diff options
25 files changed, 4001 insertions, 132 deletions
diff --git a/apps/drivers/boards/px4iov2/Makefile b/apps/drivers/boards/px4iov2/Makefile new file mode 100644 index 000000000..85806fe6f --- /dev/null +++ b/apps/drivers/boards/px4iov2/Makefile @@ -0,0 +1,41 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Board-specific startup code for the PX4IO +# + +INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common +LIBNAME = brd_px4io + +include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/boards/px4iov2/module.mk b/apps/drivers/boards/px4iov2/module.mk new file mode 100644 index 000000000..d596ce4db --- /dev/null +++ b/apps/drivers/boards/px4iov2/module.mk @@ -0,0 +1,5 @@ +# +# Board-specific startup code for the PX4IOv2 +# + +SRCS = px4iov2_init.c diff --git a/apps/drivers/boards/px4iov2/px4iov2_init.c b/apps/drivers/boards/px4iov2/px4iov2_init.c new file mode 100644 index 000000000..711bee425 --- /dev/null +++ b/apps/drivers/boards/px4iov2/px4iov2_init.c @@ -0,0 +1,172 @@ +/**************************************************************************** + * + * 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_internal.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 */ + + /* turn off - all leds are active low */ + stm32_gpiowrite(BOARD_GPIO_LED1, true); + stm32_gpiowrite(BOARD_GPIO_LED2, true); + stm32_gpiowrite(BOARD_GPIO_LED3, true); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED1)); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED2)); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED3)); + + + stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_BTN_SAFETY)); + + /* spektrum power enable is active high - disable it by default */ + stm32_gpiowrite(BOARD_GPIO_SPEKTRUM_PWR_EN, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SPEKTRUM_PWR_EN)); + + /* servo power enable is active low, and has a pull down resistor + * to keep it low during boot (since it may power the whole board.) + */ + stm32_gpiowrite(BOARD_GPIO_SERVO_PWR_EN, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SERVO_PWR_EN)); + + stm32_configgpio(BOARD_GPIO_INPUT_PUP(BOARD_GPIO_SERVO_FAULT_DETECT)); + + stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_TIM_RSSI)); /* xxx alternate function */ + stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_RSSI)); + stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_VSERVO)); + + stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_SBUS_INPUT)); /* xxx alternate function */ + + stm32_gpiowrite(BOARD_GPIO_SBUS_OUTPUT, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OUTPUT)); + /* sbus output enable is active low - disable it by default */ + stm32_gpiowrite(BOARD_GPIO_SBUS_OENABLE, true); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OENABLE)); + + + stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_PPM)); /* xxx alternate function */ + + stm32_gpiowrite(BOARD_GPIO_PWM1, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM1)); + + stm32_gpiowrite(BOARD_GPIO_PWM2, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM2)); + + stm32_gpiowrite(BOARD_GPIO_PWM3, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM3)); + + stm32_gpiowrite(BOARD_GPIO_PWM4, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM4)); + + stm32_gpiowrite(BOARD_GPIO_PWM5, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM5)); + + stm32_gpiowrite(BOARD_GPIO_PWM6, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM6)); + + stm32_gpiowrite(BOARD_GPIO_PWM7, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM7)); + + stm32_gpiowrite(BOARD_GPIO_PWM8, false); + stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM8)); + +// message("[boot] Successfully initialized px4iov2 gpios\n"); + + return OK; +} diff --git a/apps/drivers/boards/px4iov2/px4iov2_internal.h b/apps/drivers/boards/px4iov2/px4iov2_internal.h new file mode 100644 index 000000000..9675c6f36 --- /dev/null +++ b/apps/drivers/boards/px4iov2/px4iov2_internal.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * 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> + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include <stm32_internal.h> + + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ +/* Configuration ************************************************************************************/ + +/****************************************************************************** + * GPIOS + ******************************************************************************/ + +#define BOARD_GPIO_OUTPUT(pin) (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ + GPIO_OUTPUT_CLEAR|(pin)) +#define BOARD_GPIO_INPUT_FLOAT(pin) (GPIO_INPUT|GPIO_CNF_INFLOAT|\ + GPIO_MODE_INPUT|(pin)) +#define BOARD_GPIO_INPUT_PUP(pin) (GPIO_INPUT|GPIO_CNF_INPULLUP|\ + GPIO_MODE_INPUT|(pin)) +#define BOARD_GPIO_INPUT_ANALOG(pin) (GPIO_INPUT|GPIO_CNF_ANALOGIN|\ + GPIO_MODE_INPUT|(pin)) + +/* LEDS **********************************************************************/ + +#define BOARD_GPIO_LED1 (GPIO_PORTB|GPIO_PIN14) +#define BOARD_GPIO_LED2 (GPIO_PORTB|GPIO_PIN15) +#define BOARD_GPIO_LED3 (GPIO_PORTB|GPIO_PIN13) + +#define BOARD_GPIO_LED_BLUE BOARD_GPIO_LED1 +#define BOARD_GPIO_LED_AMBER BOARD_GPIO_LED2 +#define BOARD_GPIO_LED_SAFETY BOARD_GPIO_LED3 + +/* Safety switch button *******************************************************/ + +#define BOARD_GPIO_BTN_SAFETY (GPIO_PORTB|GPIO_PIN5) + +/* Power switch controls ******************************************************/ + +#define BOARD_GPIO_SPEKTRUM_PWR_EN (GPIO_PORTC|GPIO_PIN13) + +#define BOARD_GPIO_SERVO_PWR_EN (GPIO_PORTC|GPIO_PIN15) + +#define BOARD_GPIO_SERVO_FAULT_DETECT (GPIO_PORTB|GPIO_PIN13) + + +/* Analog inputs **************************************************************/ + +#define BOARD_GPIO_ADC_VSERVO (GPIO_PORTA|GPIO_PIN4) +/* the same rssi signal goes to both an adc and a timer input */ +#define BOARD_GPIO_ADC_RSSI (GPIO_PORTA|GPIO_PIN5) +#define BOARD_GPIO_TIM_RSSI (GPIO_PORTA|GPIO_PIN12) + +/* PWM pins **************************************************************/ + +#define BOARD_GPIO_PPM (GPIO_PORTA|GPIO_PIN8) + +#define BOARD_GPIO_PWM1 (GPIO_PORTA|GPIO_PIN0) +#define BOARD_GPIO_PWM2 (GPIO_PORTA|GPIO_PIN1) +#define BOARD_GPIO_PWM3 (GPIO_PORTB|GPIO_PIN8) +#define BOARD_GPIO_PWM4 (GPIO_PORTB|GPIO_PIN9) +#define BOARD_GPIO_PWM5 (GPIO_PORTA|GPIO_PIN6) +#define BOARD_GPIO_PWM6 (GPIO_PORTA|GPIO_PIN7) +#define BOARD_GPIO_PWM7 (GPIO_PORTB|GPIO_PIN0) +#define BOARD_GPIO_PWM8 (GPIO_PORTB|GPIO_PIN1) + +/* SBUS pins *************************************************************/ + +#define BOARD_GPIO_SBUS_INPUT (GPIO_PORTB|GPIO_PIN11) +#define BOARD_GPIO_SBUS_OUTPUT (GPIO_PORTB|GPIO_PIN10) +#define BOARD_GPIO_SBUS_OENABLE (GPIO_PORTB|GPIO_PIN4) + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp index 6227df72a..c7f433dd4 100644 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ b/apps/drivers/l3gd20/l3gd20.cpp @@ -684,9 +684,10 @@ L3GD20::measure() * 74 from all measurements centers them around zero. */ report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ - report->x_raw = raw_report.x; - report->y_raw = raw_report.y; + + /* swap x and y and negate y */ + report->x_raw = raw_report.y; + report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); report->z_raw = raw_report.z; report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; diff --git a/nuttx/configs/px4iov2/README.txt b/nuttx/configs/px4iov2/README.txt new file mode 100755 index 000000000..9b1615f42 --- /dev/null +++ b/nuttx/configs/px4iov2/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/px4iov2/common/Make.defs b/nuttx/configs/px4iov2/common/Make.defs new file mode 100644 index 000000000..7f782b5b2 --- /dev/null +++ b/nuttx/configs/px4iov2/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/px4iov2/common/ld.script b/nuttx/configs/px4iov2/common/ld.script new file mode 100755 index 000000000..69c2f9cb2 --- /dev/null +++ b/nuttx/configs/px4iov2/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/px4iov2/common/setenv.sh b/nuttx/configs/px4iov2/common/setenv.sh new file mode 100755 index 000000000..ff9a4bf8a --- /dev/null +++ b/nuttx/configs/px4iov2/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/px4iov2/include/README.txt b/nuttx/configs/px4iov2/include/README.txt new file mode 100755 index 000000000..2264a80aa --- /dev/null +++ b/nuttx/configs/px4iov2/include/README.txt @@ -0,0 +1 @@ +This directory contains header files unique to the PX4IO board. diff --git a/nuttx/configs/px4iov2/include/board.h b/nuttx/configs/px4iov2/include/board.h new file mode 100755 index 000000000..b8dc71144 --- /dev/null +++ b/nuttx/configs/px4iov2/include/board.h @@ -0,0 +1,173 @@ +/************************************************************************************ + * 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> +# include <stdbool.h> +#endif +#include <stm32_rcc.h> +#include <stm32_sdio.h> +#include <stm32_internal.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. + */ +#define GPIO_USART2_CTS 0xffffffff +#define GPIO_USART2_RTS 0xffffffff +#define GPIO_USART2_CK 0xffffffff +#define GPIO_USART3_TX 0xffffffff +#define GPIO_USART3_CK 0xffffffff +#define GPIO_USART3_CTS 0xffffffff +#define GPIO_USART3_RTS 0xffffffff + +/* + * High-resolution timer + */ +#ifdef CONFIG_HRT_TIMER +# define HRT_TIMER 1 /* use timer1 for the HRT */ +# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ +#endif + +/* + * PPM + * + * PPM input is handled by the HRT timer. + * + * Pin is PA8, timer 1, channel 1 + */ +#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM) +# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ +# define GPIO_PPM_IN GPIO_TIM1_CH1IN +#endif + +/* 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); + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx/configs/px4iov2/include/drv_i2c_device.h b/nuttx/configs/px4iov2/include/drv_i2c_device.h new file mode 100644 index 000000000..02582bc09 --- /dev/null +++ b/nuttx/configs/px4iov2/include/drv_i2c_device.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * 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 A simple, polled I2C slave-mode driver. + * + * The master writes to and reads from a byte buffer, which the caller + * can update inbetween calls to the FSM. + */ + +extern void i2c_fsm_init(uint8_t *buffer, size_t buffer_size); +extern bool i2c_fsm(void); diff --git a/nuttx/configs/px4iov2/io/Make.defs b/nuttx/configs/px4iov2/io/Make.defs new file mode 100644 index 000000000..369772d03 --- /dev/null +++ b/nuttx/configs/px4iov2/io/Make.defs @@ -0,0 +1,3 @@ +include ${TOPDIR}/.config + +include $(TOPDIR)/configs/px4io/common/Make.defs diff --git a/nuttx/configs/px4iov2/io/appconfig b/nuttx/configs/px4iov2/io/appconfig new file mode 100644 index 000000000..628607a51 --- /dev/null +++ b/nuttx/configs/px4iov2/io/appconfig @@ -0,0 +1,40 @@ +############################################################################ +# +# 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. +# +############################################################################ + +CONFIGURED_APPS += drivers/boards/px4io +CONFIGURED_APPS += drivers/stm32 + +CONFIGURED_APPS += px4io + +# Mixer library from systemlib +CONFIGURED_APPS += systemlib/mixer diff --git a/nuttx/configs/px4iov2/io/defconfig b/nuttx/configs/px4iov2/io/defconfig new file mode 100755 index 000000000..bb937cf4e --- /dev/null +++ b/nuttx/configs/px4iov2/io/defconfig @@ -0,0 +1,548 @@ +############################################################################ +# 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" +CONFIG_ARCH_BOARD_PX4IO=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=y +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 + +# +# PX4IO specific driver settings +# +# CONFIG_HRT_TIMER +# Enables the high-resolution timer. The board definition must +# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/ +# compare channels to be used. +# CONFIG_HRT_PPM +# Enables R/C PPM input using the HRT. The board definition must +# set HRT_PPM_CHANNEL to the timer capture/compare channel to be +# used, and define GPIO_PPM_IN to configure the appropriate timer +# GPIO. +# CONFIG_PWM_SERVO +# Enables the PWM servo driver. The driver configuration must be +# supplied by the board support at initialisation time. +# Note that USART2 must be disabled on the PX4 board for this to +# be available. +# +# +CONFIG_HRT_TIMER=y +CONFIG_HRT_PPM=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/px4iov2/io/setenv.sh b/nuttx/configs/px4iov2/io/setenv.sh new file mode 100755 index 000000000..ff9a4bf8a --- /dev/null +++ b/nuttx/configs/px4iov2/io/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/px4iov2/nsh/Make.defs b/nuttx/configs/px4iov2/nsh/Make.defs new file mode 100644 index 000000000..87508e22e --- /dev/null +++ b/nuttx/configs/px4iov2/nsh/Make.defs @@ -0,0 +1,3 @@ +include ${TOPDIR}/.config + +include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs diff --git a/nuttx/configs/px4iov2/nsh/appconfig b/nuttx/configs/px4iov2/nsh/appconfig new file mode 100644 index 000000000..3cfc41b43 --- /dev/null +++ b/nuttx/configs/px4iov2/nsh/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/px4iov2/nsh/defconfig b/nuttx/configs/px4iov2/nsh/defconfig new file mode 100755 index 000000000..14d7a6401 --- /dev/null +++ b/nuttx/configs/px4iov2/nsh/defconfig @@ -0,0 +1,567 @@ +############################################################################ +# 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_PX4IOV2=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 + +# +# PX4IO specific driver settings +# +# CONFIG_HRT_TIMER +# Enables the high-resolution timer. The board definition must +# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/ +# compare channels to be used. +# CONFIG_HRT_PPM +# Enables R/C PPM input using the HRT. The board definition must +# set HRT_PPM_CHANNEL to the timer capture/compare channel to be +# used, and define GPIO_PPM_IN to configure the appropriate timer +# GPIO. +# CONFIG_PWM_SERVO +# Enables the PWM servo driver. The driver configuration must be +# supplied by the board support at initialisation time. +# Note that USART2 must be disabled on the PX4 board for this to +# be available. +# +# +CONFIG_HRT_TIMER=y +CONFIG_HRT_PPM=y +CONFIG_PWM_SERVO=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_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/px4iov2/nsh/setenv.sh b/nuttx/configs/px4iov2/nsh/setenv.sh new file mode 100755 index 000000000..d83685192 --- /dev/null +++ b/nuttx/configs/px4iov2/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 <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/nuttx/configs/px4iov2/src/Makefile b/nuttx/configs/px4iov2/src/Makefile new file mode 100644 index 000000000..bb9539d16 --- /dev/null +++ b/nuttx/configs/px4iov2/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/px4iov2/src/README.txt b/nuttx/configs/px4iov2/src/README.txt new file mode 100644 index 000000000..d4eda82fd --- /dev/null +++ b/nuttx/configs/px4iov2/src/README.txt @@ -0,0 +1 @@ +This directory contains drivers unique to the STMicro STM3210E-EVAL development board. diff --git a/nuttx/configs/px4iov2/src/drv_i2c_device.c b/nuttx/configs/px4iov2/src/drv_i2c_device.c new file mode 100644 index 000000000..1f5931ae5 --- /dev/null +++ b/nuttx/configs/px4iov2/src/drv_i2c_device.c @@ -0,0 +1,618 @@ +/**************************************************************************** + * + * 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 A simple, polled I2C slave-mode driver. + * + * The master writes to and reads from a byte buffer, which the caller + * can update inbetween calls to the FSM. + */ + +#include <stdbool.h> + +#include "stm32_i2c.h" + +#include <string.h> + +/* + * I2C register definitions. + */ +#define I2C_BASE STM32_I2C1_BASE + +#define REG(_reg) (*(volatile uint32_t *)(I2C_BASE + _reg)) + +#define rCR1 REG(STM32_I2C_CR1_OFFSET) +#define rCR2 REG(STM32_I2C_CR2_OFFSET) +#define rOAR1 REG(STM32_I2C_OAR1_OFFSET) +#define rOAR2 REG(STM32_I2C_OAR2_OFFSET) +#define rDR REG(STM32_I2C_DR_OFFSET) +#define rSR1 REG(STM32_I2C_SR1_OFFSET) +#define rSR2 REG(STM32_I2C_SR2_OFFSET) +#define rCCR REG(STM32_I2C_CCR_OFFSET) +#define rTRISE REG(STM32_I2C_TRISE_OFFSET) + +/* + * "event" values (cr2 << 16 | cr1) as described in the ST DriverLib + */ +#define I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED ((uint32_t)0x00020002) /* BUSY and ADDR flags */ +#define I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */ +#define I2C_EVENT_SLAVE_BYTE_RECEIVED ((uint32_t)0x00020040) /* BUSY and RXNE flags */ +#define I2C_EVENT_SLAVE_STOP_DETECTED ((uint32_t)0x00000010) /* STOPF flag */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTED ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTING ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */ +#define I2C_EVENT_SLAVE_ACK_FAILURE ((uint32_t)0x00000400) /* AF flag */ + +/** + * States implemented by the I2C FSM. + */ +enum fsm_state { + BAD_PHASE, // must be zero, default exit on a bad state transition + + WAIT_FOR_MASTER, + + /* write from master */ + WAIT_FOR_COMMAND, + RECEIVE_COMMAND, + RECEIVE_DATA, + HANDLE_COMMAND, + + /* read from master */ + WAIT_TO_SEND, + SEND_STATUS, + SEND_DATA, + + NUM_STATES +}; + +/** + * Events recognised by the I2C FSM. + */ +enum fsm_event { + /* automatic transition */ + AUTO, + + /* write from master */ + ADDRESSED_WRITE, + BYTE_RECEIVED, + STOP_RECEIVED, + + /* read from master */ + ADDRESSED_READ, + BYTE_SENDABLE, + ACK_FAILED, + + NUM_EVENTS +}; + +/** + * Context for the I2C FSM + */ +static struct fsm_context { + enum fsm_state state; + + /* XXX want to eliminate these */ + uint8_t command; + uint8_t status; + + uint8_t *data_ptr; + uint32_t data_count; + + size_t buffer_size; + uint8_t *buffer; +} context; + +/** + * Structure defining one FSM state and its outgoing transitions. + */ +struct fsm_transition { + void (*handler)(void); + enum fsm_state next_state[NUM_EVENTS]; +}; + +static bool i2c_command_received; + +static void fsm_event(enum fsm_event event); + +static void go_bad(void); +static void go_wait_master(void); + +static void go_wait_command(void); +static void go_receive_command(void); +static void go_receive_data(void); +static void go_handle_command(void); + +static void go_wait_send(void); +static void go_send_status(void); +static void go_send_buffer(void); + +/** + * The FSM state graph. + */ +static const struct fsm_transition fsm[NUM_STATES] = { + [BAD_PHASE] = { + .handler = go_bad, + .next_state = { + [AUTO] = WAIT_FOR_MASTER, + }, + }, + + [WAIT_FOR_MASTER] = { + .handler = go_wait_master, + .next_state = { + [ADDRESSED_WRITE] = WAIT_FOR_COMMAND, + [ADDRESSED_READ] = WAIT_TO_SEND, + }, + }, + + /* write from master*/ + [WAIT_FOR_COMMAND] = { + .handler = go_wait_command, + .next_state = { + [BYTE_RECEIVED] = RECEIVE_COMMAND, + [STOP_RECEIVED] = WAIT_FOR_MASTER, + }, + }, + [RECEIVE_COMMAND] = { + .handler = go_receive_command, + .next_state = { + [BYTE_RECEIVED] = RECEIVE_DATA, + [STOP_RECEIVED] = HANDLE_COMMAND, + }, + }, + [RECEIVE_DATA] = { + .handler = go_receive_data, + .next_state = { + [BYTE_RECEIVED] = RECEIVE_DATA, + [STOP_RECEIVED] = HANDLE_COMMAND, + }, + }, + [HANDLE_COMMAND] = { + .handler = go_handle_command, + .next_state = { + [AUTO] = WAIT_FOR_MASTER, + }, + }, + + /* buffer send */ + [WAIT_TO_SEND] = { + .handler = go_wait_send, + .next_state = { + [BYTE_SENDABLE] = SEND_STATUS, + }, + }, + [SEND_STATUS] = { + .handler = go_send_status, + .next_state = { + [BYTE_SENDABLE] = SEND_DATA, + [ACK_FAILED] = WAIT_FOR_MASTER, + }, + }, + [SEND_DATA] = { + .handler = go_send_buffer, + .next_state = { + [BYTE_SENDABLE] = SEND_DATA, + [ACK_FAILED] = WAIT_FOR_MASTER, + }, + }, +}; + + +/* debug support */ +#if 1 +struct fsm_logentry { + char kind; + uint32_t code; +}; + +#define LOG_ENTRIES 32 +static struct fsm_logentry fsm_log[LOG_ENTRIES]; +int fsm_logptr; +#define LOG_NEXT(_x) (((_x) + 1) % LOG_ENTRIES) +#define LOGx(_kind, _code) \ + do { \ + fsm_log[fsm_logptr].kind = _kind; \ + fsm_log[fsm_logptr].code = _code; \ + fsm_logptr = LOG_NEXT(fsm_logptr); \ + fsm_log[fsm_logptr].kind = 0; \ + } while(0) + +#define LOG(_kind, _code) \ + do {\ + if (fsm_logptr < LOG_ENTRIES) { \ + fsm_log[fsm_logptr].kind = _kind; \ + fsm_log[fsm_logptr].code = _code; \ + fsm_logptr++;\ + }\ + }while(0) + +#else +#define LOG(_kind, _code) +#endif + + +static void i2c_setclock(uint32_t frequency); + +/** + * Initialise I2C + * + */ +void +i2c_fsm_init(uint8_t *buffer, size_t buffer_size) +{ + /* save the buffer */ + context.buffer = buffer; + context.buffer_size = buffer_size; + + // initialise the FSM + context.status = 0; + context.command = 0; + context.state = BAD_PHASE; + fsm_event(AUTO); + +#if 0 + // enable the i2c block clock and reset it + modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN); + modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST); + modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0); + + // configure the i2c GPIOs + stm32_configgpio(GPIO_I2C1_SCL); + stm32_configgpio(GPIO_I2C1_SDA); + + // set the peripheral clock to match the APB clock + rCR2 = STM32_PCLK1_FREQUENCY / 1000000; + + // configure for 100kHz operation + i2c_setclock(100000); + + // enable i2c + rCR1 = I2C_CR1_PE; +#endif +} + +/** + * Run the I2C FSM for some period. + * + * @return True if the buffer has been updated by a command. + */ +bool +i2c_fsm(void) +{ + uint32_t event; + int idle_iterations = 0; + + for (;;) { + // handle bus error states by discarding the current operation + if (rSR1 & I2C_SR1_BERR) { + context.state = WAIT_FOR_MASTER; + rSR1 = ~I2C_SR1_BERR; + } + + // we do not anticipate over/underrun errors as clock-stretching is enabled + + // fetch the most recent event + event = ((rSR2 << 16) | rSR1) & 0x00ffffff; + + // generate FSM events based on I2C events + switch (event) { + case I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED: + LOG('w', 0); + fsm_event(ADDRESSED_WRITE); + break; + + case I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED: + LOG('r', 0); + fsm_event(ADDRESSED_READ); + break; + + case I2C_EVENT_SLAVE_BYTE_RECEIVED: + LOG('R', 0); + fsm_event(BYTE_RECEIVED); + break; + + case I2C_EVENT_SLAVE_STOP_DETECTED: + LOG('s', 0); + fsm_event(STOP_RECEIVED); + break; + + case I2C_EVENT_SLAVE_BYTE_TRANSMITTING: + //case I2C_EVENT_SLAVE_BYTE_TRANSMITTED: + LOG('T', 0); + fsm_event(BYTE_SENDABLE); + break; + + case I2C_EVENT_SLAVE_ACK_FAILURE: + LOG('a', 0); + fsm_event(ACK_FAILED); + break; + + default: + idle_iterations++; +// if ((event) && (event != 0x00020000)) +// LOG('e', event); + break; + } + + /* if we have just received something, drop out and let the caller handle it */ + if (i2c_command_received) { + i2c_command_received = false; + return true; + } + + /* if we have done nothing recently, drop out and let the caller have a slice */ + if (idle_iterations > 1000) + return false; + } +} + +/** + * Update the FSM with an event + * + * @param event New event. + */ +static void +fsm_event(enum fsm_event event) +{ + // move to the next state + context.state = fsm[context.state].next_state[event]; + + LOG('f', context.state); + + // call the state entry handler + if (fsm[context.state].handler) { + fsm[context.state].handler(); + } +} + +static void +go_bad() +{ + LOG('B', 0); + fsm_event(AUTO); +} + +/** + * Wait for the master to address us. + * + */ +static void +go_wait_master() +{ + // We currently don't have a command byte. + // + context.command = '\0'; + + // The data pointer starts pointing to the start of the data buffer. + // + context.data_ptr = context.buffer; + + // The data count is either: + // - the size of the data buffer + // - some value less than or equal the size of the data buffer during a write or a read + // + context.data_count = context.buffer_size; + + // (re)enable the peripheral, clear the stop event flag in + // case we just finished receiving data + rCR1 |= I2C_CR1_PE; + + // clear the ACK failed flag in case we just finished sending data + rSR1 = ~I2C_SR1_AF; +} + +/** + * Prepare to receive a command byte. + * + */ +static void +go_wait_command() +{ + // NOP +} + +/** + * Command byte has been received, save it and prepare to handle the data. + * + */ +static void +go_receive_command() +{ + + // fetch the command byte + context.command = (uint8_t)rDR; + LOG('c', context.command); + +} + +/** + * Receive a data byte. + * + */ +static void +go_receive_data() +{ + uint8_t d; + + // fetch the byte + d = (uint8_t)rDR; + LOG('d', d); + + // if we have somewhere to put it, do so + if (context.data_count) { + *context.data_ptr++ = d; + context.data_count--; + } +} + +/** + * Handle a command once the host is done sending it to us. + * + */ +static void +go_handle_command() +{ + // presume we are happy with the command + context.status = 0; + + // make a note that the buffer contains a fresh command + i2c_command_received = true; + + // kick along to the next state + fsm_event(AUTO); +} + +/** + * Wait to be able to send the status byte. + * + */ +static void +go_wait_send() +{ + // NOP +} + +/** + * Send the status byte. + * + */ +static void +go_send_status() +{ + rDR = context.status; + LOG('?', context.status); +} + +/** + * Send a data or pad byte. + * + */ +static void +go_send_buffer() +{ + if (context.data_count) { + LOG('D', *context.data_ptr); + rDR = *(context.data_ptr++); + context.data_count--; + } else { + LOG('-', 0); + rDR = 0xff; + } +} + +/* cribbed directly from the NuttX master driver */ +static void +i2c_setclock(uint32_t frequency) +{ + uint16_t cr1; + uint16_t ccr; + uint16_t trise; + uint16_t freqmhz; + uint16_t speed; + + /* Disable the selected I2C peripheral to configure TRISE */ + + cr1 = rCR1; + rCR1 &= ~I2C_CR1_PE; + + /* Update timing and control registers */ + + freqmhz = (uint16_t)(STM32_PCLK1_FREQUENCY / 1000000); + ccr = 0; + + /* Configure speed in standard mode */ + + if (frequency <= 100000) { + /* Standard mode speed calculation */ + + speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency << 1)); + + /* The CCR fault must be >= 4 */ + + if (speed < 4) { + /* Set the minimum allowed value */ + + speed = 4; + } + ccr |= speed; + + /* Set Maximum Rise Time for standard mode */ + + trise = freqmhz + 1; + + /* Configure speed in fast mode */ + } else { /* (frequency <= 400000) */ + /* Fast mode speed calculation with Tlow/Thigh = 16/9 */ + +#ifdef CONFIG_I2C_DUTY16_9 + speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 25)); + + /* Set DUTY and fast speed bits */ + + ccr |= (I2C_CCR_DUTY|I2C_CCR_FS); +#else + /* Fast mode speed calculation with Tlow/Thigh = 2 */ + + speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 3)); + + /* Set fast speed bit */ + + ccr |= I2C_CCR_FS; +#endif + + /* Verify that the CCR speed value is nonzero */ + + if (speed < 1) { + /* Set the minimum allowed value */ + + speed = 1; + } + ccr |= speed; + + /* Set Maximum Rise Time for fast mode */ + + trise = (uint16_t)(((freqmhz * 300) / 1000) + 1); + } + + /* Write the new values of the CCR and TRISE registers */ + + rCCR = ccr; + rTRISE = trise; + + /* Bit 14 of OAR1 must be configured and kept at 1 */ + + rOAR1 = I2C_OAR1_ONE); + + /* Re-enable the peripheral (or not) */ + + rCR1 = cr1; +} diff --git a/nuttx/configs/px4iov2/src/empty.c b/nuttx/configs/px4iov2/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx/configs/px4iov2/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/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 32030a1f7..8a64ee702 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -108,8 +108,10 @@ static const int ERROR = -1; #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)) @@ -127,11 +129,13 @@ static const int ERROR = -1; #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)) @@ -143,6 +147,7 @@ static const int ERROR = -1; #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)) @@ -151,6 +156,7 @@ static const int ERROR = -1; #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)) @@ -174,72 +180,66 @@ public: LSM303D(int bus, const char* path, spi_dev_e device); virtual ~LSM303D(); - virtual int init(); + 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); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); /** * Diagnostics - print some basic information about the driver. */ - void print_info(); + void print_info(); protected: - virtual int probe(); + virtual int probe(); - friend class LSM303D_mag; + 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); + virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg); private: - LSM303D_mag *_mag; + LSM303D_mag *_mag; struct hrt_call _accel_call; struct hrt_call _mag_call; - unsigned _call_accel_interval; - unsigned _call_mag_interval; + unsigned _call_accel_interval; + unsigned _call_mag_interval; - unsigned _num_accel_reports; + 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; + float _accel_range_scale; + float _accel_range_m_s2; orb_advert_t _accel_topic; - unsigned _num_mag_reports; + 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; + float _mag_range_scale; + float _mag_range_ga; orb_advert_t _mag_topic; - unsigned _current_accel_rate; - unsigned _current_accel_range; - - unsigned _current_mag_rate; - unsigned _current_mag_range; - perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; /** * Start automatic measurement. */ - void start(); + void start(); /** * Stop automatic measurement. */ - void stop(); + void stop(); /** * Static trampoline from the hrt_call context; because we don't have a @@ -250,24 +250,24 @@ private: * * @param arg Instance pointer for the driver that is polling. */ - static void measure_trampoline(void *arg); + 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); + static void mag_measure_trampoline(void *arg); /** * Fetch accel measurements from the sensor and update the report ring. */ - void measure(); + void measure(); /** * Fetch mag measurements from the sensor and update the report ring. */ - void mag_measure(); + void mag_measure(); /** * Read a register from the LSM303D @@ -275,7 +275,7 @@ private: * @param The register to read. * @return The value that was read. */ - uint8_t read_reg(unsigned reg); + uint8_t read_reg(unsigned reg); /** * Write a register in the LSM303D @@ -283,7 +283,7 @@ private: * @param reg The register to write. * @param value The new value to write. */ - void write_reg(unsigned reg, uint8_t value); + void write_reg(unsigned reg, uint8_t value); /** * Modify a register in the LSM303D @@ -294,27 +294,54 @@ private: * @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); + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); /** - * Set the LSM303D measurement range. + * Set the LSM303D accel measurement range. * - * @param max_dps The measurement range is set to permit reading at least - * this rate in degrees per second. + * @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_dps); + 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 max_g); /** - * Set the LSM303D internal sampling frequency. + * Set the LSM303D internal accel sampling frequency. * - * @param frequency The internal sampling frequency is set to not less than + * @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); + 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); }; /** @@ -327,18 +354,18 @@ public: ~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); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); protected: friend class LSM303D; - void parent_poll_notify(); + void parent_poll_notify(); private: - LSM303D *_parent; + LSM303D *_parent; - void measure(); + void measure(); - void measure_trampoline(void *arg); + void measure_trampoline(void *arg); }; @@ -364,19 +391,13 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _mag_reports(nullptr), _mag_range_scale(0.0f), _mag_range_ga(0.0f), - _current_accel_rate(0), - _current_accel_range(0), - _current_mag_rate(0), - _current_mag_range(0), _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; - /* XXX fix this default values */ - _accel_range_scale = 1.0f; - _mag_range_scale = 1.0f; + _mag_range_scale = 12.0f/32767.0f; // default scale factors _accel_scale.x_offset = 0; @@ -446,18 +467,21 @@ LSM303D::init() memset(&_mag_reports[0], 0, sizeof(_mag_reports[0])); _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]); - /* XXX do this with ioctls */ - /* set default configuration */ - write_reg(ADDR_CTRL_REG1, REG1_RATE_400HZ_A | REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A); + /* 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_RATE_100HZ_M | REG5_RES_HIGH_M); + write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); - /* XXX should we enable FIFO */ + /* XXX should we enable FIFO? */ - set_range(500); /* default to 500dps */ - set_samplerate(0); /* max sample rate */ + 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(194); /* XXX: choose bandwidth: 50, 194, 362 or 773 Hz */ + set_samplerate(400); /* max sample rate */ -// _current_accel_rate = 100; + mag_set_range(12); /* 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 */ @@ -590,9 +614,13 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) /* 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 */ - return ioctl(filp, SENSORIOCSPOLLRATE, 250); + /* XXX for vibration tests with 800 Hz */ + return ioctl(filp, SENSORIOCSPOLLRATE, 800); /* adjust to a legal polling interval in Hz */ default: { @@ -606,6 +634,9 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) 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; @@ -687,7 +718,7 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: /* 50 Hz is max for mag */ - return mag_ioctl(filp, SENSORIOCSPOLLRATE, 50); + return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100); /* adjust to a legal polling interval in Hz */ default: { @@ -701,12 +732,13 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) 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(); @@ -801,33 +833,111 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) } int -LSM303D::set_range(unsigned max_dps) +LSM303D::set_range(unsigned max_g) { - /* XXX implement this */ -// uint8_t bits = REG4_BDU; -// -// if (max_dps == 0) -// max_dps = 2000; -// -// if (max_dps <= 250) { -// _current_range = 250; -// bits |= RANGE_250DPS; -// -// } else if (max_dps <= 500) { -// _current_range = 500; -// bits |= RANGE_500DPS; -// -// } else if (max_dps <= 2000) { -// _current_range = 2000; -// bits |= RANGE_2000DPS; -// -// } else { -// return -EINVAL; -// } -// -// _gyro_range_rad_s = _current_range / 180.0f * M_PI_F; -// _gyro_range_scale = _gyro_range_rad_s / 32768.0f; -// write_reg(ADDR_CTRL_REG4, bits); + 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; } @@ -835,33 +945,60 @@ LSM303D::set_range(unsigned max_dps) int LSM303D::set_samplerate(unsigned frequency) { - /* XXX implement this */ -// uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; -// -// if (frequency == 0) -// frequency = 760; -// -// if (frequency <= 95) { -// _current_rate = 95; -// bits |= RATE_95HZ_LP_25HZ; -// -// } else if (frequency <= 190) { -// _current_rate = 190; -// bits |= RATE_190HZ_LP_25HZ; -// -// } else if (frequency <= 380) { -// _current_rate = 380; -// bits |= RATE_380HZ_LP_30HZ; -// -// } else if (frequency <= 760) { -// _current_rate = 760; -// bits |= RATE_760HZ_LP_30HZ; -// -// } else { -// return -EINVAL; -// } -// -// write_reg(ADDR_CTRL_REG1, bits); + 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; } @@ -930,7 +1067,6 @@ LSM303D::measure() 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)); - /* XXX adapt the comment to specs */ /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) @@ -948,7 +1084,7 @@ LSM303D::measure() accel_report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ + accel_report->x_raw = raw_accel_report.x; accel_report->y_raw = raw_accel_report.y; accel_report->z_raw = raw_accel_report.z; @@ -956,8 +1092,8 @@ LSM303D::measure() 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; -// report->scaling = _gyro_range_scale; -// report->range_rad_s = _gyro_range_rad_s; + 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); @@ -999,7 +1135,6 @@ LSM303D::mag_measure() 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)); - /* XXX adapt the comment to specs */ /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) @@ -1017,15 +1152,15 @@ LSM303D::mag_measure() mag_report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ + 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; -// report->scaling = _gyro_range_scale; -// report->range_rad_s = _gyro_range_rad_s; + 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); @@ -1183,15 +1318,13 @@ test() if (sz != sizeof(a_report)) err(1, "immediate read failed"); - /* XXX fix the test output */ -// 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% 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); - + warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2); int fd_mag = -1; @@ -1209,10 +1342,13 @@ test() if (sz != sizeof(m_report)) err(1, "immediate read failed"); - /* XXX fix the test output */ + 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 */ |