1 files changed, 178 insertions, 0 deletions
diff --git a/nuttx/configs/px4io/src/up_boardinitialize.c b/nuttx/configs/px4io/src/up_boardinitialize.c
new file mode 100644
index 000000000..f6900ebb5
--- /dev/null
+++ b/nuttx/configs/px4io/src/up_boardinitialize.c
@@ -0,0 +1,178 @@
+/****************************************************************************
+ *
+ *   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 and configuration data.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <arch/board/board.h>
+#include <arch/board/up_boardinitialize.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/drv_pwm_servo.h>
+#include <arch/board/drv_gpio.h>
+
+#include "chip.h"
+#include "up_internal.h"
+#include "up_arch.h"
+
+#include "stm32_internal.h"
+#include "stm32_gpio.h"
+#include "stm32_tim.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Debug ********************************************************************/
+
+/* Configuration ************************************************************/
+
+#if CONFIG_PWM_SERVO
+  /*
+   * Servo configuration for the PX4IO board.
+   */
+  static const struct pwm_servo_config servo_config = {
+    .update_rate = 50,
+    .timers = {
+      {
+        .base = STM32_TIM2_BASE,
+        .clock_register = STM32_RCC_APB1ENR,
+        .clock_bit = RCC_APB1ENR_TIM2EN,
+        .clock_freq = STM32_APB1_TIM2_CLKIN
+      },
+      {
+        .base = STM32_TIM3_BASE,
+        .clock_register = STM32_RCC_APB1ENR,
+        .clock_bit = RCC_APB1ENR_TIM3EN,
+        .clock_freq = STM32_APB1_TIM3_CLKIN
+      },
+      {
+        .base = STM32_TIM4_BASE,
+        .clock_register = STM32_RCC_APB1ENR,
+        .clock_bit = RCC_APB1ENR_TIM4EN,
+        .clock_freq = STM32_APB1_TIM4_CLKIN
+      },
+    },
+    .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_TIM4_CH3OUT,
+        .timer_index = 2,
+        .timer_channel = 3,
+        .default_value = 1000,
+      },
+      {
+        .gpio = GPIO_TIM4_CH4OUT,
+        .timer_index = 2,
+        .timer_channel = 4,
+        .default_value = 1000,
+      },
+      {
+        .gpio = GPIO_TIM3_CH1OUT,
+        .timer_index = 1,
+        .timer_channel = 1,
+        .default_value = 1000,
+      },
+      {
+        .gpio = GPIO_TIM3_CH2OUT,
+        .timer_index = 1,
+        .timer_channel = 2,
+        .default_value = 1000,
+      },
+      {
+        .gpio = GPIO_TIM3_CH3OUT,
+        .timer_index = 1,
+        .timer_channel = 3,
+        .default_value = 1000,
+      },
+      {
+        .gpio = GPIO_TIM3_CH4OUT,
+        .timer_index = 1,
+        .timer_channel = 4,
+        .default_value = 1000,
+      },
+    }
+  };
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+int up_boardinitialize()
+{
+	/* configure the high-resolution time/callout interface */
+#ifdef CONFIG_HRT_TIMER
+	hrt_init(CONFIG_HRT_TIMER);
+#endif
+
+	/* configure the PWM servo driver */
+#if CONFIG_PWM_SERVO
+	pwm_servo_init(&servo_config);
+#endif
+
+  /* configure the GPIO driver */
+  gpio_drv_init();
+
+  return OK;
+}