_CHANNELS; + if (*num_values > PX4IO_CONTROL_CHANNELS) + *num_values = PX4IO_CONTROL_CHANNELS; for (unsigned i = 0; i < *num_values; i++) values[i] = ppm_buffer[i]; diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c index 4485daa5b..10aeb5c9f 100644 --- a/src/modules/px4iofirmware/i2c.c +++ b/src/modules/px4iofirmware/i2c.c @@ -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 @@ -69,6 +69,7 @@ static void i2c_rx_setup(void); static void i2c_tx_setup(void); static void i2c_rx_complete(void); static void i2c_tx_complete(void); +static void i2c_dump(void); static DMA_HANDLE rx_dma; static DMA_HANDLE tx_dma; @@ -92,7 +93,7 @@ enum { } direction; void -i2c_init(void) +interface_init(void) { debug("i2c init"); @@ -148,12 +149,18 @@ i2c_init(void) #endif } +void +interface_tick() +{ +} + /* reset the I2C bus used to recover from lockups */ -void i2c_reset(void) +void +i2c_reset(void) { rCR1 |= I2C_CR1_SWRST; rCR1 = 0; @@ -330,7 +337,7 @@ i2c_tx_complete(void) i2c_tx_setup(); } -void +static void i2c_dump(void) { debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2); diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index a2193b526..d8c0e58ba 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -154,7 +154,7 @@ mixer_tick(void) if (source == MIX_FAILSAFE) { /* copy failsafe values to the servo outputs */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) { + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ @@ -164,11 +164,11 @@ mixer_tick(void) } else if (source != MIX_NONE) { - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -180,7 +180,7 @@ mixer_tick(void) r_page_servos[i] = (outputs[i] * 600.0f) + 1500; } - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; } @@ -215,7 +215,7 @@ mixer_tick(void) if (mixer_servos_armed) { /* update the servo outputs. */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); } } @@ -349,11 +349,11 @@ mixer_set_failsafe() return; /* set failsafe defaults to the values for all inputs = 0 */ - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -364,7 +364,7 @@ mixer_set_failsafe() } /* disable the rest of the outputs */ - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servo_failsafe[i] = 0; } diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 6379366f4..59f470a94 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -3,17 +3,22 @@ SRCS = adc.c \ controls.c \ dsm.c \ - i2c.c \ px4io.c \ registers.c \ safety.c \ sbus.c \ ../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 + +ifeq ($(BOARD),px4io-v1) +SRCS += i2c.c +endif +ifeq ($(BOARD),px4io-v2) +SRCS += serial.c \ + ../systemlib/hx_stream.c +endif diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 88d8cc87c..dc5c40638 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -36,7 +36,7 @@ /** * @file protocol.h * - * PX4IO I2C interface protocol. + * PX4IO interface protocol. * * Communication is performed via writes to and reads from 16-bit virtual * registers organised into pages of 255 registers each. @@ -45,7 +45,7 @@ * respectively. Subsequent reads and writes increment the offset within * the page. * - * Most pages are readable or writable but not both. + * Some pages are read- or write-only. * * Note that some pages may permit offset values greater than 255, which * can only be achieved by long writes. The offset does not wrap. @@ -62,12 +62,11 @@ * Note that the implementation of readable pages prefers registers within * readable pages to be densely packed. Page numbers do not need to be * packed. + * + * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise, + * [2] denotes definitions specific to the PX4IOv2 board. */ -#define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 12 -#define PX4IO_RELAY_CHANNELS 4 - /* Per C, this is safe for all 2's complement systems */ #define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) #define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) @@ -75,10 +74,12 @@ #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) +#define PX4IO_PROTOCOL_VERSION 2 + /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ -#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ +#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ @@ -108,16 +109,20 @@ #define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 12) /* DSM input is 11 bit data */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ -#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ -#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ -#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ #define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ #define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ +#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ -#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ +#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */ +#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */ +#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ +#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ +#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -143,7 +148,7 @@ #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ /* setup page */ -#define PX4IO_PAGE_SETUP 100 +#define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ @@ -156,33 +161,34 @@ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ -#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ -/* px4io relay bit definitions */ -#define PX4IO_RELAY1 (1<<0) -#define PX4IO_RELAY2 (1<<1) -#define PX4IO_ACC1 (1<<2) -#define PX4IO_ACC2 (1<<3) +#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ +#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* [1] power relay 1 */ +#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* [1] power relay 2 */ +#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* [1] accessory power 1 */ +#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* [1] accessory power 2 */ -#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ -enum { /* DSM bind states */ +#define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */ +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */ +#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ +enum { /* DSM bind states */ dsm_bind_power_down = 0, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart }; + /* 8 */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 +#define PX4IO_PAGE_MIXERLOAD 52 /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */ #define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ #define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ #define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ @@ -194,10 +200,14 @@ enum { /* DSM bind states */ #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ /* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* Debug and test page - not used in normal operation */ +#define PX4IO_PAGE_TEST 127 +#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */ /** * As-needed mixer data upload. @@ -218,3 +228,81 @@ struct px4io_mixdata { }; #pragma pack(pop) +/** + * Serial protocol encapsulation. + */ + +#define PKT_MAX_REGS 32 // by agreement w/FMU + +#pragma pack(push, 1) +struct IOPacket { + uint8_t count_code; + uint8_t crc; + uint8_t page; + uint8_t offset; + uint16_t regs[PKT_MAX_REGS]; +}; +#pragma pack(pop) + +#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ +#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ +#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ +#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ +#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ + +#define PKT_CODE_MASK 0xc0 +#define PKT_COUNT_MASK 0x3f + +#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) +#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) +#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))) + +static const uint8_t crc8_tab[256] __attribute__((unused)) = +{ + 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, + 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, + 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, + 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, + 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, + 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, + 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, + 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, + 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, + 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, + 0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, + 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, + 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, + 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, + 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, + 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, + 0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, + 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, + 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, + 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, + 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, + 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, + 0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, + 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, + 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, + 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, + 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, + 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, + 0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, + 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, + 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, + 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3 +}; + +static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused)); +static uint8_t +crc_packet(struct IOPacket *pkt) +{ + uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]); + uint8_t *p = (uint8_t *)pkt; + uint8_t c = 0; + + while (p < end) + c = crc8_tab[c ^ *(p++)]; + + return c; +} diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index bc8dfc116..e70b3fe88 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -64,11 +64,6 @@ 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 */ @@ -147,8 +142,10 @@ user_start(int argc, char *argv[]) LED_BLUE(false); LED_SAFETY(false); - /* turn on servo power */ + /* turn on servo power (if supported) */ +#ifdef POWER_SERVO POWER_SERVO(true); +#endif /* start the safety switch handler */ safety_init(); @@ -159,10 +156,11 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); -#ifdef CONFIG_STM32_I2C1 - /* start the i2c handler */ - i2c_init(); -#endif + /* start the FMU interface */ + interface_init(); + + /* add a performance counter for the interface */ + perf_counter_t interface_perf = perf_alloc(PC_ELAPSED, "interface"); /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); @@ -205,6 +203,11 @@ user_start(int argc, char *argv[]) /* track the rate at which the loop is running */ perf_count(loop_perf); + /* kick the interface */ + perf_begin(interface_perf); + interface_tick(); + perf_end(interface_perf); + /* kick the mixer */ perf_begin(mixer_perf); mixer_tick(); @@ -223,12 +226,11 @@ user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); - isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", + isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], (unsigned)r_status_flags, (unsigned)r_setup_arming, (unsigned)r_setup_features, - (unsigned)i2c_loop_resets, (unsigned)minfo.mxordblk); last_debug_time = hrt_absolute_time(); } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 83feeb9b6..bd78f2638 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -42,15 +42,21 @@ #include <stdbool.h> #include <stdint.h> -#include <drivers/boards/px4io/px4io_internal.h> +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 +# include <drivers/boards/px4io/px4io_internal.h> +#endif +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +# include <drivers/boards/px4iov2/px4iov2_internal.h> +#endif #include "protocol.h" /* * Constants and limits. */ -#define MAX_CONTROL_CHANNELS 12 -#define IO_SERVO_COUNT 8 +#define PX4IO_SERVO_COUNT 8 +#define PX4IO_CONTROL_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 /* * Debug logging @@ -119,32 +125,43 @@ extern struct sys_state_s system_state; /* * GPIO handling. */ -#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) -#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) -#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) +#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) +#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) +#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 + +# define PX4IO_RELAY_CHANNELS 4 +# 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)) + +# define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) +# define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VBATT 4 +# define ADC_IN5 5 -#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_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)) + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + +# define PX4IO_RELAY_CHANNELS 0 +# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) + +# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VSERVO 4 +# define ADC_RSSI 5 + #endif -#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) -#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) #define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) -#define ADC_VBATT 4 -#define ADC_IN5 5 -#define ADC_CHANNEL_COUNT 2 - /* * Mixer */ @@ -156,17 +173,16 @@ extern void mixer_handle_text(const void *buffer, size_t length); */ extern void safety_init(void); -#ifdef CONFIG_STM32_I2C1 /** * FMU communications */ -extern void i2c_init(void); -#endif +extern void interface_init(void); +extern void interface_tick(void); /** * Register space */ -extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); +extern int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); /** @@ -191,10 +207,5 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values); /** global debug level for isr_debug() */ 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 +/** send a debug message to the console */ +extern void isr_debug(uint8_t level, const char *fmt, ...); diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a922362b6..9606faa86 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -44,6 +44,7 @@ #include <string.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_pwm_output.h> #include "px4io.h" #include "protocol.h" @@ -57,14 +58,18 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt * Static configuration parameters. */ static const uint16_t r_page_config[] = { - [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION, +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 2, +#else + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 1, +#endif [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, - [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT, + [PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT, + [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT, [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, }; @@ -79,7 +84,10 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_FLAGS] = 0, [PX4IO_P_STATUS_ALARMS] = 0, [PX4IO_P_STATUS_VBATT] = 0, - [PX4IO_P_STATUS_IBATT] = 0 + [PX4IO_P_STATUS_IBATT] = 0, + [PX4IO_P_STATUS_VSERVO] = 0, + [PX4IO_P_STATUS_VRSSI] = 0, + [PX4IO_P_STATUS_PRSSI] = 0 }; /** @@ -87,14 +95,14 @@ uint16_t r_page_status[] = { * * Post-mixed actuator values. */ -uint16_t r_page_actuators[IO_SERVO_COUNT]; +uint16_t r_page_actuators[PX4IO_SERVO_COUNT]; /** * PAGE 3 * * Servo PWM values */ -uint16_t r_page_servos[IO_SERVO_COUNT]; +uint16_t r_page_servos[PX4IO_SERVO_COUNT]; /** * PAGE 4 @@ -104,7 +112,7 @@ uint16_t r_page_servos[IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -114,7 +122,7 @@ uint16_t r_page_raw_rc_input[] = */ uint16_t r_page_rc_input[] = { [PX4IO_P_RC_VALID] = 0, - [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -147,7 +155,7 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ PX4IO_P_SETUP_ARMING_IO_ARM_OK) -#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) +#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) /** @@ -166,7 +174,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; * * R/C channel input configuration. */ -uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; +uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; /* valid options */ #define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) @@ -182,9 +190,9 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE * * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 }; +uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; -void +int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { @@ -233,7 +241,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num case PX4IO_PAGE_FAILSAFE_PWM: /* copy channel data */ - while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { /* XXX range-check value? */ r_page_servo_failsafe[offset] = *values; @@ -260,11 +268,13 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* iterate individual registers, set each in turn */ while (num_values--) { if (registers_set_one(page, offset, *values)) - break; + return -1; offset++; values++; } + break; } + return 0; } static int @@ -349,10 +359,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; - POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0); - POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0); - POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0); - POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0); +#ifdef POWER_RELAY1 + POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0); +#endif +#ifdef POWER_RELAY2 + POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0); +#endif +#ifdef POWER_ACC1 + POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0); +#endif +#ifdef POWER_ACC2 + POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0); +#endif + break; + + case PX4IO_P_SETUP_VBATT_SCALE: + r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value; break; case PX4IO_P_SETUP_SET_DEBUG: @@ -381,7 +403,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; - if (channel >= MAX_CONTROL_CHANNELS) + if (channel >= PX4IO_CONTROL_CHANNELS) return -1; /* disable the channel until we have a chance to sanity-check it */ @@ -426,7 +448,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) { count++; } @@ -446,6 +468,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* case PX4IO_RC_PAGE_CONFIG */ } + case PX4IO_PAGE_TEST: + switch (offset) { + case PX4IO_P_TEST_LED: + LED_AMBER(value & 1); + break; + } + break; + default: return -1; } @@ -482,6 +512,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val /* PX4IO_P_STATUS_ALARMS maintained externally */ +#ifdef ADC_VBATT /* PX4IO_P_STATUS_VBATT */ { /* @@ -515,7 +546,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val r_page_status[PX4IO_P_STATUS_VBATT] = corrected; } } - +#endif +#ifdef ADC_IBATT /* PX4IO_P_STATUS_IBATT */ { /* @@ -525,26 +557,74 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val FMU sort it out, with user selectable configuration for their sensor */ - unsigned counts = adc_measure(ADC_IN5); + unsigned counts = adc_measure(ADC_IBATT); if (counts != 0xffff) { r_page_status[PX4IO_P_STATUS_IBATT] = counts; } } +#endif +#ifdef ADC_VSERVO + /* PX4IO_P_STATUS_VSERVO */ + { + /* + * Coefficients here derived by measurement of the 5-16V + * range on one unit: + * + * V counts + * 5 1001 + * 6 1219 + * 7 1436 + * 8 1653 + * 9 1870 + * 10 2086 + * 11 2303 + * 12 2522 + * 13 2738 + * 14 2956 + * 15 3172 + * 16 3389 + * + * slope = 0.0046067 + * intercept = 0.3863 + * + * Intercept corrected for best results @ 12V. + */ + unsigned counts = adc_measure(ADC_VSERVO); + if (counts != 0xffff) { + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; + + r_page_status[PX4IO_P_STATUS_VSERVO] = corrected; + } + } +#endif + /* XXX PX4IO_P_STATUS_VRSSI */ + /* XXX PX4IO_P_STATUS_PRSSI */ SELECT_PAGE(r_page_status); break; case PX4IO_PAGE_RAW_ADC_INPUT: memset(r_page_scratch, 0, sizeof(r_page_scratch)); +#ifdef ADC_VBATT r_page_scratch[0] = adc_measure(ADC_VBATT); - r_page_scratch[1] = adc_measure(ADC_IN5); - +#endif +#ifdef ADC_IBATT + r_page_scratch[1] = adc_measure(ADC_IBATT); +#endif + +#ifdef ADC_VSERVO + r_page_scratch[0] = adc_measure(ADC_VSERVO); +#endif +#ifdef ADC_RSSI + r_page_scratch[1] = adc_measure(ADC_RSSI); +#endif SELECT_PAGE(r_page_scratch); break; case PX4IO_PAGE_PWM_INFO: memset(r_page_scratch, 0, sizeof(r_page_scratch)); - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i); SELECT_PAGE(r_page_scratch); @@ -616,7 +696,7 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) { for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < IO_SERVO_COUNT; group++) { + for (unsigned group = 0; group < PX4IO_SERVO_COUNT; group++) { /* get the channel mask for this rate group */ uint32_t mask = up_pwm_servo_get_rate_group(group); diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c new file mode 100644 index 000000000..94d7407df --- /dev/null +++ b/src/modules/px4iofirmware/serial.c @@ -0,0 +1,352 @@ +/**************************************************************************** + * + * 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 + * 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 serial.c + * + * Serial communication for the PX4IO module. + */ + +#include <stdint.h> +#include <unistd.h> +#include <termios.h> +#include <fcntl.h> +#include <string.h> + +#include <nuttx/arch.h> +#include <arch/board/board.h> + +/* XXX might be able to prune these */ +#include <chip.h> +#include <up_internal.h> +#include <up_arch.h> +#include <stm32.h> +#include <systemlib/perf_counter.h> + +//#define DEBUG +#include "px4io.h" + +static perf_counter_t pc_txns; +static perf_counter_t pc_errors; +static perf_counter_t pc_ore; +static perf_counter_t pc_fe; +static perf_counter_t pc_ne; +static perf_counter_t pc_idle; +static perf_counter_t pc_badidle; +static perf_counter_t pc_regerr; +static perf_counter_t pc_crcerr; + +static void rx_handle_packet(void); +static void rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); +static DMA_HANDLE tx_dma; +static DMA_HANDLE rx_dma; + +static int serial_interrupt(int irq, void *context); +static void dma_reset(void); + +/* if we spend this many ticks idle, reset the DMA */ +static unsigned idle_ticks; + +static struct IOPacket dma_packet; + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4FMU_SERIAL_BASE + _x)) +#define rSR REG(STM32_USART_SR_OFFSET) +#define rDR REG(STM32_USART_DR_OFFSET) +#define rBRR REG(STM32_USART_BRR_OFFSET) +#define rCR1 REG(STM32_USART_CR1_OFFSET) +#define rCR2 REG(STM32_USART_CR2_OFFSET) +#define rCR3 REG(STM32_USART_CR3_OFFSET) +#define rGTPR REG(STM32_USART_GTPR_OFFSET) + +void +interface_init(void) +{ + pc_txns = perf_alloc(PC_ELAPSED, "txns"); + pc_errors = perf_alloc(PC_COUNT, "errors"); + pc_ore = perf_alloc(PC_COUNT, "overrun"); + pc_fe = perf_alloc(PC_COUNT, "framing"); + pc_ne = perf_alloc(PC_COUNT, "noise"); + pc_idle = perf_alloc(PC_COUNT, "idle"); + pc_badidle = perf_alloc(PC_COUNT, "badidle"); + pc_regerr = perf_alloc(PC_COUNT, "regerr"); + pc_crcerr = perf_alloc(PC_COUNT, "crcerr"); + + /* allocate DMA */ + tx_dma = stm32_dmachannel(PX4FMU_SERIAL_TX_DMA); + rx_dma = stm32_dmachannel(PX4FMU_SERIAL_RX_DMA); + + /* configure pins for serial use */ + stm32_configgpio(PX4FMU_SERIAL_TX_GPIO); + stm32_configgpio(PX4FMU_SERIAL_RX_GPIO); + + /* reset and configure the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* clear status/errors */ + (void)rSR; + (void)rDR; + + /* configure line speed */ + uint32_t usartdiv32 = PX4FMU_SERIAL_CLOCK / (PX4FMU_SERIAL_BITRATE / 2); + uint32_t mantissa = usartdiv32 >> 5; + uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1; + rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT); + + /* connect our interrupt */ + irq_attach(PX4FMU_SERIAL_VECTOR, serial_interrupt); + up_enable_irq(PX4FMU_SERIAL_VECTOR); + + /* enable UART and error/idle interrupts */ + rCR3 = USART_CR3_EIE; + rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE; + +#if 0 /* keep this for signal integrity testing */ + for (;;) { + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0xfa; + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0xa0; + } +#endif + + /* configure RX DMA and return to listening state */ + dma_reset(); + + debug("serial init"); +} + +void +interface_tick() +{ + /* XXX look for stuck/damaged DMA and reset? */ + if (idle_ticks++ > 100) { + dma_reset(); + idle_ticks = 0; + } +} + +static void +rx_handle_packet(void) +{ + /* check packet CRC */ + uint8_t crc = dma_packet.crc; + dma_packet.crc = 0; + if (crc != crc_packet(&dma_packet)) { + perf_count(pc_crcerr); + + /* send a CRC error reply */ + dma_packet.count_code = PKT_CODE_CORRUPT; + dma_packet.page = 0xff; + dma_packet.offset = 0xff; + + return; + } + + if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) { + + /* it's a blind write - pass it on */ + if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet))) { + perf_count(pc_regerr); + dma_packet.count_code = PKT_CODE_ERROR; + } else { + dma_packet.count_code = PKT_CODE_SUCCESS; + } + return; + } + + if (PKT_CODE(dma_packet) == PKT_CODE_READ) { + + /* it's a read - get register pointer for reply */ + unsigned count; + uint16_t *registers; + + if (registers_get(dma_packet.page, dma_packet.offset, ®isters, &count) < 0) { + perf_count(pc_regerr); + dma_packet.count_code = PKT_CODE_ERROR; + } else { + /* constrain reply to requested size */ + if (count > PKT_MAX_REGS) + count = PKT_MAX_REGS; + if (count > PKT_COUNT(dma_packet)) + count = PKT_COUNT(dma_packet); + + /* copy reply registers into DMA buffer */ + memcpy((void *)&dma_packet.regs[0], registers, count * 2); + dma_packet.count_code = count | PKT_CODE_SUCCESS; + } + return; + } + + /* send a bad-packet error reply */ + dma_packet.count_code = PKT_CODE_CORRUPT; + dma_packet.page = 0xff; + dma_packet.offset = 0xfe; +} + +static void +rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) +{ + /* + * We are here because DMA completed, or UART reception stopped and + * we think we have a packet in the buffer. + */ + perf_begin(pc_txns); + + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + + /* reset the idle counter */ + idle_ticks = 0; + + /* handle the received packet */ + rx_handle_packet(); + + /* re-set DMA for reception first, so we are ready to receive before we start sending */ + dma_reset(); + + /* send the reply to the just-processed request */ + dma_packet.crc = 0; + dma_packet.crc = crc_packet(&dma_packet); + stm32_dmasetup( + tx_dma, + (uint32_t)&rDR, + (uint32_t)&dma_packet, + PKT_SIZE(dma_packet), + DMA_CCR_DIR | + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS); + stm32_dmastart(tx_dma, NULL, NULL, false); + rCR3 |= USART_CR3_DMAT; + + perf_end(pc_txns); +} + +static int +serial_interrupt(int irq, void *context) +{ + static bool abort_on_idle = false; + + uint32_t sr = rSR; /* get UART status register */ + (void)rDR; /* required to clear any of the interrupt status that brought us here */ + + if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */ + USART_SR_NE | /* noise error - we have lost a byte due to noise */ + USART_SR_FE)) { /* framing error - start/stop bit lost or line break */ + + perf_count(pc_errors); + if (sr & USART_SR_ORE) + perf_count(pc_ore); + if (sr & USART_SR_NE) + perf_count(pc_ne); + if (sr & USART_SR_FE) + perf_count(pc_fe); + + /* send a line break - this will abort transmission/reception on the other end */ + rCR1 |= USART_CR1_SBK; + + /* when the line goes idle, abort rather than look at the packet */ + abort_on_idle = true; + } + + if (sr & USART_SR_IDLE) { + + /* + * If we saw an error, don't bother looking at the packet - it should have + * been aborted by the sender and will definitely be bad. Get the DMA reconfigured + * ready for their retry. + */ + if (abort_on_idle) { + + abort_on_idle = false; + dma_reset(); + return 0; + } + + /* + * The sender has stopped sending - this is probably the end of a packet. + * Check the received length against the length in the header to see if + * we have something that looks like a packet. + */ + unsigned length = sizeof(dma_packet) - stm32_dmaresidual(rx_dma); + if ((length < 1) || (length < PKT_SIZE(dma_packet))) { + + /* it was too short - possibly truncated */ + perf_count(pc_badidle); + return 0; + } + + /* + * Looks like we received a packet. Stop the DMA and go process the + * packet. + */ + perf_count(pc_idle); + stm32_dmastop(rx_dma); + rx_dma_callback(rx_dma, DMA_STATUS_TCIF, NULL); + } + + return 0; +} + +static void +dma_reset(void) +{ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + (void)rSR; + (void)rDR; + (void)rDR; + + /* kill any pending DMA */ + stm32_dmastop(tx_dma); + stm32_dmastop(rx_dma); + + /* reset the RX side */ + stm32_dmasetup( + rx_dma, + (uint32_t)&rDR, + (uint32_t)&dma_packet, + sizeof(dma_packet), + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS); + + /* start receive DMA ready for the next packet */ + stm32_dmastart(rx_dma, rx_dma_callback, NULL, false); + rCR3 |= USART_CR3_DMAR; +} + diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c index 8d77f14a8..8e9c2bfcf 100644 --- a/src/modules/systemlib/hx_stream.c +++ b/src/modules/systemlib/hx_stream.c @@ -53,14 +53,26 @@ struct hx_stream { - uint8_t buf[HX_STREAM_MAX_FRAME + 4]; - unsigned frame_bytes; - bool escaped; - bool txerror; - + /* RX state */ + uint8_t rx_buf[HX_STREAM_MAX_FRAME + 4]; + unsigned rx_frame_bytes; + bool rx_escaped; + hx_stream_rx_callback rx_callback; + void *rx_callback_arg; + + /* TX state */ int fd; - hx_stream_rx_callback callback; - void *callback_arg; + bool tx_error; + uint8_t *tx_buf; + unsigned tx_resid; + uint32_t tx_crc; + enum { + TX_IDLE = 0, + TX_SEND_START, + TX_SEND_DATA, + TX_SENT_ESCAPE, + TX_SEND_END + } tx_state; perf_counter_t pc_tx_frames; perf_counter_t pc_rx_frames; @@ -81,21 +93,7 @@ static void hx_tx_raw(hx_stream_t stream, uint8_t c) { if (write(stream->fd, &c, 1) != 1) - stream->txerror = true; -} - -static void -hx_tx_byte(hx_stream_t stream, uint8_t c) -{ - switch (c) { - case FBO: - case CEO: - hx_tx_raw(stream, CEO); - c ^= 0x20; - break; - } - - hx_tx_raw(stream, c); + stream->tx_error = true; } static int @@ -105,11 +103,11 @@ hx_rx_frame(hx_stream_t stream) uint8_t b[4]; uint32_t w; } u; - unsigned length = stream->frame_bytes; + unsigned length = stream->rx_frame_bytes; /* reset the stream */ - stream->frame_bytes = 0; - stream->escaped = false; + stream->rx_frame_bytes = 0; + stream->rx_escaped = false; /* not a real frame - too short */ if (length < 4) { @@ -122,11 +120,11 @@ hx_rx_frame(hx_stream_t stream) length -= 4; /* compute expected CRC */ - u.w = crc32(&stream->buf[0], length); + u.w = crc32(&stream->rx_buf[0], length); /* compare computed and actual CRC */ for (unsigned i = 0; i < 4; i++) { - if (u.b[i] != stream->buf[length + i]) { + if (u.b[i] != stream->rx_buf[length + i]) { perf_count(stream->pc_rx_errors); return 0; } @@ -134,7 +132,7 @@ hx_rx_frame(hx_stream_t stream) /* frame is good */ perf_count(stream->pc_rx_frames); - stream->callback(stream->callback_arg, &stream->buf[0], length); + stream->rx_callback(stream->rx_callback_arg, &stream->rx_buf[0], length); return 1; } @@ -150,8 +148,8 @@ hx_stream_init(int fd, if (stream != NULL) { memset(stream, 0, sizeof(struct hx_stream)); stream->fd = fd; - stream->callback = callback; - stream->callback_arg = arg; + stream->rx_callback = callback; + stream->rx_callback_arg = arg; } return stream; @@ -179,49 +177,112 @@ hx_stream_set_counters(hx_stream_t stream, stream->pc_rx_errors = rx_errors; } +void +hx_stream_reset(hx_stream_t stream) +{ + stream->rx_frame_bytes = 0; + stream->rx_escaped = false; + + stream->tx_buf = NULL; + stream->tx_resid = 0; + stream->tx_state = TX_IDLE; +} + int -hx_stream_send(hx_stream_t stream, +hx_stream_start(hx_stream_t stream, const void *data, size_t count) { - union { - uint8_t b[4]; - uint32_t w; - } u; - const uint8_t *p = (const uint8_t *)data; - unsigned resid = count; - - if (resid > HX_STREAM_MAX_FRAME) + if (count > HX_STREAM_MAX_FRAME) return -EINVAL; - /* start the frame */ - hx_tx_raw(stream, FBO); + stream->tx_buf = data; + stream->tx_resid = count; + stream->tx_state = TX_SEND_START; + stream->tx_crc = crc32(data, count); + return OK; +} + +int +hx_stream_send_next(hx_stream_t stream) +{ + int c; + + /* sort out what we're going to send */ + switch (stream->tx_state) { - /* transmit the data */ - while (resid--) - hx_tx_byte(stream, *p++); + case TX_SEND_START: + stream->tx_state = TX_SEND_DATA; + return FBO; - /* compute the CRC */ - u.w = crc32(data, count); + case TX_SEND_DATA: + c = *stream->tx_buf; - /* send the CRC */ - p = &u.b[0]; - resid = 4; + switch (c) { + case FBO: + case CEO: + stream->tx_state = TX_SENT_ESCAPE; + return CEO; + } + break; + + case TX_SENT_ESCAPE: + c = *stream->tx_buf ^ 0x20; + stream->tx_state = TX_SEND_DATA; + break; + + case TX_SEND_END: + stream->tx_state = TX_IDLE; + return FBO; + + case TX_IDLE: + default: + return -1; + } + + /* if we are here, we have consumed a byte from the buffer */ + stream->tx_resid--; + stream->tx_buf++; + + /* buffer exhausted */ + if (stream->tx_resid == 0) { + uint8_t *pcrc = (uint8_t *)&stream->tx_crc; + + /* was the buffer the frame CRC? */ + if (stream->tx_buf == (pcrc + sizeof(stream->tx_crc))) { + stream->tx_state = TX_SEND_END; + } else { + /* no, it was the payload - switch to sending the CRC */ + stream->tx_buf = pcrc; + stream->tx_resid = sizeof(stream->tx_crc); + } + } + return c; +} + +int +hx_stream_send(hx_stream_t stream, + const void *data, + size_t count) +{ + int result; - while (resid--) - hx_tx_byte(stream, *p++); + result = hx_stream_start(stream, data, count); + if (result != OK) + return result; - /* and the trailing frame separator */ - hx_tx_raw(stream, FBO); + int c; + while ((c = hx_stream_send_next(stream)) >= 0) + hx_tx_raw(stream, c); /* check for transmit error */ - if (stream->txerror) { - stream->txerror = false; + if (stream->tx_error) { + stream->tx_error = false; return -EIO; } perf_count(stream->pc_tx_frames); - return 0; + return OK; } void @@ -234,17 +295,17 @@ hx_stream_rx(hx_stream_t stream, uint8_t c) } /* escaped? */ - if (stream->escaped) { - stream->escaped = false; + if (stream->rx_escaped) { + stream->rx_escaped = false; c ^= 0x20; } else if (c == CEO) { - /* now escaped, ignore the byte */ - stream->escaped = true; + /* now rx_escaped, ignore the byte */ + stream->rx_escaped = true; return; } /* save for later */ - if (stream->frame_bytes < sizeof(stream->buf)) - stream->buf[stream->frame_bytes++] = c; + if (stream->rx_frame_bytes < sizeof(stream->rx_buf)) + stream->rx_buf[stream->rx_frame_bytes++] = c; } diff --git a/src/modules/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h index 128689953..1f3927222 100644 --- a/src/modules/systemlib/hx_stream.h +++ b/src/modules/systemlib/hx_stream.h @@ -58,7 +58,8 @@ __BEGIN_DECLS * Allocate a new hx_stream object. * * @param fd The file handle over which the protocol will - * communicate. + * communicate, or -1 if the protocol will use + * hx_stream_start/hx_stream_send_next. * @param callback Called when a frame is received. * @param callback_arg Passed to the callback. * @return A handle to the stream, or NULL if memory could @@ -80,6 +81,7 @@ __EXPORT extern void hx_stream_free(hx_stream_t stream); * * Any counter may be set to NULL to disable counting that datum. * + * @param stream A handle returned from hx_stream_init. * @param tx_frames Counter for transmitted frames. * @param rx_frames Counter for received frames. * @param rx_errors Counter for short and corrupt received frames. @@ -90,6 +92,44 @@ __EXPORT extern void hx_stream_set_counters(hx_stream_t stream, perf_counter_t rx_errors); /** + * Reset a stream. + * + * Forces the local stream state to idle. + * + * @param stream A handle returned from hx_stream_init. + */ +__EXPORT extern void hx_stream_reset(hx_stream_t stream); + +/** + * Prepare to send a frame. + * + * Use this in conjunction with hx_stream_send_next to + * set the frame to be transmitted. + * + * Use hx_stream_send() to write to the stream fd directly. + * + * @param stream A handle returned from hx_stream_init. + * @param data Pointer to the data to send. + * @param count The number of bytes to send. + * @return Zero on success, -errno on error. + */ +__EXPORT extern int hx_stream_start(hx_stream_t stream, + const void *data, + size_t count); + +/** + * Get the next byte to send for a stream. + * + * This requires that the stream be prepared for sending by + * calling hx_stream_start first. + * + * @param stream A handle returned from hx_stream_init. + * @return The byte to send, or -1 if there is + * nothing left to send. + */ +__EXPORT extern int hx_stream_send_next(hx_stream_t stream); + +/** * Send a frame. * * This function will block until all frame bytes are sent if diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index 879f4715a..3c1e10287 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -201,23 +201,50 @@ perf_end(perf_counter_t handle) switch (handle->type) { case PC_ELAPSED: { struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - hrt_abstime elapsed = hrt_absolute_time() - pce->time_start; - pce->event_count++; - pce->time_total += elapsed; + if (pce->time_start != 0) { + hrt_abstime elapsed = hrt_absolute_time() - pce->time_start; - if ((pce->time_least > elapsed) || (pce->time_least == 0)) - pce->time_least = elapsed; + pce->event_count++; + pce->time_total += elapsed; - if (pce->time_most < elapsed) - pce->time_most = elapsed; + if ((pce->time_least > elapsed) || (pce->time_least == 0)) + pce->time_least = elapsed; + + if (pce->time_most < elapsed) + pce->time_most = elapsed; + + pce->time_start = 0; + } + } + break; + + default: + break; + } +} + +void +perf_cancel(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_ELAPSED: { + struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; + + pce->time_start = 0; } + break; default: break; } } + + void perf_reset(perf_counter_t handle) { diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h index 5c2cb15b2..4cd8b67a1 100644 --- a/src/modules/systemlib/perf_counter.h +++ b/src/modules/systemlib/perf_counter.h @@ -92,13 +92,25 @@ __EXPORT extern void perf_begin(perf_counter_t handle); * End a performance event. * * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. + * If a call is made without a corresopnding perf_begin call, or if perf_cancel + * has been called subsequently, no change is made to the counter. * * @param handle The handle returned from perf_alloc. */ __EXPORT extern void perf_end(perf_counter_t handle); /** - * Reset a performance event. + * Cancel a performance event. + * + * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. + * It reverts the effect of a previous perf_begin. + * + * @param handle The handle returned from perf_alloc. + */ +__EXPORT extern void perf_cancel(perf_counter_t handle); + +/** + * Reset a performance counter. * * This call resets performance counter to initial state * diff --git a/src/systemcmds/ramtron/module.mk b/src/systemcmds/ramtron/module.mk new file mode 100644 index 000000000..e4eb1d143 --- /dev/null +++ b/src/systemcmds/ramtron/module.mk @@ -0,0 +1,6 @@ +# +# RAMTRON file system driver +# + +MODULE_COMMAND = ramtron +SRCS = ramtron.c diff --git a/src/systemcmds/ramtron/ramtron.c b/src/systemcmds/ramtron/ramtron.c new file mode 100644 index 000000000..5e9499c55 --- /dev/null +++ b/src/systemcmds/ramtron/ramtron.c @@ -0,0 +1,268 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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 ramtron.c + * + * ramtron service and utility app. + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <fcntl.h> +#include <sys/mount.h> +#include <sys/ioctl.h> +#include <sys/stat.h> + +#include <nuttx/spi.h> +#include <nuttx/mtd.h> +#include <nuttx/fs/nxffs.h> +#include <nuttx/fs/ioctl.h> + +#include <arch/board/board.h> + +#include "systemlib/systemlib.h" +#include "systemlib/param/param.h" +#include "systemlib/err.h" + +__EXPORT int ramtron_main(int argc, char *argv[]); + +static void ramtron_attach(void); +static void ramtron_start(void); +static void ramtron_erase(void); +static void ramtron_ioctl(unsigned operation); +static void ramtron_save(const char *name); +static void ramtron_load(const char *name); +static void ramtron_test(void); + +static bool attached = false; +static bool started = false; +static struct mtd_dev_s *ramtron_mtd; + +int ramtron_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "start")) + ramtron_start(); + + if (!strcmp(argv[1], "save_param")) + ramtron_save(argv[2]); + + if (!strcmp(argv[1], "load_param")) + ramtron_load(argv[2]); + + if (!strcmp(argv[1], "erase")) + ramtron_erase(); + + if (!strcmp(argv[1], "test")) + ramtron_test(); + + if (0) { /* these actually require a file on the filesystem... */ + + if (!strcmp(argv[1], "reformat")) + ramtron_ioctl(FIOC_REFORMAT); + + if (!strcmp(argv[1], "repack")) + ramtron_ioctl(FIOC_OPTIMIZE); + } + } + + errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n"); +} + +struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev); + + +static void +ramtron_attach(void) +{ + /* find the right spi */ + struct spi_dev_s *spi = up_spiinitialize(2); + /* this resets the spi bus, set correct bus speed again */ + // xxx set in ramtron driver, leave this out +// SPI_SETFREQUENCY(spi, 4000000); + SPI_SETFREQUENCY(spi, 375000000); + SPI_SETBITS(spi, 8); + SPI_SETMODE(spi, SPIDEV_MODE3); + SPI_SELECT(spi, SPIDEV_FLASH, false); + + if (spi == NULL) + errx(1, "failed to locate spi bus"); + + /* start the MTD driver, attempt 5 times */ + for (int i = 0; i < 5; i++) { + ramtron_mtd = ramtron_initialize(spi); + if (ramtron_mtd) { + /* abort on first valid result */ + if (i > 0) { + warnx("warning: ramtron needed %d attempts to attach", i+1); + } + break; + } + } + + /* if last attempt is still unsuccessful, abort */ + if (ramtron_mtd == NULL) + errx(1, "failed to initialize ramtron driver"); + + attached = true; +} + +static void +ramtron_start(void) +{ + int ret; + + if (started) + errx(1, "ramtron already mounted"); + + if (!attached) + ramtron_attach(); + + /* start NXFFS */ + ret = nxffs_initialize(ramtron_mtd); + + if (ret < 0) + errx(1, "failed to initialize NXFFS - erase ramtron to reformat"); + + /* mount the ramtron */ + ret = mount(NULL, "/ramtron", "nxffs", 0, NULL); + + if (ret < 0) + errx(1, "failed to mount /ramtron - erase ramtron to reformat"); + + started = true; + warnx("mounted ramtron at /ramtron"); + exit(0); +} + +//extern int at24c_nuke(void); + +static void +ramtron_erase(void) +{ + if (!attached) + ramtron_attach(); + +// if (at24c_nuke()) + errx(1, "erase failed"); + + errx(0, "erase done, reboot now"); +} + +static void +ramtron_ioctl(unsigned operation) +{ + int fd; + + fd = open("/ramtron/.", 0); + + if (fd < 0) + err(1, "open /ramtron"); + + if (ioctl(fd, operation, 0) < 0) + err(1, "ioctl"); + + exit(0); +} + +static void +ramtron_save(const char *name) +{ + if (!started) + errx(1, "must be started first"); + + if (!name) + err(1, "missing argument for device name, try '/ramtron/parameters'"); + + warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead"); + + /* delete the file in case it exists */ + unlink(name); + + /* create the file */ + int fd = open(name, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) + err(1, "opening '%s' failed", name); + + int result = param_export(fd, false); + close(fd); + + if (result < 0) { + unlink(name); + errx(1, "error exporting to '%s'", name); + } + + exit(0); +} + +static void +ramtron_load(const char *name) +{ + if (!started) + errx(1, "must be started first"); + + if (!name) + err(1, "missing argument for device name, try '/ramtron/parameters'"); + + warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead"); + + int fd = open(name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", name); + + int result = param_load(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", name); + + exit(0); +} + +//extern void at24c_test(void); + +static void +ramtron_test(void) +{ +// at24c_test(); + exit(0); +} |