diff options
Diffstat (limited to 'apps/drivers/boards')
| -rw-r--r-- | apps/drivers/boards/px4fmu/Makefile | 41 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_can.c | 141 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 232 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_internal.h | 161 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_led.c | 88 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c | 87 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_spi.c | 136 | ||||
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_usb.c | 108 |
8 files changed, 0 insertions, 994 deletions
diff --git a/apps/drivers/boards/px4fmu/Makefile b/apps/drivers/boards/px4fmu/Makefile deleted file mode 100644 index 6b183d8d2..000000000 --- a/apps/drivers/boards/px4fmu/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Board-specific startup code for the PX4FMU -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common -LIBNAME = brd_px4fmu - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c deleted file mode 100644 index 0d0b5fcd3..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_can.c +++ /dev/null @@ -1,141 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_can.c - * - * Board-specific CAN functions. - */ - - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include <nuttx/config.h> - -#include <errno.h> -#include <debug.h> - -#include <nuttx/can.h> -#include <arch/board/board.h> - -#include "chip.h" -#include "up_arch.h" - -#include "stm32.h" -#include "stm32_can.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ -/* Configuration ********************************************************************/ - -#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) -# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." -# undef CONFIG_STM32_CAN2 -#endif - -#ifdef CONFIG_STM32_CAN1 -# define CAN_PORT 1 -#else -# define CAN_PORT 2 -#endif - -/* Debug ***************************************************************************/ -/* Non-standard debug that may be enabled just for testing CAN */ - -#ifdef CONFIG_DEBUG_CAN -# define candbg dbg -# define canvdbg vdbg -# define canlldbg lldbg -# define canllvdbg llvdbg -#else -# define candbg(x...) -# define canvdbg(x...) -# define canlldbg(x...) -# define canllvdbg(x...) -#endif - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: can_devinit - * - * Description: - * All STM32 architectures must provide the following interface to work with - * examples/can. - * - ************************************************************************************/ - -int can_devinit(void) -{ - static bool initialized = false; - struct can_dev_s *can; - int ret; - - /* Check if we have already initialized */ - - if (!initialized) { - /* Call stm32_caninitialize() to get an instance of the CAN interface */ - - can = stm32_caninitialize(CAN_PORT); - - if (can == NULL) { - candbg("ERROR: Failed to get CAN interface\n"); - return -ENODEV; - } - - /* Register the CAN driver at "/dev/can0" */ - - ret = can_register("/dev/can0", can); - - if (ret < 0) { - candbg("ERROR: can_register failed: %d\n", ret); - return ret; - } - - /* Now we are initialized */ - - initialized = true; - } - - return OK; -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c deleted file mode 100644 index 9960c6bbd..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ /dev/null @@ -1,232 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_init.c - * - * PX4FMU-specific early startup code. This file implements the - * nsh_archinitialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include <nuttx/config.h> - -#include <stdbool.h> -#include <stdio.h> -#include <debug.h> -#include <errno.h> - -#include <nuttx/arch.h> -#include <nuttx/spi.h> -#include <nuttx/i2c.h> -#include <nuttx/mmcsd.h> -#include <nuttx/analog/adc.h> - -#include "stm32_internal.h" -#include "px4fmu_internal.h" -#include "stm32_uart.h" - -#include <arch/board/board.h> - -#include <drivers/drv_hrt.h> -#include <drivers/drv_led.h> - -#include <systemlib/cpuload.h> - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* Debug ********************************************************************/ - -#ifdef CONFIG_CPP_HAVE_VARARGS -# ifdef CONFIG_DEBUG -# define message(...) lowsyslog(__VA_ARGS__) -# else -# define message(...) printf(__VA_ARGS__) -# endif -#else -# ifdef CONFIG_DEBUG -# define message lowsyslog -# else -# define message printf -# endif -#endif - -/**************************************************************************** - * Protected Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the intitialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void stm32_boardinitialize(void) -{ - /* configure SPI interfaces */ - stm32_spiinitialize(); - - /* configure LEDs */ - up_ledinit(); -} - -/**************************************************************************** - * Name: nsh_archinitialize - * - * Description: - * Perform architecture specific initialization - * - ****************************************************************************/ - -static struct spi_dev_s *spi1; -static struct spi_dev_s *spi3; - -#include <math.h> - -#ifdef __cplusplus -__EXPORT int matherr(struct __exception *e) -{ - return 1; -} -#else -__EXPORT int matherr(struct exception *e) -{ - return 1; -} -#endif - -__EXPORT int nsh_archinitialize(void) -{ - int result; - - /* configure the high-resolution time/callout interface */ - hrt_init(); - - /* configure CPU load estimation */ -#ifdef CONFIG_SCHED_INSTRUMENTATION - cpuload_initialize_once(); -#endif - - /* set up the serial DMA polling */ - static struct hrt_call serial_dma_call; - struct timespec ts; - - /* - * Poll at 1ms intervals for received bytes that have not triggered - * a DMA event. - */ - ts.tv_sec = 0; - ts.tv_nsec = 1000000; - - hrt_call_every(&serial_dma_call, - ts_to_abstime(&ts), - ts_to_abstime(&ts), - (hrt_callout)stm32_serial_dma_poll, - NULL); - - // initial LED state - drv_led_start(); - up_ledoff(LED_BLUE); - up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); - - /* Configure SPI-based devices */ - - spi1 = up_spiinitialize(1); - - if (!spi1) { - message("[boot] FAILED to initialize SPI port 1\r\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - // Default SPI1 to 1MHz and de-assert the known chip selects. - SPI_SETFREQUENCY(spi1, 10000000); - SPI_SETBITS(spi1, 8); - SPI_SETMODE(spi1, SPIDEV_MODE3); - SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); - SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false); - SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); - up_udelay(20); - - message("[boot] Successfully initialized SPI port 1\r\n"); - - /* Get the SPI port for the microSD slot */ - - message("[boot] Initializing SPI port 3\n"); - spi3 = up_spiinitialize(3); - - if (!spi3) { - message("[boot] FAILED to initialize SPI port 3\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - message("[boot] Successfully initialized SPI port 3\n"); - - /* Now bind the SPI interface to the MMCSD driver */ - result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3); - - if (result != OK) { - message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); - - stm32_configgpio(GPIO_ADC1_IN10); - stm32_configgpio(GPIO_ADC1_IN11); - stm32_configgpio(GPIO_ADC1_IN12); - stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards - - return OK; -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/apps/drivers/boards/px4fmu/px4fmu_internal.h deleted file mode 100644 index 6550fdf3d..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_internal.h +++ /dev/null @@ -1,161 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_internal.h - * - * PX4FMU internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include <nuttx/config.h> -#include <nuttx/compiler.h> -#include <stdint.h> - -__BEGIN_DECLS - -/* these headers are not C++ safe */ -#include <stm32_internal.h> - - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ -/* Configuration ************************************************************************************/ - -#ifdef CONFIG_STM32_SPI2 -# error "SPI2 is not supported on this board" -#endif - -#if defined(CONFIG_STM32_CAN1) -# warning "CAN1 is not supported on this board" -#endif - -/* PX4FMU GPIOs ***********************************************************************************/ -/* LEDs */ - -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) - -/* External interrupts */ -#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) -// XXX MPU6000 DRDY? - -/* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) -#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) -#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) - -/* User GPIOs - * - * GPIO0-1 are the buffered high-power GPIOs. - * GPIO2-5 are the USART2 pins. - * GPIO6-7 are the CAN2 pins. - */ -#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) -#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) -#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) - */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) - -/* PWM - * - * The PX4FMU has five PWM outputs, of which only the output on - * pin PC8 is fixed assigned to this function. The other four possible - * pwm sources are the TX, RX, RTS and CTS pins of USART2 - * - * Alternate function mapping: - * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 - */ - -#ifdef CONFIG_PWM -# if defined(CONFIG_STM32_TIM3_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 3 -# elif defined(CONFIG_STM32_TIM8_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 8 -# endif -#endif - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/apps/drivers/boards/px4fmu/px4fmu_led.c deleted file mode 100644 index fd1e159aa..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_led.c +++ /dev/null @@ -1,88 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_led.c - * - * PX4FMU LED backend. - */ - -#include <nuttx/config.h> - -#include <stdint.h> -#include <stdbool.h> -#include <debug.h> - -#include <arch/board/board.h> - -#include "chip.h" -#include "up_arch.h" -#include "up_internal.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -__EXPORT void up_ledinit() -{ - /* Configure LED1-2 GPIOs for output */ - - stm32_configgpio(GPIO_LED1); - stm32_configgpio(GPIO_LED2); -} - -__EXPORT void up_ledon(int led) -{ - if (led == 0) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED1, false); - } - if (led == 1) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED2, false); - } -} - -__EXPORT void up_ledoff(int led) -{ - if (led == 0) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED1, true); - } - if (led == 1) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED2, true); - } -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c deleted file mode 100644 index cb8918306..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file px4fmu_pwm_servo.c - * - * Configuration data for the stm32 pwm_servo driver. - * - * Note that these arrays must always be fully-sized. - */ - -#include <stdint.h> - -#include <drivers/stm32/drv_pwm_servo.h> - -#include <arch/board/board.h> -#include <drivers/drv_pwm_output.h> - -#include <stm32_internal.h> -#include <stm32_gpio.h> -#include <stm32_tim.h> - -__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { - { - .base = STM32_TIM2_BASE, - .clock_register = STM32_RCC_APB1ENR, - .clock_bit = RCC_APB1ENR_TIM2EN, - .clock_freq = STM32_APB1_TIM2_CLKIN - } -}; - -__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { - { - .gpio = GPIO_TIM2_CH1OUT, - .timer_index = 0, - .timer_channel = 1, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH2OUT, - .timer_index = 0, - .timer_channel = 2, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH3OUT, - .timer_index = 0, - .timer_channel = 3, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH4OUT, - .timer_index = 0, - .timer_channel = 4, - .default_value = 1000, - } -}; diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/apps/drivers/boards/px4fmu/px4fmu_spi.c deleted file mode 100644 index 7a02eaeb7..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_spi.c +++ /dev/null @@ -1,136 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_spi.c - * - * Board-specific SPI functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include <nuttx/config.h> - -#include <stdint.h> -#include <stdbool.h> -#include <debug.h> - -#include <nuttx/spi.h> -#include <arch/board/board.h> - -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void weak_function stm32_spiinitialize(void) -{ - stm32_configgpio(GPIO_SPI_CS_GYRO); - stm32_configgpio(GPIO_SPI_CS_ACCEL); - stm32_configgpio(GPIO_SPI_CS_MPU); - stm32_configgpio(GPIO_SPI_CS_SDCARD); - - /* De-activate all peripherals, - * required for some peripheral - * state machines - */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1); -} - -__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) -{ - /* SPI select is active low, so write !selected to select the device */ - - switch (devid) { - case PX4_SPIDEV_GYRO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - break; - - case PX4_SPIDEV_ACCEL: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - break; - - case PX4_SPIDEV_MPU: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); - break; - - default: - break; - - } -} - -__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) -{ - return SPI_STATUS_PRESENT; -} - - -__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) -{ - /* there can only be one device on this bus, so always select it */ - stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected); -} - -__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) -{ - /* this is actually bogus, but PX4 has no way to sense the presence of an SD card */ - return SPI_STATUS_PRESENT; -} - diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/apps/drivers/boards/px4fmu/px4fmu_usb.c deleted file mode 100644 index b0b669fbe..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_usb.c +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_usb.c - * - * Board-specific USB functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include <nuttx/config.h> - -#include <sys/types.h> -#include <stdint.h> -#include <stdbool.h> -#include <debug.h> - -#include <nuttx/usb/usbdev.h> -#include <nuttx/usb/usbdev_trace.h> - -#include "up_arch.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); - /* XXX We only support device mode - stm32_configgpio(GPIO_OTGFS_PWRON); - stm32_configgpio(GPIO_OTGFS_OVER); - */ -#endif -} - -/************************************************************************************ - * Name: stm32_usbsuspend - * - * Description: - * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is - * used. This function is called whenever the USB enters or leaves suspend mode. - * This is an opportunity for the board logic to shutdown clocks, power, etc. - * while the USB is suspended. - * - ************************************************************************************/ - -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - ulldbg("resume: %d\n", resume); -} - |