diff options
Diffstat (limited to 'src/drivers/boards')
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/board_config.h | 298 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/module.mk | 15 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_buttons.c | 154 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_can.c | 147 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_init.c | 191 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_led.c | 175 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_spi.c | 232 |
7 files changed, 1212 insertions, 0 deletions
diff --git a/src/drivers/boards/px4cannode-v1/board_config.h b/src/drivers/boards/px4cannode-v1/board_config.h new file mode 100644 index 000000000..ddf5603b6 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/board_config.h @@ -0,0 +1,298 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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_config.h + * + * PX4CANNODEv1 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.h> +#include <arch/board/board.h> + +/************************************************************************************ + * Definitions + ************************************************************************************/ +#define UDID_START 0x1FFF7A10 + +#if STM32_NSPI < 1 +# undef CONFIG_STM32_SPI1 +# undef CONFIG_STM32_SPI2 +#elif STM32_NSPI < 2 +# undef CONFIG_STM32_SPI2 +#endif + +/* High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ +#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ +#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTB|GPIO_PIN12) + +/* LEDs ***************************************************************************** + * + * GPIO Function MPU Board + * Pin # Name + * -- ----- -------------------------------- ---------------------------- + * + * PA[05] PA5/SPI1_SCK/ADC5 21 D13(SCK1/LED1) + * PA[01] PA1/USART2_RTS/ADC1/TIM2_CH2 15 D3(LED2) + */ + +#define GPIO_LED1 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR) +#define GPIO_LED_GREEN GPIO_LED1 +#define LED_GREEN 0 +#define GPIO_LED2 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_CLEAR) +#define GPIO_LED_YELLOW GPIO_LED2 +#define LED_YELLOW 1 + +/* BUTTON *************************************************************************** + * + * GPIO Function MPU Board + * Pin # Name + * -- ----- -------------------------------- ---------------------------- + * + * PC[09] PC9/TIM3_CH4 40 BOOT0 + * + */ + +#define BUTTON_BOOT0n (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN9 | \ + GPIO_EXTI) +#define IRQBUTTON BUTTON_BOOT0_BIT + +/* USBs ***************************************************************************** + * + * GPIO Function MPU Board + * Pin # Name + * -- ----- -------------------------------- ---------------------------- + * + * PC[11] PC11/USART3_RX 52 USB_P + * PC[12] PC12/USART3_CK 53 DISC + * + */ + +#define GPIO_USB_VBUS (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN11) +#define GPIO_USB_PULLUPn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_SET) + +/* SPI *************************************************************************** + * + * GPIO Function MPU Board + * Pin # Name + * -- ----- -------------------------------- ---------------------------- + * + * PC[09] PA4/SPI1_NSS/USART2_CK/ADC4 20 D10(#SS1) + * PD[02] PD2/TIM3_ETR 54 D25(MMC_CS) + */ + +#define GPIO_SPI1_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_SET) +#define USER_CSn GPIO_SPI1_SSn + +#define GPIO_SPI2_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_SET) +#define MMCSD_CSn GPIO_SPI2_SSn + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins. + * + ************************************************************************************/ + +#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \ + defined(CONFIG_STM32_SPI3) +void weak_function board_spiinitialize(void); +#endif + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins. + * + ************************************************************************************/ + +void stm32_usbinitialize(void); + +/************************************************************************************ + * Name: stm32_usb_set_pwr_callback() + * + * Description: + * Called to setup set a call back for USB power state changes. + * + * Inputs: + * pwr_changed_handler: An interrupt handler that will be called on VBUS power + * state changes. + * + ************************************************************************************/ + +void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler); + +/************************************************************************************ + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ************************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + +/**************************************************************************** + * Name: stm32_led_initialize + * + * Description: + * This functions is called very early in initialization to perform board- + * specific initialization of LED-related resources. This includes such + * things as, for example, configure GPIO pins to drive the LEDs and also + * putting the LEDs in their correct initial state. + * + * NOTE: In most architectures, LED initialization() is called from + * board-specific initialization and should, therefore, have the name + * <arch>_led_intialize(). But there are a few architectures where the + * LED initialization function is still called from common chip + * architecture logic. This interface is not, however, a common board + * interface in any event and the name board_led_initialization is + * deprecated. + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ + +#ifdef CONFIG_ARCH_LEDS +void board_led_initialize(void); +#endif + +/************************************************************************************ + * Name: stm32_can_initialize + * + * Description: + * Called at application startup time to initialize the CAN functionality. + * + ************************************************************************************/ + +#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)) +int board_can_initialize(void); +#endif + +/************************************************************************************ + * Name: board_button_initialize + * + * Description: + * Called at application startup time to initialize the Buttons functionality. + * + ************************************************************************************/ + +#if defined(CONFIG_ARCH_BUTTONS) +void board_button_initialize(void); +#endif + +/**************************************************************************** + * Name: usbmsc_archinitialize + * + * Description: + * Called from the application system/usbmc or the boards_nsh if the + * application is not included. + * Perform architecture specific initialization. This function must + * configure the block device to export via USB. This function must be + * provided by architecture-specific logic in order to use this add-on. + * + ****************************************************************************/ + +#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC) +int usbmsc_archinitialize(void); +#endif + +/**************************************************************************** + * Name: composite_archinitialize + * + * Description: + * Called from the application system/composite or the boards_nsh if the + * application is not included. + * Perform architecture specific initialization. This function must + * configure the block device to export via USB. This function must be + * provided by architecture-specific logic in order to use this add-on. + * + ****************************************************************************/ + +#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE) +extern int composite_archinitialize(void); +#endif +/// +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/px4cannode-v1/module.mk b/src/drivers/boards/px4cannode-v1/module.mk new file mode 100644 index 000000000..fbed87330 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/module.mk @@ -0,0 +1,15 @@ +# +# Board-specific startup code for the PX4CANNODE +# + +SRCS = \ + px4cannode_can.c \ + px4cannode_buttons.c \ + px4cannode_init.c \ + px4cannode_led.c \ + px4cannode_spi.c \ + ../../../drivers/device/cdev.cpp \ + ../../../drivers/device/device.cpp \ + ../../../modules/systemlib/up_cxxinitialize.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_buttons.c b/src/drivers/boards/px4cannode-v1/px4cannode_buttons.c new file mode 100644 index 000000000..724394211 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/px4cannode_buttons.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 px4cannode_buttons.c + * + * PX4CANNODE- Buttons + */ +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> + +#include <nuttx/arch.h> +#include <nuttx/board.h> +#include <arch/board/board.h> + +#include "board_config.h" + +#ifdef CONFIG_ARCH_BUTTONS + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +void board_button_initialize(void); +xcpt_t board_button_irq(int id, xcpt_t irqhandler); +/**************************************************************************** + * Button support. + * + * Description: + * board_button_initialize() must be called to initialize button resources. + * + * After board_button_initialize() has been called, board_buttons() may be + * called to collect the state of all buttons. board_buttons() returns an + * 8-bit bit set with each bit associated with a button. + * See the BUTTON_*_BIT definitions in board.h for the meaning of each bit. + * + * board_button_irq() may be called to register an interrupt handler that + * will be called when a button is depressed or released. The ID value is + * a button enumeration value that uniquely identifies a button resource. + * See the BUTTON_* definitions in board.h for the meaning of enumeration + * value. The previous interrupt handler address is returned + * (so that it may restored, if so desired). + * + ****************************************************************************/ + +/**************************************************************************** + * Name: board_button_initialize + * + * Description: + * board_button_initialize() must be called to initialize button resources. + * After that, board_buttons() may be called to collect the current state of + * all buttons or board_button_irq() may be called to register button + * interrupt handlers. + * + ****************************************************************************/ + +void board_button_initialize(void) +{ + stm32_configgpio(BUTTON_BOOT0n); +} + +/**************************************************************************** + * Name: board_buttons + * + * Description: + * + * After board_button_initialize() has been called, board_buttons() may be + * called to collect the state of all buttons. board_buttons() returns an + * 8-bit bit set with each bit associated with a button. + * See the BUTTON_*_BIT definitions in board.h for the meaning of each bit. + * + ****************************************************************************/ + +uint8_t board_buttons(void) +{ + return stm32_gpioread(BUTTON_BOOT0n) ? 0 : BUTTON_BOOT0_MASK; +} + +/**************************************************************************** + * Name: board_button_irq + * + * Description: + * + * board_button_irq() may be called to register an interrupt handler that + * will be called when a button is depressed or released. The ID value is + * a button enumeration value that uniquely identifies a button resource. + * See the BUTTON_* definitions in board.h for the meaning of enumeration + * value. The previous interrupt handler address is returned + * (so that it may restored, if so desired). + * + ****************************************************************************/ + +#ifdef CONFIG_ARCH_IRQBUTTONS +xcpt_t board_button_irq(int id, xcpt_t irqhandler) +{ + xcpt_t oldhandler = NULL; + + /* The following should be atomic */ + + if (id == IRQBUTTON) + { + oldhandler = stm32_gpiosetevent(BUTTON_BOOT0n, true, true, true, irqhandler); + } + + return oldhandler; +} +#endif +#endif /* CONFIG_ARCH_BUTTONS */ diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_can.c b/src/drivers/boards/px4cannode-v1/px4cannode_can.c new file mode 100644 index 000000000..92f09d0cc --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/px4cannode_can.c @@ -0,0 +1,147 @@ +/**************************************************************************** + * + * Copyright (C) 2015 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 pxesc_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 "board_config.h" + +#if defined(CONFIG_CAN) + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ +/* The STM32F107VC supports CAN1 and CAN2 */ + +#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 + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * 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; +} + +#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */ diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_init.c b/src/drivers/boards/px4cannode-v1/px4cannode_init.c new file mode 100644 index 000000000..b1c3e71a5 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/px4cannode_init.c @@ -0,0 +1,191 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 px4cannode_init.c + * + * PX4CANNODE-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 initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <stdio.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/arch.h> +#include <nuttx/board.h> +#include <nuttx/spi/spi.h> +#include <nuttx/i2c.h> +#include <nuttx/mmcsd.h> +#include <nuttx/analog/adc.h> + +#include <stm32.h> +#include "board_config.h" +#include "stm32_uart.h" + +#include <arch/board/board.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_led.h> + +#include <systemlib/cpuload.h> + +#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE) +#include <systemlib/systemlib.h> +#endif + +/* todo: This is constant but not proper */ +__BEGIN_DECLS +extern void led_off(int led); +__END_DECLS + + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +/**************************************************************************** + * 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 initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure LEDs */ + board_led_initialize(); + board_button_initialize(); + board_spiinitialize(); + +} + + +__EXPORT void board_initialize(void) +{ +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + + +#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 = OK; + +#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE) + + /* run C++ ctors before we go any further */ + + up_cxxinitialize(); + +# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE) +# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE. +# endif + +#else +# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined. +#endif + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* 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(); + + led_off(LED_AMBER); + led_off(LED_BLUE); + + return result; +} diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_led.c b/src/drivers/boards/px4cannode-v1/px4cannode_led.c new file mode 100644 index 000000000..fe765d653 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/px4cannode_led.c @@ -0,0 +1,175 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 px4cannode_led.c + * + * PX4ESC LED backend. + */ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <nuttx/board.h> + +#include "stm32.h" +#include "board_config.h" + +#include <arch/board/board.h> + +#include <systemlib/px4_macros.h> + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +static uint16_t g_ledmap[] = { + GPIO_LED_GREEN, // Indexed by LED_GREEN + GPIO_LED_YELLOW, // Indexed by LED_YELLOW +}; + +__EXPORT void led_init(void) +{ + /* Configure LED1-2 GPIOs for output */ + for (size_t l = 0; l < arraySize(g_ledmap); l++) { + stm32_configgpio(g_ledmap[l]); + } +} + +__EXPORT void board_led_initialize(void) +{ + led_init(); +} + +static void phy_set_led(int led, bool state) +{ + /* Pull Up to switch on */ + stm32_gpiowrite(g_ledmap[led], state); +} + +static bool phy_get_led(int led) +{ + + return !stm32_gpioread(g_ledmap[led]); +} + +__EXPORT void led_on(int led) +{ + phy_set_led(led, true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(led, false); +} + +__EXPORT void led_toggle(int led) +{ + + phy_set_led(led, !phy_get_led(led)); +} + +static bool g_initialized; + +// Nuttx Usages + +__EXPORT void board_led_on(int led) +{ + switch (led) + { + default: + case LED_STARTED: + case LED_HEAPALLOCATE: + case LED_IRQSENABLED: + phy_set_led(LED_GREEN, false); + phy_set_led(LED_YELLOW, false); + break; + + case LED_STACKCREATED: + phy_set_led(LED_GREEN, true); + phy_set_led(LED_YELLOW, false); + g_initialized = true; + break; + + case LED_INIRQ: + case LED_SIGNAL: + case LED_ASSERTION: + case LED_PANIC: + phy_set_led(LED_YELLOW, true); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(LED_GREEN, false); + break; + } +} + +/**************************************************************************** + * Name: board_led_off + ****************************************************************************/ + + +__EXPORT void board_led_off(int led) +{ + switch (led) + { + default: + case LED_STARTED: + case LED_HEAPALLOCATE: + case LED_IRQSENABLED: + case LED_STACKCREATED: + phy_set_led(LED_GREEN, false); + // no break + + case LED_INIRQ: + case LED_SIGNAL: + case LED_ASSERTION: + case LED_PANIC: + phy_set_led(LED_YELLOW, false); + break; + + case LED_IDLE: /* IDLE */ + phy_set_led(LED_GREEN, g_initialized); + break; + } +} diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_spi.c b/src/drivers/boards/px4cannode-v1/px4cannode_spi.c new file mode 100644 index 000000000..0277098b9 --- /dev/null +++ b/src/drivers/boards/px4cannode-v1/px4cannode_spi.c @@ -0,0 +1,232 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 px4cannode_led.c + * + * PX4FMU SPI backend. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <stdbool.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/spi/spi.h> +#include <arch/board/board.h> + +#include <nuttx/board.h> +#include "chip.h" +#include "stm32.h" +#include "board_config.h" + +#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3) + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Enables debug output from this file (needs CONFIG_DEBUG too) */ + +#undef SPI_DEBUG /* Define to enable debug */ +#undef SPI_VERBOSE /* Define to enable verbose debug */ + +#ifdef SPI_DEBUG +# define spidbg lldbg +# ifdef SPI_VERBOSE +# define spivdbg lldbg +# else +# define spivdbg(x...) +# endif +#else +# undef SPI_VERBOSE +# define spidbg(x...) +# define spivdbg(x...) +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the board. + * + ************************************************************************************/ + +void weak_function board_spiinitialize(void) +{ + /* Setup CS */ + +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(USER_CSn); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(MMCSD_CSn); +#endif +} + +/**************************************************************************** + * Name: stm32_spi1/2/3select and stm32_spi1/2/3status + * + * Description: + * The external functions, stm32_spi1/2/3select and stm32_spi1/2/3status + * must be provided by board-specific logic. They are implementations of + * the select and status methods of the SPI interface defined by struct + * spi_ops_s (see include/nuttx/spi/spi.h). All other methods (including + * up_spiinitialize()) are provided by common STM32 logic. To use this + * common SPI logic on your board: + * + * 1. Provide logic in stm32_boardinitialize() to configure SPI chip + * select pins. + * 2. Provide stm32_spi1/2/3select() and stm32_spi1/2/3status() functions + * in your board-specific logic. These functions will perform chip + * selection and status operations using GPIOs in the way your board + * is configured. + * 3. Add a calls to up_spiinitialize() in your low level application + * initialization logic + * 4. The handle returned by up_spiinitialize() may then be used to bind + * the SPI driver to higher level logic (e.g., calling + * mmcsd_spislotinitialize(), for example, will bind the SPI driver to + * the SPI MMC/SD driver). + * + ****************************************************************************/ + +#ifdef CONFIG_STM32_SPI1 +void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert"); + if (devid == SPIDEV_USER) + { + stm32_gpiowrite(USER_CSn, !selected); + } +} + +uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return 0; +} +#endif + +#ifdef CONFIG_STM32_SPI2 +void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert"); +#if defined(CONFIG_MMCSD) + if (devid == SPIDEV_MMCSD) + { + stm32_gpiowrite(MMCSD_CSn, !selected); + } +#endif +} + +uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* No switch on SD card socket so assume it is here */ + + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI3 +void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert"); +} + +uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return 0; +} +#endif + +/**************************************************************************** + * Name: stm32_spi1cmddata + * + * Description: + * Set or clear the SH1101A A0 or SD1306 D/C n bit to select data (true) + * or command (false). This function must be provided by platform-specific + * logic. This is an implementation of the cmddata method of the SPI + * interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h). + * + * Input Parameters: + * + * spi - SPI device that controls the bus the device that requires the CMD/ + * DATA selection. + * devid - If there are multiple devices on the bus, this selects which one + * to select cmd or data. NOTE: This design restricts, for example, + * one one SPI display per SPI bus. + * cmd - true: select command; false: select data + * + * Returned Value: + * None + * + ****************************************************************************/ + +#ifdef CONFIG_SPI_CMDDATA +#ifdef CONFIG_STM32_SPI1 +int stm32_spi1cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd) +{ + return OK; +} +#endif + +#ifdef CONFIG_STM32_SPI2 +int stm32_spi2cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd) +{ + return OK; +} +#endif + +#ifdef CONFIG_STM32_SPI3 +int stm32_spi3cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd) +{ + return -ENODEV; +} +#endif +#endif /* CONFIG_SPI_CMDDATA */ + +#endif /* CONFIG_STM32_SPI1 || CONFIG_STM32_SPI2 */ |