diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_init.c | 4 | ||||
-rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_internal.h | 2 | ||||
-rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c | 2 | ||||
-rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_spi.c | 6 | ||||
-rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_usb.c | 4 | ||||
-rw-r--r-- | src/drivers/boards/px4iov2/px4iov2_init.c | 2 | ||||
-rwxr-xr-x | src/drivers/boards/px4iov2/px4iov2_internal.h | 2 | ||||
-rw-r--r-- | src/drivers/boards/px4iov2/px4iov2_pwm_servo.c | 2 | ||||
-rw-r--r-- | src/drivers/drv_gpio.h | 40 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 28 | ||||
-rw-r--r-- | src/drivers/px4io/interface_serial.cpp | 1 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 8 | ||||
-rw-r--r-- | src/drivers/px4io/uploader.cpp | 4 | ||||
-rw-r--r-- | src/drivers/stm32/drv_hrt.c | 8 | ||||
-rw-r--r-- | src/drivers/stm32/tone_alarm/tone_alarm.cpp | 4 | ||||
-rw-r--r-- | src/modules/px4iofirmware/module.mk | 4 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 30 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 2 | ||||
-rw-r--r-- | src/modules/px4iofirmware/serial.c | 2 |
19 files changed, 65 insertions, 90 deletions
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c index 03ec5a255..f9d1b8022 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_init.c +++ b/src/drivers/boards/px4fmuv2/px4fmu_init.c @@ -59,9 +59,9 @@ #include <nuttx/mmcsd.h> #include <nuttx/analog/adc.h> -#include "stm32_internal.h" +#include <stm32.h> #include "px4fmu_internal.h" -#include "stm32_uart.h" +#include <stm32_uart.h> #include <arch/board/board.h> diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h index dd291b9b7..dce51bcda 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_internal.h +++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h @@ -50,7 +50,7 @@ __BEGIN_DECLS /* these headers are not C++ safe */ -#include <stm32_internal.h> +#include <stm32.h> /**************************************************************************************************** diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c index 14e4052be..d1656005b 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c +++ b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c @@ -46,7 +46,7 @@ #include <arch/board/board.h> #include <drivers/drv_pwm_output.h> -#include <stm32_internal.h> +#include <stm32.h> #include <stm32_gpio.h> #include <stm32_tim.h> diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmuv2/px4fmu_spi.c index f90f25071..5e90c227d 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmuv2/px4fmu_spi.c @@ -50,9 +50,9 @@ #include <nuttx/spi.h> #include <arch/board/board.h> -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" +#include <up_arch.h> +#include <chip.h> +#include <stm32.h> #include "px4fmu_internal.h" /************************************************************************************ diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmuv2/px4fmu_usb.c index b0b669fbe..3492e2c68 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_usb.c +++ b/src/drivers/boards/px4fmuv2/px4fmu_usb.c @@ -51,8 +51,8 @@ #include <nuttx/usb/usbdev.h> #include <nuttx/usb/usbdev_trace.h> -#include "up_arch.h" -#include "stm32_internal.h" +#include <up_arch.h> +#include <stm32.h> #include "px4fmu_internal.h" /************************************************************************************ diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4iov2/px4iov2_init.c index 5d7b22560..e95298bf5 100644 --- a/src/drivers/boards/px4iov2/px4iov2_init.c +++ b/src/drivers/boards/px4iov2/px4iov2_init.c @@ -54,7 +54,7 @@ #include <nuttx/arch.h> -#include "stm32_internal.h" +#include <stm32.h> #include "px4iov2_internal.h" #include <arch/board/board.h> diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h index 81a75431c..2bf65e047 100755 --- a/src/drivers/boards/px4iov2/px4iov2_internal.h +++ b/src/drivers/boards/px4iov2/px4iov2_internal.h @@ -48,7 +48,7 @@ #include <stdint.h> /* these headers are not C++ safe */ -#include <stm32_internal.h> +#include <stm32.h> /****************************************************************************** diff --git a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c index 5e1aafa49..4f1b9487c 100644 --- a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c +++ b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c @@ -46,7 +46,7 @@ #include <arch/board/board.h> #include <drivers/drv_pwm_output.h> -#include <stm32_internal.h> +#include <stm32.h> #include <stm32_gpio.h> #include <stm32_tim.h> diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index a4c59d218..faeb9cf60 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -42,7 +42,7 @@ #include <sys/ioctl.h> -#ifdef CONFIG_ARCH_BOARD_PX4FMU +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* * PX4FMU GPIO numbers. * @@ -67,7 +67,7 @@ #endif -#ifdef CONFIG_ARCH_BOARD_PX4FMUV2 +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 /* * PX4FMUv2 GPIO numbers. * @@ -93,36 +93,14 @@ #endif -#ifdef CONFIG_ARCH_BOARD_PX4IO -/* - * PX4IO GPIO numbers. - * - * XXX note that these are here for reference/future use; currently - * there is no good way to wire these up without a common STM32 GPIO - * driver, which isn't implemented yet. - */ -/* outputs */ -# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */ -# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */ -# define GPIO_SERVO_POWER (1<<2) /**< servo power */ -# define GPIO_RELAY1 (1<<3) /**< relay 1 */ -# define GPIO_RELAY2 (1<<4) /**< relay 2 */ -# define GPIO_LED_BLUE (1<<5) /**< blue LED */ -# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */ -# define GPIO_LED_SAFETY (1<<7) /**< safety LED */ - -/* inputs */ -# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */ -# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */ -# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */ - -/** - * Default GPIO device - other devices may also support this protocol if - * they also export GPIO-like things. This is always the GPIOs on the - * main board. - */ -# define GPIO_DEVICE_PATH "/dev/px4io" +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 +/* no GPIO driver on the PX4IOv1 board */ +# define GPIO_DEVICE_PATH "/nonexistent" +#endif +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +/* no GPIO driver on the PX4IOv2 board */ +# define GPIO_DEVICE_PATH "/nonexistent" #endif #ifndef GPIO_DEVICE_PATH diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index ff99de02f..7d3af4b0d 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -59,10 +59,10 @@ #include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) # include <drivers/boards/px4fmu/px4fmu_internal.h> # define FMU_HAVE_PPM -#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) # include <drivers/boards/px4fmuv2/px4fmu_internal.h> # undef FMU_HAVE_PPM #else @@ -158,7 +158,7 @@ private: }; const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, @@ -168,7 +168,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, #endif -#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, @@ -873,7 +873,7 @@ PX4FMU::gpio_reset(void) } } -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* if we have a GPIO direction control, set it to zero (input) */ stm32_gpiowrite(GPIO_GPIO_DIR, 0); stm32_configgpio(GPIO_GPIO_DIR); @@ -883,7 +883,7 @@ PX4FMU::gpio_reset(void) void PX4FMU::gpio_set_function(uint32_t gpios, int function) { -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* * 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. @@ -918,7 +918,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) } } -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* flip buffer to input mode if required */ if ((GPIO_SET_INPUT == function) && (gpios & 3)) stm32_gpiowrite(GPIO_GPIO_DIR, 0); @@ -1024,17 +1024,17 @@ fmu_new_mode(PortMode new_mode) break; case PORT_FULL_PWM: -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) /* select 4-pin PWM mode */ servo_mode = PX4FMU::MODE_4PWM; #endif -#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) servo_mode = PX4FMU::MODE_6PWM; #endif break; /* mixed modes supported on v1 board only */ -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) 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; @@ -1116,7 +1116,7 @@ test(void) if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); -#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed"); if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed"); @@ -1183,7 +1183,7 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(verb, "mode_pwm")) { new_mode = PORT_FULL_PWM; -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) } else if (!strcmp(verb, "mode_serial")) { new_mode = PORT_FULL_SERIAL; @@ -1217,9 +1217,9 @@ fmu_main(int argc, char *argv[]) fake(argc - 1, argv + 1); fprintf(stderr, "FMU: unrecognised command, try:\n"); -#if defined(CONFIG_ARCH_BOARD_PX4FMU) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); -#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) fprintf(stderr, " mode_gpio, mode_pwm\n"); #endif exit(1); diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp index 9727daa71..06b955971 100644 --- a/src/drivers/px4io/interface_serial.cpp +++ b/src/drivers/px4io/interface_serial.cpp @@ -56,7 +56,6 @@ #include <chip.h> #include <up_internal.h> #include <up_arch.h> -#include <stm32_internal.h> #include <debug.h> diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 15e213afb..29624018f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1604,9 +1604,9 @@ start(int argc, char *argv[]) PX4IO_interface *interface; -#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) interface = io_serial_interface(); -#elif defined(CONFIG_ARCH_BOARD_PX4FMU) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1) interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); #else # error Unknown board - cannot select interface. @@ -1741,9 +1741,9 @@ if_test(unsigned mode) { PX4IO_interface *interface; -#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) interface = io_serial_interface(); -#elif defined(CONFIG_ARCH_BOARD_PX4FMU) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1) interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); #else # error Unknown board - cannot select interface. diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp index 28c584438..ec22a5e17 100644 --- a/src/drivers/px4io/uploader.cpp +++ b/src/drivers/px4io/uploader.cpp @@ -56,10 +56,10 @@ #include "uploader.h" -#ifdef CONFIG_ARCH_BOARD_PX4FMUV2 +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 #include <drivers/boards/px4fmuv2/px4fmu_internal.h> #endif -#ifdef CONFIG_ARCH_BOARD_PX4FMU +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 #include <drivers/boards/px4fmu/px4fmu_internal.h> #endif diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 7ef3db970..1cc18afda 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -70,7 +70,7 @@ #include "stm32_gpio.h" #include "stm32_tim.h" -#ifdef CONFIG_HRT_TIMER +#ifdef HRT_TIMER /* HRT configuration */ #if HRT_TIMER == 1 @@ -275,7 +275,7 @@ static void hrt_call_invoke(void); /* * Specific registers and bits used by PPM sub-functions */ -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. * @@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status); # define CCMR1_PPM 0 # define CCMR2_PPM 0 # define CCER_PPM 0 -#endif /* CONFIG_HRT_PPM */ +#endif /* HRT_PPM_CHANNEL */ /* * Initialise the timer we are going to use. @@ -907,4 +907,4 @@ hrt_latency_update(void) } -#endif /* CONFIG_HRT_TIMER */ +#endif /* HRT_TIMER */ diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 167ef30a8..2284be84d 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -117,10 +117,6 @@ #include <systemlib/err.h> -#ifndef CONFIG_HRT_TIMER -# error This driver requires CONFIG_HRT_TIMER -#endif - /* Tone alarm configuration */ #if TONE_ALARM_TIMER == 2 # define TONE_ALARM_BASE STM32_TIM2_BASE diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 4dd1aa8d7..59f470a94 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -15,10 +15,10 @@ SRCS = adc.c \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ -ifeq ($(BOARD),px4io) +ifeq ($(BOARD),px4io-v1) SRCS += i2c.c endif -ifeq ($(BOARD),px4iov2) +ifeq ($(BOARD),px4io-v2) SRCS += serial.c \ ../systemlib/hx_stream.c endif diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index b32782285..ccf175e45 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -42,10 +42,10 @@ #include <stdbool.h> #include <stdint.h> -#ifdef CONFIG_ARCH_BOARD_PX4IO +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 # include <drivers/boards/px4io/px4io_internal.h> #endif -#ifdef CONFIG_ARCH_BOARD_PX4IOV2 +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 # include <drivers/boards/px4iov2/px4iov2_internal.h> #endif @@ -129,18 +129,7 @@ extern struct sys_state_s system_state; #define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) #define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) -#ifdef CONFIG_ARCH_BOARD_PX4IOV2 - -# define PX4IO_RELAY_CHANNELS 0 -# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) - -# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) - -# define PX4IO_ADC_CHANNEL_COUNT 2 -# define ADC_VSERVO 4 -# define ADC_RSSI 5 - -#else /* CONFIG_ARCH_BOARD_PX4IOV1 */ +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 # define PX4IO_RELAY_CHANNELS 4 # define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) @@ -158,6 +147,19 @@ extern struct sys_state_s system_state; #endif +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + +# define PX4IO_RELAY_CHANNELS 0 +# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) + +# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VSERVO 4 +# define ADC_RSSI 5 + +#endif + #define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) /* diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index f4541936b..873ee73f1 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -59,7 +59,7 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt */ static const uint16_t r_page_config[] = { [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION, -#ifdef CONFIG_ARCH_BOARD_PX4IOV2 +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 [PX4IO_P_CONFIG_HARDWARE_VERSION] = 2, #else [PX4IO_P_CONFIG_HARDWARE_VERSION] = 1, diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index e4bc68f58..2f3184623 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -50,7 +50,7 @@ #include <chip.h> #include <up_internal.h> #include <up_arch.h> -#include <stm32_internal.h> +#include <stm32.h> #include <systemlib/perf_counter.h> //#define DEBUG |