diff options
Diffstat (limited to 'apps/drivers')
| -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 | ||||
| -rw-r--r-- | apps/drivers/l3gd20/Makefile | 42 | ||||
| -rw-r--r-- | apps/drivers/l3gd20/l3gd20.cpp | 887 | ||||
| -rw-r--r-- | apps/drivers/px4fmu/Makefile | 44 | ||||
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 1084 |
12 files changed, 0 insertions, 3051 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); -} - diff --git a/apps/drivers/l3gd20/Makefile b/apps/drivers/l3gd20/Makefile deleted file mode 100644 index 98e2d57c5..000000000 --- a/apps/drivers/l3gd20/Makefile +++ /dev/null @@ -1,42 +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. -# -############################################################################ - -# -# Makefile to build the L3GD20 driver. -# - -APPNAME = l3gd20 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp deleted file mode 100644 index c7f433dd4..000000000 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ /dev/null @@ -1,887 +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 Driver for the ST L3GD20 MEMS gyro connected via SPI. - */ - -#include <nuttx/config.h> - -#include <sys/types.h> -#include <stdint.h> -#include <stdbool.h> -#include <stddef.h> -#include <stdlib.h> -#include <semaphore.h> -#include <string.h> -#include <fcntl.h> -#include <poll.h> -#include <errno.h> -#include <stdio.h> -#include <math.h> -#include <unistd.h> - -#include <systemlib/perf_counter.h> -#include <systemlib/err.h> - -#include <nuttx/arch.h> -#include <nuttx/clock.h> - -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> - -#include <drivers/device/spi.h> -#include <drivers/drv_gyro.h> - - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -/* SPI protocol address bits */ -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) -#define ADDR_INCREMENT (1<<6) - -/* register addresses */ -#define ADDR_WHO_AM_I 0x0F -#define WHO_I_AM 0xD4 - -#define ADDR_CTRL_REG1 0x20 -#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ -/* keep lowpass low to avoid noise issues */ -#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) -#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) -#define RATE_380HZ_LP_30HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) -#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) - -#define ADDR_CTRL_REG2 0x21 -#define ADDR_CTRL_REG3 0x22 -#define ADDR_CTRL_REG4 0x23 -#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */ -#define RANGE_250DPS (0<<4) -#define RANGE_500DPS (1<<4) -#define RANGE_2000DPS (3<<4) - -#define ADDR_CTRL_REG5 0x24 -#define ADDR_REFERENCE 0x25 -#define ADDR_OUT_TEMP 0x26 -#define ADDR_STATUS_REG 0x27 -#define ADDR_OUT_X_L 0x28 -#define ADDR_OUT_X_H 0x29 -#define ADDR_OUT_Y_L 0x2A -#define ADDR_OUT_Y_H 0x2B -#define ADDR_OUT_Z_L 0x2C -#define ADDR_OUT_Z_H 0x2D -#define ADDR_FIFO_CTRL_REG 0x2E -#define ADDR_FIFO_SRC_REG 0x2F -#define ADDR_INT1_CFG 0x30 -#define ADDR_INT1_SRC 0x31 -#define ADDR_INT1_TSH_XH 0x32 -#define ADDR_INT1_TSH_XL 0x33 -#define ADDR_INT1_TSH_YH 0x34 -#define ADDR_INT1_TSH_YL 0x35 -#define ADDR_INT1_TSH_ZH 0x36 -#define ADDR_INT1_TSH_ZL 0x37 -#define ADDR_INT1_DURATION 0x38 - - -/* Internal configuration values */ -#define REG1_POWER_NORMAL (1<<3) -#define REG1_Z_ENABLE (1<<2) -#define REG1_Y_ENABLE (1<<1) -#define REG1_X_ENABLE (1<<0) - -#define REG4_BDU (1<<7) -#define REG4_BLE (1<<6) -//#define REG4_SPI_3WIRE (1<<0) - -#define REG5_FIFO_ENABLE (1<<6) -#define REG5_REBOOT_MEMORY (1<<7) - -#define STATUS_ZYXOR (1<<7) -#define STATUS_ZOR (1<<6) -#define STATUS_YOR (1<<5) -#define STATUS_XOR (1<<4) -#define STATUS_ZYXDA (1<<3) -#define STATUS_ZDA (1<<2) -#define STATUS_YDA (1<<1) -#define STATUS_XDA (1<<0) - -#define FIFO_CTRL_BYPASS_MODE (0<<5) -#define FIFO_CTRL_FIFO_MODE (1<<5) -#define FIFO_CTRL_STREAM_MODE (1<<6) -#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5) -#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) - -extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } - -class L3GD20 : public device::SPI -{ -public: - L3GD20(int bus, const char* path, spi_dev_e device); - virtual ~L3GD20(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - - struct hrt_call _call; - unsigned _call_interval; - - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - struct gyro_report *_reports; - - struct gyro_scale _gyro_scale; - float _gyro_range_scale; - float _gyro_range_rad_s; - orb_advert_t _gyro_topic; - - unsigned _current_rate; - unsigned _current_range; - - perf_counter_t _sample_perf; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Stop automatic measurement. - */ - void stop(); - - /** - * Static trampoline from the hrt_call context; because we don't have a - * generic hrt wrapper yet. - * - * Called by the HRT in interrupt context at the specified rate if - * automatic polling is enabled. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void measure_trampoline(void *arg); - - /** - * Fetch measurements from the sensor and update the report ring. - */ - void measure(); - - /** - * Read a register from the L3GD20 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg); - - /** - * Write a register in the L3GD20 - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the L3GD20 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Set the L3GD20 measurement range. - * - * @param max_dps The measurement range is set to permit reading at least - * this rate in degrees per second. - * Zero selects the maximum supported range. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_range(unsigned max_dps); - - /** - * Set the L3GD20 internal sampling frequency. - * - * @param frequency The internal 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); -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - - -L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : - SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000), - _call_interval(0), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _gyro_range_scale(0.0f), - _gyro_range_rad_s(0.0f), - _gyro_topic(-1), - _current_rate(0), - _current_range(0), - _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")) -{ - // enable debug() calls - _debug_enabled = true; - - // default scale factors - _gyro_scale.x_offset = 0; - _gyro_scale.x_scale = 1.0f; - _gyro_scale.y_offset = 0; - _gyro_scale.y_scale = 1.0f; - _gyro_scale.z_offset = 0; - _gyro_scale.z_scale = 1.0f; -} - -L3GD20::~L3GD20() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; - - /* delete the perf counter */ - perf_free(_sample_perf); -} - -int -L3GD20::init() -{ - int ret = ERROR; - - /* do SPI init (and probe) first */ - if (SPI::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _oldest_report = _next_report = 0; - _reports = new struct gyro_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - /* advertise sensor topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]); - - /* set default configuration */ - write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); - write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ - write_reg(ADDR_CTRL_REG4, REG4_BDU); - write_reg(ADDR_CTRL_REG5, 0); - - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ - - set_range(500); /* default to 500dps */ - set_samplerate(0); /* max sample rate */ - - ret = OK; -out: - return ret; -} - -int -L3GD20::probe() -{ - /* read dummy value to void to clear SPI statemachine on sensor */ - (void)read_reg(ADDR_WHO_AM_I); - - /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) - return OK; - - return -EIO; -} - -ssize_t -L3GD20::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct gyro_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_call_interval > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the measurement code while we are doing this; - * we are careful to avoid racing with it. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement */ - _oldest_report = _next_report = 0; - measure(); - - /* measurement will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - return ret; -} - -int -L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _call_interval = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: - /* With internal low pass filters enabled, 250 Hz is sufficient */ - return ioctl(filp, SENSORIOCSPOLLRATE, 250); - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_call_interval == 0); - - /* convert hz to hrt interval via microseconds */ - unsigned ticks = 1000000 / arg; - - /* check against maximum sane rate */ - if (ticks < 1000) - return -EINVAL; - - /* update interval for next measurement */ - /* XXX this is a bit shady, but no other way to adjust... */ - _call.period = _call_interval = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_call_interval == 0) - return SENSOR_POLLRATE_MANUAL; - - return 1000000 / _call_interval; - - case SENSORIOCSQUEUEDEPTH: { - /* account for sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct gyro_report *buf = new struct gyro_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement */ - return -EINVAL; - - case GYROIOCSSAMPLERATE: - return set_samplerate(arg); - - case GYROIOCGSAMPLERATE: - return _current_rate; - - case GYROIOCSLOWPASS: - case GYROIOCGLOWPASS: - /* XXX not implemented due to wacky interaction with samplerate */ - return -EINVAL; - - case GYROIOCSSCALE: - /* copy scale in */ - memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); - return OK; - - case GYROIOCGSCALE: - /* copy scale out */ - memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); - return OK; - - case GYROIOCSRANGE: - return set_range(arg); - - case GYROIOCGRANGE: - return _current_range; - - default: - /* give it to the superclass */ - return SPI::ioctl(filp, cmd, arg); - } -} - -uint8_t -L3GD20::read_reg(unsigned reg) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_READ; - - transfer(cmd, cmd, sizeof(cmd)); - - return cmd[1]; -} - -void -L3GD20::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - - transfer(cmd, nullptr, sizeof(cmd)); -} - -void -L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val; - - val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -int -L3GD20::set_range(unsigned max_dps) -{ - 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); - - return OK; -} - -int -L3GD20::set_samplerate(unsigned frequency) -{ - 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); - - return OK; -} - -void -L3GD20::start() -{ - /* make sure we are stopped first */ - stop(); - - /* reset the report ring */ - _oldest_report = _next_report = 0; - - /* start polling at the specified rate */ - hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this); -} - -void -L3GD20::stop() -{ - hrt_cancel(&_call); -} - -void -L3GD20::measure_trampoline(void *arg) -{ - L3GD20 *dev = (L3GD20 *)arg; - - /* make another measurement */ - dev->measure(); -} - -void -L3GD20::measure() -{ - /* status register and data as read back from the device */ -#pragma pack(push, 1) - struct { - uint8_t cmd; - uint8_t temp; - uint8_t status; - int16_t x; - int16_t y; - int16_t z; - } raw_report; -#pragma pack(pop) - - gyro_report *report = &_reports[_next_report]; - - /* start the performance counter */ - perf_begin(_sample_perf); - - /* fetch data from the sensor */ - raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; - transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - report->timestamp = hrt_absolute_time(); - - /* 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; - report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; - report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - report->scaling = _gyro_range_scale; - report->range_rad_s = _gyro_range_rad_s; - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, fix it */ - if (_next_report == _oldest_report) - INCREMENT(_oldest_report, _num_reports); - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); - - /* stop the perf counter */ - perf_end(_sample_perf); -} - -void -L3GD20::print_info() -{ - perf_print_counter(_sample_perf); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace l3gd20 -{ - -L3GD20 *g_dev; - -void start(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - int fd_gyro = -1; - struct gyro_report g_report; - ssize_t sz; - - /* get the driver */ - fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); - - /* reset to manual polling */ - if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) - err(1, "reset to manual polling"); - - /* do a simple demand read */ - sz = read(fd_gyro, &g_report, sizeof(g_report)); - - if (sz != sizeof(g_report)) - err(1, "immediate gyro read failed"); - - warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); - warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); - warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); - warnx("gyro x: \t%d\traw", (int)g_report.x_raw); - warnx("gyro y: \t%d\traw", (int)g_report.y_raw); - warnx("gyro z: \t%d\traw", (int)g_report.z_raw); - warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, - (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); - - /* XXX add poll-rate tests here too */ - - reset(); - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running\n"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - - -} // namespace - -int -l3gd20_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - - */ - if (!strcmp(argv[1], "start")) - l3gd20::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - l3gd20::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - l3gd20::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info")) - l3gd20::info(); - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/drivers/px4fmu/Makefile b/apps/drivers/px4fmu/Makefile deleted file mode 100644 index 7f7c2a732..000000000 --- a/apps/drivers/px4fmu/Makefile +++ /dev/null @@ -1,44 +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. -# -############################################################################ - -# -# Interface driver for the PX4FMU board -# - -APPNAME = fmu -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp deleted file mode 100644 index e54724536..000000000 --- a/apps/drivers/px4fmu/fmu.cpp +++ /dev/null @@ -1,1084 +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 fmu.cpp - * - * Driver/configurator for the PX4 FMU multi-purpose port. - */ - -#include <nuttx/config.h> - -#include <sys/types.h> -#include <stdint.h> -#include <stdbool.h> -#include <stdlib.h> -#include <semaphore.h> -#include <string.h> -#include <fcntl.h> -#include <poll.h> -#include <errno.h> -#include <stdio.h> -#include <math.h> -#include <unistd.h> - -#include <nuttx/arch.h> - -#include <drivers/device/device.h> -#include <drivers/drv_pwm_output.h> -#include <drivers/drv_gpio.h> -#include <drivers/boards/px4fmu/px4fmu_internal.h> -#include <drivers/drv_hrt.h> - -#include <systemlib/systemlib.h> -#include <systemlib/err.h> -#include <systemlib/mixer/mixer.h> -#include <drivers/drv_mixer.h> -#include <drivers/drv_rc_input.h> - -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <uORB/topics/actuator_outputs.h> - -#include <systemlib/err.h> -#include <systemlib/ppm_decode.h> - -class PX4FMU : public device::CDev -{ -public: - enum Mode { - MODE_2PWM, - MODE_4PWM, - MODE_NONE - }; - PX4FMU(); - virtual ~PX4FMU(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t write(file *filp, const char *buffer, size_t len); - - virtual int init(); - - int set_mode(Mode mode); - - int set_pwm_alt_rate(unsigned rate); - int set_pwm_alt_channels(uint32_t channels); - -private: - static const unsigned _max_actuators = 4; - - Mode _mode; - unsigned _pwm_default_rate; - unsigned _pwm_alt_rate; - uint32_t _pwm_alt_rate_channels; - unsigned _current_update_rate; - int _task; - int _t_actuators; - int _t_armed; - orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; - unsigned _num_outputs; - bool _primary_pwm_device; - - volatile bool _task_should_exit; - bool _armed; - - MixerGroup *_mixers; - - actuator_controls_s _controls; - - static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); - - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); - - int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); - int pwm_ioctl(file *filp, int cmd, unsigned long arg); - - struct GPIOConfig { - uint32_t input; - uint32_t output; - uint32_t alt; - }; - - static const GPIOConfig _gpio_tab[]; - static const unsigned _ngpio; - - void gpio_reset(void); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); - -}; - -const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, - {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, - {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, -}; - -const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); - -namespace -{ - -PX4FMU *g_fmu; - -} // namespace - -PX4FMU::PX4FMU() : - CDev("fmuservo", "/dev/px4fmu"), - _mode(MODE_NONE), - _pwm_default_rate(50), - _pwm_alt_rate(50), - _pwm_alt_rate_channels(0), - _current_update_rate(0), - _task(-1), - _t_actuators(-1), - _t_armed(-1), - _t_outputs(0), - _t_actuators_effective(0), - _num_outputs(0), - _primary_pwm_device(false), - _task_should_exit(false), - _armed(false), - _mixers(nullptr) -{ - _debug_enabled = true; -} - -PX4FMU::~PX4FMU() -{ - if (_task != -1) { - /* tell the task we want it to go away */ - _task_should_exit = true; - - unsigned i = 10; - - do { - /* wait 50ms - it should wake every 100ms or so worst-case */ - usleep(50000); - - /* if we have given up, kill it */ - if (--i == 0) { - task_delete(_task); - break; - } - - } while (_task != -1); - } - - /* clean up the alternate device node */ - if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); - - g_fmu = nullptr; -} - -int -PX4FMU::init() -{ - int ret; - - ASSERT(_task == -1); - - /* do regular cdev init */ - ret = CDev::init(); - - if (ret != OK) - return ret; - - /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); - - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } - - /* reset GPIOs */ - gpio_reset(); - - /* start the IO interface task */ - _task = task_spawn("fmuservo", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&PX4FMU::task_main_trampoline, - nullptr); - - if (_task < 0) { - debug("task start failed: %d", errno); - return -errno; - } - - return OK; -} - -void -PX4FMU::task_main_trampoline(int argc, char *argv[]) -{ - g_fmu->task_main(); -} - -int -PX4FMU::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: // multi-port with flow control lines as PWM - case MODE_4PWM: // multi-port as 4 PWM outs - debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); - - /* default output rates */ - _pwm_default_rate = 50; - _pwm_alt_rate = 50; - _pwm_alt_rate_channels = 0; - - /* XXX magic numbers */ - up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); - set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); - - break; - - case MODE_NONE: - debug("MODE_NONE"); - - _pwm_default_rate = 10; /* artificially reduced output rate */ - _pwm_alt_rate = 10; - _pwm_alt_rate_channels = 0; - - /* disable servo outputs - no need to set rates */ - up_pwm_servo_deinit(); - - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) -{ - debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); - - for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < _max_actuators; group++) { - - // get the channel mask for this rate group - uint32_t mask = up_pwm_servo_get_rate_group(group); - if (mask == 0) - continue; - - // all channels in the group must be either default or alt-rate - uint32_t alt = rate_map & mask; - - if (pass == 0) { - // preflight - if ((alt != 0) && (alt != mask)) { - warn("rate group %u mask %x bad overlap %x", group, mask, alt); - // not a legal map, bail - return -EINVAL; - } - } else { - // set it - errors here are unexpected - if (alt != 0) { - if (up_pwm_servo_set_rate_group_update(group, _pwm_alt_rate) != OK) { - warn("rate group set alt failed"); - return -EINVAL; - } - } else { - if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) { - warn("rate group set default failed"); - return -EINVAL; - } - } - } - } - } - _pwm_alt_rate_channels = rate_map; - _pwm_default_rate = default_rate; - _pwm_alt_rate = alt_rate; - - return OK; -} - -int -PX4FMU::set_pwm_alt_rate(unsigned rate) -{ - return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate); -} - -int -PX4FMU::set_pwm_alt_channels(uint32_t channels) -{ - return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate); -} - -void -PX4FMU::task_main() -{ - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - /* force a reset of the update rate */ - _current_update_rate = 0; - - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ - - /* advertise the mixed control outputs */ - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); - - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - - pollfd fds[2]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_armed; - fds[1].events = POLLIN; - - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; - - // rc input, published to ORB - struct rc_input_values rc_in; - orb_advert_t to_input_rc = 0; - - memset(&rc_in, 0, sizeof(rc_in)); - rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; - - log("starting"); - - /* loop until killed */ - while (!_task_should_exit) { - - /* - * Adjust actuator topic update rate to keep up with - * the highest servo update rate configured. - * - * We always mix at max rate; some channels may update slower. - */ - unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate; - if (_current_update_rate != max_rate) { - _current_update_rate = max_rate; - int update_rate_in_ms = int(1000 / _current_update_rate); - - /* reject faster than 500 Hz updates */ - if (update_rate_in_ms < 2) { - update_rate_in_ms = 2; - } - /* reject slower than 10 Hz updates */ - if (update_rate_in_ms > 100) { - update_rate_in_ms = 100; - } - - debug("adjusted actuator update interval to %ums", update_rate_in_ms); - orb_set_interval(_t_actuators, update_rate_in_ms); - - // set to current max rate, even if we are actually checking slower/faster - _current_update_rate = max_rate; - } - - /* sleep waiting for data, stopping to check for PPM - * input at 100Hz */ - int ret = ::poll(&fds[0], 2, 10); - - /* this would be bad... */ - if (ret < 0) { - log("poll error %d", errno); - usleep(1000000); - continue; - } - - /* do we have a control update? */ - if (fds[0].revents & POLLIN) { - - /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); - - /* can we mix? */ - if (_mixers != nullptr) { - - /* do mixing */ - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); - outputs.timestamp = hrt_absolute_time(); - - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < outputs.noutputs && - isfinite(outputs.output[i]) && - outputs.output[i] >= -1.0f && - outputs.output[i] <= 1.0f) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); - } else { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = 900; - } - - /* output to the servo */ - up_pwm_servo_set(i, outputs.output[i]); - } - - /* and publish for anyone that cares to see */ - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); - } - } - - /* how about an arming update? */ - if (fds[1].revents & POLLIN) { - actuator_armed_s aa; - - /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); - - /* update PWM servo armed status if armed and not locked down */ - up_pwm_servo_arm(aa.armed && !aa.lockdown); - } - - // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp) { - // we have a new PPM frame. Publish it. - rc_in.channel_count = ppm_decoded_channels; - if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { - rc_in.channel_count = RC_INPUT_MAX_CHANNELS; - } - for (uint8_t i=0; i<rc_in.channel_count; i++) { - rc_in.values[i] = ppm_buffer[i]; - } - rc_in.timestamp = ppm_last_valid_decode; - - /* lazily advertise on first publication */ - if (to_input_rc == 0) { - to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); - } else { - orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); - } - } - } - - ::close(_t_actuators); - ::close(_t_actuators_effective); - ::close(_t_armed); - - /* make sure servos are off */ - up_pwm_servo_deinit(); - - log("stopping"); - - /* note - someone else is responsible for restoring the GPIO config */ - - /* tell the dtor that we are exiting */ - _task = -1; - _exit(0); -} - -int -PX4FMU::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) -{ - const actuator_controls_s *controls = (actuator_controls_s *)handle; - - input = controls->control[control_index]; - return 0; -} - -int -PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret; - - // XXX disabled, confusing users - //debug("ioctl 0x%04x 0x%08x", cmd, arg); - - /* try it as a GPIO ioctl first */ - ret = gpio_ioctl(filp, cmd, arg); - - if (ret != -ENOTTY) - return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - switch (_mode) { - case MODE_2PWM: - case MODE_4PWM: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - - /* if nobody wants it, let CDev have it */ - if (ret == -ENOTTY) - ret = CDev::ioctl(filp, cmd, arg); - - return ret; -} - -int -PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - case PWM_SERVO_ARM: - up_pwm_servo_arm(true); - break; - - case PWM_SERVO_DISARM: - up_pwm_servo_arm(false); - break; - - case PWM_SERVO_SET_UPDATE_RATE: - ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg); - break; - - case PWM_SERVO_SELECT_UPDATE_RATE: - ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); - break; - - case PWM_SERVO_SET(2): - case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_SET(0): - case PWM_SERVO_SET(1): - if (arg < 2100) { - up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); - } else { - ret = -EINVAL; - } - - break; - - case PWM_SERVO_GET(2): - case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_GET(0): - case PWM_SERVO_GET(1): - *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); - break; - - case PWM_SERVO_GET_RATEGROUP(0): - case PWM_SERVO_GET_RATEGROUP(1): - case PWM_SERVO_GET_RATEGROUP(2): - case PWM_SERVO_GET_RATEGROUP(3): - *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); - break; - - case PWM_SERVO_GET_COUNT: - case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { - *(unsigned *)arg = 4; - - } else { - *(unsigned *)arg = 2; - } - - break; - - case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - - break; - - case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; - - SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); - - if (mixer->check()) { - delete mixer; - ret = -EINVAL; - - } else { - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); - - _mixers->add_mixer(mixer); - } - - break; - } - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - unsigned buflen = strnlen(buf, 1024); - - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); - - if (_mixers == nullptr) { - ret = -ENOMEM; - - } else { - - ret = _mixers->load_from_buf(buf, buflen); - - if (ret != 0) { - debug("mixer load failed with %d", ret); - delete _mixers; - _mixers = nullptr; - ret = -EINVAL; - } - } - break; - } - - default: - ret = -ENOTTY; - break; - } - - unlock(); - - return ret; -} - -/* - this implements PWM output via a write() method, for compatibility - with px4io - */ -ssize_t -PX4FMU::write(file *filp, const char *buffer, size_t len) -{ - unsigned count = len / 2; - uint16_t values[4]; - - if (count > 4) { - // we only have 4 PWM outputs on the FMU - count = 4; - } - - // allow for misaligned values - memcpy(values, buffer, count*2); - - for (uint8_t i=0; i<count; i++) { - up_pwm_servo_set(i, values[i]); - } - return count * 2; -} - -void -PX4FMU::gpio_reset(void) -{ - /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip - * to input mode. - */ - for (unsigned i = 0; i < _ngpio; i++) - stm32_configgpio(_gpio_tab[i].input); - - stm32_gpiowrite(GPIO_GPIO_DIR, 0); - stm32_configgpio(GPIO_GPIO_DIR); -} - -void -PX4FMU::gpio_set_function(uint32_t gpios, int function) -{ - /* - * GPIOs 0 and 1 must have the same direction as they are buffered - * by a shared 2-port driver. Any attempt to set either sets both. - */ - if (gpios & 3) { - gpios |= 3; - - /* flip the buffer to output mode if required */ - if (GPIO_SET_OUTPUT == function) - stm32_gpiowrite(GPIO_GPIO_DIR, 1); - } - - /* configure selected GPIOs as required */ - for (unsigned i = 0; i < _ngpio; i++) { - if (gpios & (1 << i)) { - switch (function) { - case GPIO_SET_INPUT: - stm32_configgpio(_gpio_tab[i].input); - break; - - case GPIO_SET_OUTPUT: - stm32_configgpio(_gpio_tab[i].output); - break; - - case GPIO_SET_ALT_1: - if (_gpio_tab[i].alt != 0) - stm32_configgpio(_gpio_tab[i].alt); - - break; - } - } - } - - /* flip buffer to input mode if required */ - if ((GPIO_SET_INPUT == function) && (gpios & 3)) - stm32_gpiowrite(GPIO_GPIO_DIR, 0); -} - -void -PX4FMU::gpio_write(uint32_t gpios, int function) -{ - int value = (function == GPIO_SET) ? 1 : 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (gpios & (1 << i)) - stm32_gpiowrite(_gpio_tab[i].output, value); -} - -uint32_t -PX4FMU::gpio_read(void) -{ - uint32_t bits = 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (stm32_gpioread(_gpio_tab[i].input)) - bits |= (1 << i); - - return bits; -} - -int -PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - - case GPIO_RESET: - gpio_reset(); - break; - - case GPIO_SET_OUTPUT: - case GPIO_SET_INPUT: - case GPIO_SET_ALT_1: - gpio_set_function(arg, cmd); - break; - - case GPIO_SET_ALT_2: - case GPIO_SET_ALT_3: - case GPIO_SET_ALT_4: - ret = -EINVAL; - break; - - case GPIO_SET: - case GPIO_CLEAR: - gpio_write(arg, cmd); - break; - - case GPIO_GET: - *(uint32_t *)arg = gpio_read(); - break; - - default: - ret = -ENOTTY; - } - - unlock(); - - return ret; -} - -namespace -{ - -enum PortMode { - PORT_MODE_UNSET = 0, - PORT_FULL_GPIO, - PORT_FULL_SERIAL, - PORT_FULL_PWM, - PORT_GPIO_AND_SERIAL, - PORT_PWM_AND_SERIAL, - PORT_PWM_AND_GPIO, -}; - -PortMode g_port_mode; - -int -fmu_new_mode(PortMode new_mode) -{ - uint32_t gpio_bits; - PX4FMU::Mode servo_mode; - - /* reset to all-inputs */ - g_fmu->ioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = PX4FMU::MODE_NONE; - - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = PX4FMU::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - - /* (re)set the PWM output mode */ - g_fmu->set_mode(servo_mode); - - return OK; -} - -int -fmu_start(void) -{ - int ret = OK; - - if (g_fmu == nullptr) { - - g_fmu = new PX4FMU; - - if (g_fmu == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_fmu->init(); - - if (ret != OK) { - delete g_fmu; - g_fmu = nullptr; - } - } - } - - return ret; -} - -void -test(void) -{ - int fd; - - fd = open(PWM_OUTPUT_DEVICE_PATH, 0); - - if (fd < 0) - errx(1, "open fail"); - - if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); - - if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); - - close(fd); - - exit(0); -} - -void -fake(int argc, char *argv[]) -{ - if (argc < 5) - errx(1, "fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)"); - - actuator_controls_s ac; - - ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; - - ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; - - ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; - - ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; - - orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); - - if (handle < 0) - errx(1, "advertise failed"); - - actuator_armed_s aa; - - aa.armed = true; - aa.lockdown = false; - - handle = orb_advertise(ORB_ID(actuator_armed), &aa); - - if (handle < 0) - errx(1, "advertise failed 2"); - - exit(0); -} - -} // namespace - -extern "C" __EXPORT int fmu_main(int argc, char *argv[]); - -int -fmu_main(int argc, char *argv[]) -{ - PortMode new_mode = PORT_MODE_UNSET; - const char *verb = argv[1]; - - if (fmu_start() != OK) - errx(1, "failed to start the FMU driver"); - - /* - * Mode switches. - */ - if (!strcmp(verb, "mode_gpio")) { - new_mode = PORT_FULL_GPIO; - - } else if (!strcmp(verb, "mode_serial")) { - new_mode = PORT_FULL_SERIAL; - - } else if (!strcmp(verb, "mode_pwm")) { - new_mode = PORT_FULL_PWM; - - } else if (!strcmp(verb, "mode_gpio_serial")) { - new_mode = PORT_GPIO_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_serial")) { - new_mode = PORT_PWM_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_gpio")) { - new_mode = PORT_PWM_AND_GPIO; - } - - /* was a new mode set? */ - if (new_mode != PORT_MODE_UNSET) { - - /* yes but it's the same mode */ - if (new_mode == g_port_mode) - return OK; - - /* switch modes */ - int ret = fmu_new_mode(new_mode); - exit(ret == OK ? 0 : 1); - } - - if (!strcmp(verb, "test")) - test(); - - if (!strcmp(verb, "fake")) - fake(argc - 1, argv + 1); - - fprintf(stderr, "FMU: unrecognised command, try:\n"); - fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); - exit(1); -} |