diff options
Diffstat (limited to 'apps')
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_adc.c | 142 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_can.c | 142 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 3 | ||||
-rw-r--r-- | apps/sensors/sensors.cpp | 2 |
4 files changed, 286 insertions, 3 deletions
diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/apps/drivers/boards/px4fmu/px4fmu_adc.c new file mode 100644 index 000000000..2ea855955 --- /dev/null +++ b/apps/drivers/boards/px4fmu/px4fmu_adc.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * 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_adc.c + * + * Board-specific ADC functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include <errno.h> +#include <debug.h> +#include <stdio.h> + +#include <nuttx/analog/adc.h> +#include <arch/board/board.h> + +#include "chip.h" +#include "up_arch.h" + +#include "stm32_adc.h" +#include "px4fmu_internal.h" + +#define ADC3_NCHANNELS 4 + +/************************************************************************************ + * Private Data + ************************************************************************************/ +/* The PX4FMU board has four ADC channels: ADC323 IN10-13 + */ + +/* Identifying number of each ADC channel: Variable Resistor. */ + +#ifdef CONFIG_STM32_ADC3 +static const uint8_t g_chanlist[ADC3_NCHANNELS] = {10, 11};// , 12, 13}; ADC12 and 13 are used by MPU on v1.5 boards + +/* Configurations of pins used byte each ADC channels */ +static const uint32_t g_pinlist[ADC3_NCHANNELS] = {GPIO_ADC3_IN10, GPIO_ADC3_IN11}; // ADC12 and 13 are used by MPU on v1.5 boards, GPIO_ADC3_IN12, GPIO_ADC3_IN13}; +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: adc_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/adc. + * + ************************************************************************************/ + +int adc_devinit(void) +{ + static bool initialized = false; + struct adc_dev_s *adc[ADC3_NCHANNELS]; + int ret; + int i; + + /* Check if we have already initialized */ + + if (!initialized) + { + char name[11]; + + for (i = 0; i < ADC3_NCHANNELS; i++) + { + stm32_configgpio(g_pinlist[i]); + } + + for (i = 0; i < 1; i++) + { + /* Configure the pins as analog inputs for the selected channels */ + //stm32_configgpio(g_pinlist[i]); + + /* Call stm32_adcinitialize() to get an instance of the ADC interface */ + //multiple channels only supported with dma! + adc[i] = stm32_adcinitialize(3, (g_chanlist), 4); + if (adc == NULL) + { + adbg("ERROR: Failed to get ADC interface\n"); + return -ENODEV; + } + + + /* Register the ADC driver at "/dev/adc0" */ + sprintf(name, "/dev/adc%d", i); + ret = adc_register(name, adc[i]); + if (ret < 0) + { + adbg("adc_register failed for adc %s: %d\n", name, ret); + return ret; + } + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c new file mode 100644 index 000000000..92d96e558 --- /dev/null +++ b/apps/drivers/boards/px4fmu/px4fmu_can.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * 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 index 249de6034..ba6cdd764 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ b/apps/drivers/boards/px4fmu/px4fmu_init.c @@ -63,7 +63,6 @@ #include "px4fmu_internal.h" #include "stm32_uart.h" -#include <arch/board/up_adc.h> #include <arch/board/board.h> #include <arch/board/drv_led.h> #include <arch/board/drv_eeprom.h> @@ -98,6 +97,8 @@ * Protected Functions ****************************************************************************/ +extern int adc_devinit(void); + /**************************************************************************** * Public Functions ****************************************************************************/ diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 6b7ca658c..54d2f6a0b 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -59,8 +59,6 @@ #include <drivers/drv_mag.h> #include <drivers/drv_baro.h> -#include <arch/board/up_adc.h> - #include <systemlib/systemlib.h> #include <systemlib/param/param.h> #include <systemlib/err.h> |