diff options
Diffstat (limited to 'nuttx/configs/px4io/include')
| -rwxr-xr-x | nuttx/configs/px4io/include/README.txt | 1 | ||||
| -rwxr-xr-x | nuttx/configs/px4io/include/board.h | 167 | ||||
| -rw-r--r-- | nuttx/configs/px4io/include/drv_gpio.h | 67 | ||||
| -rw-r--r-- | nuttx/configs/px4io/include/drv_i2c_device.h | 42 | ||||
| -rw-r--r-- | nuttx/configs/px4io/include/drv_ppm_input.h | 100 | ||||
| -rw-r--r-- | nuttx/configs/px4io/include/drv_pwm_servo.h | 94 | ||||
| -rwxr-xr-x | nuttx/configs/px4io/include/up_boardinitialize.h | 43 | ||||
| -rw-r--r-- | nuttx/configs/px4io/include/up_hrt.h | 129 |
8 files changed, 643 insertions, 0 deletions
diff --git a/nuttx/configs/px4io/include/README.txt b/nuttx/configs/px4io/include/README.txt new file mode 100755 index 000000000..2264a80aa --- /dev/null +++ b/nuttx/configs/px4io/include/README.txt @@ -0,0 +1 @@ +This directory contains header files unique to the PX4IO board. diff --git a/nuttx/configs/px4io/include/board.h b/nuttx/configs/px4io/include/board.h new file mode 100755 index 000000000..cd4d48649 --- /dev/null +++ b/nuttx/configs/px4io/include/board.h @@ -0,0 +1,167 @@ +/************************************************************************************ + * configs/px4io/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> +#ifndef __ASSEMBLY__ +# include <stdint.h> +# include <stdbool.h> +#endif +#include "stm32_rcc.h" +#include "stm32_sdio.h" +#include "stm32_internal.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ + +/* On-board crystal frequency is 24MHz (HSE) */ + +#define STM32_BOARD_XTAL 24000000ul + +/* Use the HSE output as the system clock */ + +#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE +#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE +#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL + +/* AHB clock (HCLK) is SYSCLK (24MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB2 clock (PCLK2) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK +#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY +#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */ + +/* APB2 timer 1 will receive PCLK2. */ + +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) + +/* APB1 clock (PCLK1) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* All timers run off PCLK */ + +#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY) + +/* + * High-resolution timer + */ +#ifdef CONFIG_HRT_TIMER +# define HRT_TIMER 1 /* use timer1 for the HRT */ +# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ +#endif + +/* + * PPM + * + * PPM input is handled by the HRT timer. + * + * Pin is PA8, timer 1, channel 1 + */ +#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM) +# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ +# define GPIO_PPM_IN GPIO_TIM1_CH1IN +#endif + +/* + * PWM + * + * PWM configuration is provided via the configuration structure in up_boardinitialize.c + */ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +/************************************************************************************ + * Power switch support. + */ +extern void up_power_init(void); +extern void up_power_set(int port, bool state); +extern bool up_power_error(int port); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx/configs/px4io/include/drv_gpio.h b/nuttx/configs/px4io/include/drv_gpio.h new file mode 100644 index 000000000..329d2bacf --- /dev/null +++ b/nuttx/configs/px4io/include/drv_gpio.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * 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 GPIO driver for PX4IO + */ + +#include <sys/ioctl.h> + +#define _GPIO_IOCTL_BASE 0x7700 + +#define GPIO_SET(_x) _IOC(_GPIO_IOCTL_BASE, _x) +#define GPIO_GET(_x) _IOC(_GPIO_IOCTL_BASE + 1, _x) + +/* + * List of GPIOs; must be sorted with settable GPIOs first. + */ +#define GPIO_ACC1_POWER 0 /* settable */ +#define GPIO_ACC2_POWER 1 +#define GPIO_SERVO_POWER 2 +#define GPIO_RELAY1 3 +#define GPIO_RELAY2 4 +#define GPIO_LED_BLUE 5 +#define GPIO_LED_AMBER 6 +#define GPIO_LED_SAFETY 7 + +#define GPIO_ACC_OVERCURRENT 8 /* readonly */ +#define GPIO_SERVO_OVERCURRENT 9 +#define GPIO_SAFETY_BUTTON 10 + +#define GPIO_MAX_SETTABLE 7 +#define GPIO_MAX 10 + +/* + * GPIO driver init function. + */ +extern int gpio_drv_init(void); diff --git a/nuttx/configs/px4io/include/drv_i2c_device.h b/nuttx/configs/px4io/include/drv_i2c_device.h new file mode 100644 index 000000000..02582bc09 --- /dev/null +++ b/nuttx/configs/px4io/include/drv_i2c_device.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + /** + * @file A simple, polled I2C slave-mode driver. + * + * The master writes to and reads from a byte buffer, which the caller + * can update inbetween calls to the FSM. + */ + +extern void i2c_fsm_init(uint8_t *buffer, size_t buffer_size); +extern bool i2c_fsm(void); diff --git a/nuttx/configs/px4io/include/drv_ppm_input.h b/nuttx/configs/px4io/include/drv_ppm_input.h new file mode 100644 index 000000000..78c424154 --- /dev/null +++ b/nuttx/configs/px4io/include/drv_ppm_input.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * 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 PPM input decoder. + * + * Works in conjunction with the HRT driver, exports a device node + * and a message queue (if message queues are enabled). + * + * Note that the device node supports both blocking and non-blocking + * opens, but actually never blocks. A nonblocking open will return + * EWOULDBLOCK if there has not been an update since the last read, + * while a blocking open will always return the most recent data. + */ + +#include <sys/ioctl.h> + +#define _PPM_INPUT_BASE 0x7600 + +/* + * Fetch the state of the PPM input detector. + */ +#define PPM_INPUT_STATUS _IOC(_PPM_INPUT_BASE, 0) + +typedef enum { + PPM_STATUS_NO_SIGNAL = 0, + PPM_STATUS_SIGNAL_CURRENT = 1, +} ppm_input_status_t; + +/* + * Fetch the number of channels decoded (only valid when PPM_STATUS_SIGNAL_CURRENT). + */ +#define PPM_INPUT_CHANNELS _IOC(_PPM_INPUT_BASE, 1) + +typedef int ppm_input_channel_count_t; + +/* + * Device node + */ +#define PPM_DEVICE_NODE "/dev/ppm_input" + +/* + * Message queue; if message queues are supported, PPM input data is + * supplied to the queue when a frame is decoded. + */ +#ifndef CONFIG_DISABLE_MQUEUE +# define PPM_MESSAGE_QUEUE "ppm_input" +#endif + +/* + * Private hook from the HRT driver to the PPM decoder. + * + * This function is called for every edge of the incoming PPM + * signal. + * + * @param reset If true, the decoder should be reset (e.g.) + * capture failure was detected. + * @param count The counter value at which the edge + * was captured. + */ + +void ppm_input_decode(bool reset, uint16_t count); + +/* + * PPM input initialisation function. + * + * If message queues are enabled, and mq_name is not NULL, received input + * is posted to the message queue as an array of 16-bit unsigned channel values. + */ +int ppm_input_init(const char *mq_name);
\ No newline at end of file diff --git a/nuttx/configs/px4io/include/drv_pwm_servo.h b/nuttx/configs/px4io/include/drv_pwm_servo.h new file mode 100644 index 000000000..663468404 --- /dev/null +++ b/nuttx/configs/px4io/include/drv_pwm_servo.h @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * 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 PWM servo driver. + * + * The pwm_servo driver supports servos connected to STM32 timer + * blocks. + * + * Servo values can be set either with the PWM_SERVO_SET ioctl, or + * by writing an array of servo_position_t values to the device. + * Writing a value of 0 to a channel suppresses any output for that + * channel. + * + * Servo values can be read back either with the PWM_SERVO_GET + * ioctl, or by reading an array of servo_position_t values + * from the device. + * + * Attempts to set a channel that is not configured are ignored, + * and unconfigured channels always read zero. + * + * The PWM_SERVO_ARM / PWM_SERVO_DISARM calls globally arm + * (enable) and disarm (disable) all servo outputs. + */ + +#include <sys/ioctl.h> + +#define _PWM_SERVO_BASE 0x7500 +#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0) +#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) + +#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) +#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo) + +typedef uint16_t servo_position_t; + +/* configuration limits */ +#define PWM_SERVO_MAX_TIMERS 3 +#define PWM_SERVO_MAX_CHANNELS 8 + +struct pwm_servo_config { + /* rate (in Hz) of PWM updates */ + uint32_t update_rate; + + /* array of timers dedicated to PWM servo use */ + struct pwm_servo_timer { + uint32_t base; + uint32_t clock_register; + uint32_t clock_bit; + uint32_t clock_freq; + } timers[PWM_SERVO_MAX_TIMERS]; + + /* array of channels in logical order */ + struct pwm_servo_channel { + uint32_t gpio; + uint8_t timer_index; + uint8_t timer_channel; + servo_position_t default_value; + } channels[PWM_SERVO_MAX_CHANNELS]; +}; + +extern int pwm_servo_init(const struct pwm_servo_config *config); + + diff --git a/nuttx/configs/px4io/include/up_boardinitialize.h b/nuttx/configs/px4io/include/up_boardinitialize.h new file mode 100755 index 000000000..01b9ca214 --- /dev/null +++ b/nuttx/configs/px4io/include/up_boardinitialize.h @@ -0,0 +1,43 @@ +/**************************************************************************** + * + * 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 Board initialisation prototype(s) + */ + +#ifndef __UP_BOARDINITIALIZE_H +#define __UP_BOARDINITIALIZE_H + +extern int up_boardinitialize(void); + +#endif diff --git a/nuttx/configs/px4io/include/up_hrt.h b/nuttx/configs/px4io/include/up_hrt.h new file mode 100644 index 000000000..c83f14ac3 --- /dev/null +++ b/nuttx/configs/px4io/include/up_hrt.h @@ -0,0 +1,129 @@ +/**************************************************************************** + * + * 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 High-resolution timer callouts and timekeeping. + */ + +#ifndef UP_HRT_H_ +#define UP_HRT_H_ + +#include <sys/types.h> +#include <stdbool.h> + +#include <time.h> +#include <queue.h> + +/* + * Absolute time, in microsecond units. + * + * Absolute time is measured from some arbitrary epoch shortly after + * system startup. It should never wrap or go backwards. + */ +typedef uint64_t hrt_abstime; + +/* + * Callout function type. + * + * Note that callouts run in the timer interrupt context, so + * they are serialised with respect to each other, and must not + * block. + */ +typedef void (* hrt_callout)(void *arg); + +/* + * Callout record. + */ +struct hrt_call { + struct sq_entry_s link; + + hrt_abstime deadline; + hrt_abstime period; + hrt_callout callout; + void *arg; +}; + +/* + * Get absolute time. + */ +extern hrt_abstime hrt_absolute_time(void); + +/* + * Convert a timespec to absolute time. + */ +extern hrt_abstime ts_to_abstime(struct timespec *ts); + +/* + * Convert absolute time to a timespec. + */ +extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime); + +/* + * Call callout(arg) after delay has elapsed. + * + * If callout is NULL, this can be used to implement a timeout by testing the call + * with hrt_called(). + */ +extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg); + +/* + * Call callout(arg) at absolute time calltime. + */ +extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg); + +/* + * Call callout(arg) after delay, and then after every interval. + * + * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may + * jitter but should not drift. + */ +extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg); + +/* + * If this returns true, the entry has been invoked and removed from the callout list. + * + * Always returns false for repeating callouts. + */ +extern bool hrt_called(struct hrt_call *entry); + +/* + * Remove the entry from the callout list. + */ +extern void hrt_cancel(struct hrt_call *entry); + +/* + * Initialise the HRT. + */ +extern void hrt_init(int timer); + +#endif /* UP_HRT_H_ */ |