From 7b61c927f0420cb3b519972221654176e7c9274b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 19 Apr 2014 16:13:13 +0200 Subject: Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests. --- makefiles/config_px4fmu-v1_default.mk | 2 +- makefiles/config_px4fmu-v2_default.mk | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'makefiles') diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 532e978d0..1daf8277e 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -70,7 +70,7 @@ MODULES += modules/gpio_led # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/fw_att_pos_estimator +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav #MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc..7f0c59515 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -79,7 +79,7 @@ MODULES += modules/gpio_led # MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_so3 -MODULES += modules/fw_att_pos_estimator +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator -- cgit v1.2.3 From 08e5ed5a1d630f840a838006bab6b1d1ae6aa6c1 Mon Sep 17 00:00:00 2001 From: ufoncz Date: Fri, 25 Apr 2014 21:14:12 +0200 Subject: added version nsh command, it can replace hw_ver sss --- makefiles/config_px4fmu-v2_default.mk | 1 + src/systemcmds/version/module.mk | 43 +++++++++++ src/systemcmds/version/version.c | 138 ++++++++++++++++++++++++++++++++++ 3 files changed, 182 insertions(+) create mode 100644 src/systemcmds/version/module.mk create mode 100644 src/systemcmds/version/version.c (limited to 'makefiles') diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc..7ec6a2fc6 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -65,6 +65,7 @@ MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/version # # General system control diff --git a/src/systemcmds/version/module.mk b/src/systemcmds/version/module.mk new file mode 100644 index 000000000..3dac09239 --- /dev/null +++ b/src/systemcmds/version/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2014 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. +# +############################################################################ + +# +# Show and test hardware version +# + +MODULE_COMMAND = version +SRCS = version.c + +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/version/version.c b/src/systemcmds/version/version.c new file mode 100644 index 000000000..38730b10d --- /dev/null +++ b/src/systemcmds/version/version.c @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Vladimir Kulla + * + * 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 version.c + * + * Version nsh command, unified way of showing versions of HW, SW, Build, Toolchain etc + */ + +#include + +#include +#include +#include +#include + +__EXPORT int version_main(int argc, char *argv[]); + +static void usage(const char *reason) +{ + if (reason != NULL) { + fprintf(stderr, "%s\n", reason); + } + + fprintf(stderr, "usage: version {hw|git|date|gcc|all}\n\n"); +} + +static void version_githash(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("FW git-hash:"); + } + printf("%s\n", FW_GIT); +} + +static void version_hwarch(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("HW arch: "); + } + printf("%s\n", HW_ARCH); +} + +static void version_date(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("Build date: "); + } + printf("%s %s\n", __DATE__, __TIME__); +} + +static void version_gcc(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used: "); + //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + } + printf("%s\n", __VERSION__); +} +static char sz_ver_hw_str[] = "hw"; + +int version_main(int argc, char *argv[]) +{ + if (argc >= 2) + { + if (argv[1] != NULL) + { + if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) + { + version_hwarch(0); + } + else if (!strncmp(argv[1], "git", 3)) + { + version_githash(0); + } + else if (!strncmp(argv[1], "date", 3)) + { + version_date(0); + } + else if (!strncmp(argv[1], "gcc", 3)) + { + version_gcc(0); + } + else if (!strncmp(argv[1], "all", 3)) + { + printf("Pixhawk version info\n"); + version_hwarch(1); + version_date(1); + version_githash(1); + version_gcc(1); + } + else + { + printf("unknown command: %s\n", argv[1]); + } + } + else + { + usage("Error, input parameter NULL.\n"); + } + } + else + { + usage("Error, not enough parameters."); + } + return OK; +} -- cgit v1.2.3 From 5ea1105451330aa55e0c331b99ba2ab60e6f8c15 Mon Sep 17 00:00:00 2001 From: ufoncz Date: Sun, 27 Apr 2014 15:12:05 +0200 Subject: changed dir from version to ver to keep it shorter added "hw_ver compare" as command option so we can replace hw_ver in future --- makefiles/config_px4fmu-v1_default.mk | 1 + makefiles/config_px4fmu-v2_default.mk | 2 +- src/systemcmds/ver/module.mk | 44 +++++++++ src/systemcmds/ver/ver.c | 175 ++++++++++++++++++++++++++++++++++ src/systemcmds/ver/ver.h | 64 +++++++++++++ src/systemcmds/version/module.mk | 43 --------- src/systemcmds/version/version.c | 144 ---------------------------- 7 files changed, 285 insertions(+), 188 deletions(-) create mode 100644 src/systemcmds/ver/module.mk create mode 100644 src/systemcmds/ver/ver.c create mode 100644 src/systemcmds/ver/ver.h delete mode 100644 src/systemcmds/version/module.mk delete mode 100644 src/systemcmds/version/version.c (limited to 'makefiles') diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 532e978d0..20e7ab331 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -57,6 +57,7 @@ MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 7ec6a2fc6..bbb754eb0 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -65,7 +65,7 @@ MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile -MODULES += systemcmds/version +MODULES += systemcmds/ver # # General system control diff --git a/src/systemcmds/ver/module.mk b/src/systemcmds/ver/module.mk new file mode 100644 index 000000000..2eeb80b61 --- /dev/null +++ b/src/systemcmds/ver/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2014 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. +# +############################################################################ + +# +# "version" nsh-command displays version infromation for hw,sw, gcc,build etc +# can be also included and used in own code via "ver.h" +# + +MODULE_COMMAND = ver +SRCS = ver.c + +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c new file mode 100644 index 000000000..f44fd1afe --- /dev/null +++ b/src/systemcmds/ver/ver.c @@ -0,0 +1,175 @@ +/**************************************************************************** +* +* Copyright (c) 2012-2014 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 ver.c +* +* Version command, unifies way of showing versions of HW, SW, Build, gcc +* In case you want to add new version just extend version_main function +* +* External use of the version functions is possible, include "vercmd.h" +* and use functions from header with prefix ver_ +* +* @author Vladimir Kulla +*/ + +#include +#include +#include +#include +#include + +#include "ver.h" + +// string constants for version commands +static const char sz_ver_hw_str[] = "hw"; +static const char sz_ver_hwcmp_str[]= "hwcmp"; +static const char sz_ver_git_str[] = "git"; +static const char sz_ver_date_str[] = "date"; +static const char sz_ver_gcc_str[] = "gcc"; +static const char sz_ver_all_str[] = "all"; + +static void usage(const char *reason) +{ + if (reason != NULL) { + printf("%s\n", reason); + } + + printf("usage: version {hw|hwcmp|git|date|gcc|all}\n\n"); +} + +void ver_githash(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("FW git-hash: "); + } + printf("%s\n", FW_GIT); +} + +void ver_hwarch(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("HW arch: "); + } + printf("%s\n", HW_ARCH); +} + +void ver_date(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("Build date: "); + } + printf("%s %s\n", __DATE__, __TIME__); +} + +void ver_gcclong(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used (long): "); + //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + } + printf("%s\n", __VERSION__); +} + +void ver_gccshort(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used (short): "); + + } + printf("%d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); +} + +int ver_gccnum() +{ + return (__GNUC__ * 1000) + (__GNUC_MINOR__ * 100) + __GNUC_PATCHLEVEL__; +} + +__EXPORT int ver_main(int argc, char *argv[]); + +int ver_main(int argc, char *argv[]) +{ + int ret = 1; //defaults to an error + + // first check if there are at least 2 params + if (argc >= 2) { + if (argv[1] != NULL) { + if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) { + ver_hwarch(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_hwcmp_str, strlen(sz_ver_hwcmp_str))) { + if (argc >= 3 && argv[2] != NULL) { + // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + ret = strcmp(HW_ARCH, argv[2]) != 0; + if (ret == 0) { + printf("hw_ver match: %s\n", HW_ARCH); + } + } else { + errx(1, "not enough arguments, try 'version hwcmp PX4FMU_1'"); + } + } + else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) { + ver_githash(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) { + ver_date(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) { + ver_gcclong(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) { + printf("Pixhawk version info\n"); + ver_hwarch(1); + ver_date(1); + ver_githash(1); + ver_gcclong(1); + ret = 0; + } + else { + errx(1, "unknown command.\n"); + } + } + else { + usage("Error, input parameter NULL.\n"); + } + } + else { + usage("Error, not enough parameters."); + } + + return ret; +} diff --git a/src/systemcmds/ver/ver.h b/src/systemcmds/ver/ver.h new file mode 100644 index 000000000..3de308c05 --- /dev/null +++ b/src/systemcmds/ver/ver.h @@ -0,0 +1,64 @@ +/**************************************************************************** +* +* Copyright (c) 2012-2014 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 vercmd.h +* +* Version command, unifies way of showing versions of hW, sW, build, gcc +* Mainly used from nsh-console, shall replace also hw_arch command +* +* External use: possible, include "vercmd.h" and use "ver_xx" functions +* +* Extension: possible, just add new else-if to version_main function +* +* @author Vladimir Kulla +*/ + +#ifndef VERCMD_H_ +#define VERCMD_H_ + + +void ver_githash(int bShowPrefix); + +void ver_hwarch(int bShowPrefix); + +void ver_date(int bShowPrefix); + +void ver_gcclong(int bShowPrefix); +void ver_gccshort(int bShowPrefix); +int ver_gccnum(); + + + + +#endif /* VERCMD_H_ */ diff --git a/src/systemcmds/version/module.mk b/src/systemcmds/version/module.mk deleted file mode 100644 index 3dac09239..000000000 --- a/src/systemcmds/version/module.mk +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2014 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. -# -############################################################################ - -# -# Show and test hardware version -# - -MODULE_COMMAND = version -SRCS = version.c - -MODULE_STACKSIZE = 1024 - -MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/version/version.c b/src/systemcmds/version/version.c deleted file mode 100644 index 37a51dbfc..000000000 --- a/src/systemcmds/version/version.c +++ /dev/null @@ -1,144 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Vladimir Kulla - * - * 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 version.c - * - * Version nsh command, unified way of showing versions of HW, SW, Build, Toolchain etc - */ - -#include - -#include -#include -#include -#include - -static char sz_ver_hw_str[] = "hw"; -static char sz_ver_git_str[] = "git"; -static char sz_ver_date_str[] = "date"; -static char sz_ver_gcc_str[] = "gcc"; -static char sz_ver_all_str[] = "all"; - - -__EXPORT int version_main(int argc, char *argv[]); - -static void usage(const char *reason) -{ - if (reason != NULL) { - fprintf(stderr, "%s\n", reason); - } - - fprintf(stderr, "usage: version {hw|git|date|gcc|all}\n\n"); -} - -static void version_githash(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("FW git-hash: "); - } - printf("%s\n", FW_GIT); -} - -static void version_hwarch(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("HW arch: "); - } - printf("%s\n", HW_ARCH); -} - -static void version_date(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("Build date: "); - } - printf("%s %s\n", __DATE__, __TIME__); -} - -static void version_gcc(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("GCC used: "); - //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); - } - printf("%s\n", __VERSION__); -} - -int version_main(int argc, char *argv[]) -{ - if (argc >= 2) - { - if (argv[1] != NULL) - { - if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) - { - version_hwarch(0); - } - else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) - { - version_githash(0); - } - else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) - { - version_date(0); - } - else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) - { - version_gcc(0); - } - else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) - { - printf("Pixhawk version info\n"); - version_hwarch(1); - version_date(1); - version_githash(1); - version_gcc(1); - } - else - { - printf("unknown command: %s\n", argv[1]); - } - } - else - { - usage("Error, input parameter NULL.\n"); - } - } - else - { - usage("Error, not enough parameters."); - } - return OK; -} -- cgit v1.2.3 From bd5a0cef1aad42f8deb1d58e573631436630246e Mon Sep 17 00:00:00 2001 From: ufoncz Date: Sun, 27 Apr 2014 17:42:45 +0200 Subject: ver command ready including hwcmp which replaces hw_ver, removed hw_ver updated all scripts to use new ver hwcmp command q --- ROMFS/px4fmu_common/init.d/rc.io | 2 +- ROMFS/px4fmu_common/init.d/rc.logging | 2 +- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- ROMFS/px4fmu_common/init.d/rcS | 8 ++-- makefiles/config_px4fmu-v1_default.mk | 1 - makefiles/config_px4fmu-v2_default.mk | 1 - makefiles/config_px4fmu-v2_test.mk | 2 +- src/systemcmds/hw_ver/hw_ver.c | 73 ----------------------------------- src/systemcmds/hw_ver/module.mk | 43 --------------------- src/systemcmds/ver/ver.c | 64 ++++++++++-------------------- src/systemcmds/ver/ver.h | 64 ------------------------------ 11 files changed, 29 insertions(+), 233 deletions(-) delete mode 100644 src/systemcmds/hw_ver/hw_ver.c delete mode 100644 src/systemcmds/hw_ver/module.mk delete mode 100644 src/systemcmds/ver/ver.h (limited to 'makefiles') diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index 6e8fdbc0f..e23aebd87 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -11,7 +11,7 @@ px4io recovery # Adjust PX4IO update rate limit # set PX4IO_LIMIT 400 -if hw_ver compare PX4FMU_V1 +if ver hwcmp PX4FMU_V1 then set PX4IO_LIMIT 200 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index c5aef8273..3469d5f5f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,7 +5,7 @@ if [ -d /fs/microsd ] then - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then echo "Start sdlog2 at 50Hz" sdlog2 start -r 50 -a -b 8 -t diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 235be2431..1e14930fe 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -22,7 +22,7 @@ then echo "[init] Using L3GD20(H)" fi -if hw_ver compare PX4FMU_V2 +if ver hwcmp PX4FMU_V2 then if lsm303d start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index ea5cf8deb..3fb5fb733 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -246,7 +246,7 @@ then echo "[init] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -260,7 +260,7 @@ then if [ $HIL == yes ] then set OUTPUT_MODE hil - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -306,7 +306,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then @@ -381,7 +381,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 20e7ab331..61a417f30 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -55,7 +55,6 @@ MODULES += systemcmds/top MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile MODULES += systemcmds/ver diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index bbb754eb0..65ca24325 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -63,7 +63,6 @@ MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile MODULES += systemcmds/ver diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 79922374d..84274bf75 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -29,7 +29,7 @@ MODULES += systemcmds/reboot MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver +MODULES += systemcmds/ver # # Library modules diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/systemcmds/hw_ver/hw_ver.c deleted file mode 100644 index 4b84523cc..000000000 --- a/src/systemcmds/hw_ver/hw_ver.c +++ /dev/null @@ -1,73 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 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 hw_ver.c - * - * Show and test hardware version. - */ - -#include - -#include -#include -#include -#include - -__EXPORT int hw_ver_main(int argc, char *argv[]); - -int -hw_ver_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "show")) { - printf(HW_ARCH "\n"); - exit(0); - } - - if (!strcmp(argv[1], "compare")) { - if (argc >= 3) { - int ret = strcmp(HW_ARCH, argv[2]) != 0; - if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); - } - exit(ret); - - } else { - errx(1, "not enough arguments, try 'compare PX4FMU_1'"); - } - } - } - - errx(1, "expected a command, try 'show' or 'compare'"); -} diff --git a/src/systemcmds/hw_ver/module.mk b/src/systemcmds/hw_ver/module.mk deleted file mode 100644 index 3cc08b6a1..000000000 --- a/src/systemcmds/hw_ver/module.mk +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2014 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. -# -############################################################################ - -# -# Show and test hardware version -# - -MODULE_COMMAND = hw_ver -SRCS = hw_ver.c - -MODULE_STACKSIZE = 1024 - -MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c index f44fd1afe..c932bc162 100644 --- a/src/systemcmds/ver/ver.c +++ b/src/systemcmds/ver/ver.c @@ -34,28 +34,22 @@ /** * @file ver.c * -* Version command, unifies way of showing versions of HW, SW, Build, gcc +* Version command, unifies way of showing versions of HW, SW, Build, GCC * In case you want to add new version just extend version_main function * -* External use of the version functions is possible, include "vercmd.h" -* and use functions from header with prefix ver_ -* * @author Vladimir Kulla */ -#include #include #include -#include #include - -#include "ver.h" +#include // string constants for version commands static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hwcmp_str[]= "hwcmp"; static const char sz_ver_git_str[] = "git"; -static const char sz_ver_date_str[] = "date"; +static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_gcc_str[] = "gcc"; static const char sz_ver_all_str[] = "all"; @@ -65,10 +59,10 @@ static void usage(const char *reason) printf("%s\n", reason); } - printf("usage: version {hw|hwcmp|git|date|gcc|all}\n\n"); + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); } -void ver_githash(int bShowPrefix) +static void ver_githash(int bShowPrefix) { if (bShowPrefix == 1) { printf("FW git-hash: "); @@ -76,7 +70,7 @@ void ver_githash(int bShowPrefix) printf("%s\n", FW_GIT); } -void ver_hwarch(int bShowPrefix) +static void ver_hwarch(int bShowPrefix) { if (bShowPrefix == 1) { printf("HW arch: "); @@ -84,37 +78,22 @@ void ver_hwarch(int bShowPrefix) printf("%s\n", HW_ARCH); } -void ver_date(int bShowPrefix) +static void ver_bdate(int bShowPrefix) { if (bShowPrefix == 1) { - printf("Build date: "); + printf("Build datetime: "); } printf("%s %s\n", __DATE__, __TIME__); } -void ver_gcclong(int bShowPrefix) +static void ver_gcclong(int bShowPrefix) { if (bShowPrefix == 1) { - printf("GCC used (long): "); - //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + printf("GCC toolchain: "); } printf("%s\n", __VERSION__); } -void ver_gccshort(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("GCC used (short): "); - - } - printf("%d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); -} - -int ver_gccnum() -{ - return (__GNUC__ * 1000) + (__GNUC_MINOR__ * 100) + __GNUC_PATCHLEVEL__; -} - __EXPORT int ver_main(int argc, char *argv[]); int ver_main(int argc, char *argv[]) @@ -124,37 +103,36 @@ int ver_main(int argc, char *argv[]) // first check if there are at least 2 params if (argc >= 2) { if (argv[1] != NULL) { - if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) { + if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { ver_hwarch(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_hwcmp_str, strlen(sz_ver_hwcmp_str))) { + else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { if (argc >= 3 && argv[2] != NULL) { // compare 3rd parameter with HW_ARCH string, in case of match, return 0 - ret = strcmp(HW_ARCH, argv[2]) != 0; + ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); + printf("hwver match: %s\n", HW_ARCH); } } else { - errx(1, "not enough arguments, try 'version hwcmp PX4FMU_1'"); + errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); } } - else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) { + else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { ver_githash(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) { - ver_date(0); + else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { + ver_bdate(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) { + else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { ver_gcclong(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) { - printf("Pixhawk version info\n"); + else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { ver_hwarch(1); - ver_date(1); + ver_bdate(1); ver_githash(1); ver_gcclong(1); ret = 0; diff --git a/src/systemcmds/ver/ver.h b/src/systemcmds/ver/ver.h deleted file mode 100644 index 3de308c05..000000000 --- a/src/systemcmds/ver/ver.h +++ /dev/null @@ -1,64 +0,0 @@ -/**************************************************************************** -* -* Copyright (c) 2012-2014 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 vercmd.h -* -* Version command, unifies way of showing versions of hW, sW, build, gcc -* Mainly used from nsh-console, shall replace also hw_arch command -* -* External use: possible, include "vercmd.h" and use "ver_xx" functions -* -* Extension: possible, just add new else-if to version_main function -* -* @author Vladimir Kulla -*/ - -#ifndef VERCMD_H_ -#define VERCMD_H_ - - -void ver_githash(int bShowPrefix); - -void ver_hwarch(int bShowPrefix); - -void ver_date(int bShowPrefix); - -void ver_gcclong(int bShowPrefix); -void ver_gccshort(int bShowPrefix); -int ver_gccnum(); - - - - -#endif /* VERCMD_H_ */ -- cgit v1.2.3 From de87d6df69fd797fd3dfb8ac41d2c75e468dffc0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 14:23:22 +0200 Subject: do not copy hidden files to ROMFS --- makefiles/firmware.mk | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'makefiles') diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 1b646d9e0..69c975acd 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -113,7 +113,7 @@ endif $(info % GIT_DESC = $(GIT_DESC)) # -# Set a default target so that included makefiles or errors here don't +# Set a default target so that included makefiles or errors here don't # cause confusion. # # XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one @@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # # Extra things we should clean # -EXTRA_CLEANS = +EXTRA_CLEANS = # @@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +# delete all files in ROMFS_SCRATCH which start with a . + $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras -- cgit v1.2.3 From 3424a65e3229a0bc5a1d78979356436392def264 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 14:28:47 +0200 Subject: update comment in makefile --- makefiles/firmware.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'makefiles') diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 69c975acd..60602e76f 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -371,7 +371,7 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) -# delete all files in ROMFS_SCRATCH which start with a . +# delete all files in ROMFS_SCRATCH which start with a . or end with a ~ $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras -- cgit v1.2.3 From e5508a1aa07fb4a0e76dfd077c5beaa114f21695 Mon Sep 17 00:00:00 2001 From: Ash Charles Date: Tue, 13 May 2014 09:41:41 -0700 Subject: Add Gumstix AeroCore device Based on the work of Andrew Smith [1], add board configuration and device drivers to support the Gumstix AeroCore (previously Aerodroid) board [2]. The AeroCore is an autopilot board based on a STM32F427 similar to the FMUv2. [1] https://github.com/smithandrewc/Firmware [2] https://store.gumstix.com/index.php/products/585/ Signed-off-by: Ash Charles --- Images/aerocore.prototype | 12 + makefiles/board_aerocore.mk | 11 + makefiles/config_aerocore_default.mk | 125 +++ nuttx-configs/aerocore/include/board.h | 263 +++++++ nuttx-configs/aerocore/include/nsh_romfsimg.h | 42 + nuttx-configs/aerocore/nsh/Make.defs | 179 +++++ nuttx-configs/aerocore/nsh/appconfig | 42 + nuttx-configs/aerocore/nsh/defconfig | 950 +++++++++++++++++++++++ nuttx-configs/aerocore/nsh/setenv.sh | 67 ++ nuttx-configs/aerocore/scripts/ld.script | 150 ++++ nuttx-configs/aerocore/src/Makefile | 84 ++ nuttx-configs/aerocore/src/empty.c | 4 + src/drivers/boards/aerocore/aerocore_init.c | 282 +++++++ src/drivers/boards/aerocore/aerocore_led.c | 121 +++ src/drivers/boards/aerocore/aerocore_pwm_servo.c | 117 +++ src/drivers/boards/aerocore/aerocore_spi.c | 183 +++++ src/drivers/boards/aerocore/board_config.h | 176 +++++ src/drivers/boards/aerocore/module.mk | 8 + src/drivers/boards/px4fmu-v1/board_config.h | 2 + src/drivers/boards/px4fmu-v2/board_config.h | 2 + src/drivers/drv_gpio.h | 10 +- src/drivers/drv_gps.h | 4 + src/drivers/gps/gps.cpp | 11 +- src/drivers/lsm303d/lsm303d.cpp | 2 +- src/drivers/ms5611/ms5611_spi.cpp | 2 +- src/drivers/px4fmu/fmu.cpp | 84 +- src/drivers/stm32/adc/adc.cpp | 4 + src/drivers/stm32/drv_hrt.c | 4 +- src/lib/version/version.h | 4 + src/modules/commander/commander_helper.cpp | 2 +- src/modules/sensors/sensor_params.c | 9 + src/modules/sensors/sensors.cpp | 10 +- src/systemcmds/mtd/mtd.c | 4 + 33 files changed, 2960 insertions(+), 10 deletions(-) create mode 100644 Images/aerocore.prototype create mode 100644 makefiles/board_aerocore.mk create mode 100644 makefiles/config_aerocore_default.mk create mode 100644 nuttx-configs/aerocore/include/board.h create mode 100644 nuttx-configs/aerocore/include/nsh_romfsimg.h create mode 100644 nuttx-configs/aerocore/nsh/Make.defs create mode 100644 nuttx-configs/aerocore/nsh/appconfig create mode 100644 nuttx-configs/aerocore/nsh/defconfig create mode 100755 nuttx-configs/aerocore/nsh/setenv.sh create mode 100644 nuttx-configs/aerocore/scripts/ld.script create mode 100644 nuttx-configs/aerocore/src/Makefile create mode 100644 nuttx-configs/aerocore/src/empty.c create mode 100644 src/drivers/boards/aerocore/aerocore_init.c create mode 100644 src/drivers/boards/aerocore/aerocore_led.c create mode 100644 src/drivers/boards/aerocore/aerocore_pwm_servo.c create mode 100644 src/drivers/boards/aerocore/aerocore_spi.c create mode 100644 src/drivers/boards/aerocore/board_config.h create mode 100644 src/drivers/boards/aerocore/module.mk (limited to 'makefiles') diff --git a/Images/aerocore.prototype b/Images/aerocore.prototype new file mode 100644 index 000000000..8502a0864 --- /dev/null +++ b/Images/aerocore.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 19, + "magic": "AeroCore", + "description": "Firmware for the Gumstix AeroCore board", + "image": "", + "build_time": 0, + "summary": "AEROCORE", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/makefiles/board_aerocore.mk b/makefiles/board_aerocore.mk new file mode 100644 index 000000000..6f4b93266 --- /dev/null +++ b/makefiles/board_aerocore.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the Gumstix AeroCore +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F +CONFIG_BOARD = AEROCORE + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk new file mode 100644 index 000000000..e038500a6 --- /dev/null +++ b/makefiles/config_aerocore_default.mk @@ -0,0 +1,125 @@ +# +# Makefile for the AeroCore *default* configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/boards/aerocore +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/ms5611 +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += modules/sensors + +# +# System commands +# +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/config +MODULES += systemcmds/nshterm +MODULES += systemcmds/mtd +MODULES += systemcmds/dumpfile + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/navigator +MODULES += modules/mavlink + +# +# Estimation modules (EKF/ SO3 / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 +MODULES += modules/fw_att_pos_estimator +MODULES += modules/position_estimator_inav + +# +# Vehicle Control +# +MODULES += modules/fw_pos_control_l1 +MODULES += modules/fw_att_control +MODULES += modules/mc_att_control +MODULES += modules/mc_pos_control + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB +MODULES += modules/dataman + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +MODULES += lib/ecl +MODULES += lib/external_lgpl +MODULES += lib/geo +MODULES += lib/conversion +MODULES += lib/launchdetection + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +#MODULES += examples/fixedwing_control + +# Hardware test +#MODULES += examples/hwtest + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +BUILTIN_COMMANDS := \ + $(call _B, hello, , 2048, hello_main) \ + $(call _B, i2c, , 2048, i2c_main) diff --git a/nuttx-configs/aerocore/include/board.h b/nuttx-configs/aerocore/include/board.h new file mode 100644 index 000000000..8705c1bc2 --- /dev/null +++ b/nuttx-configs/aerocore/include/board.h @@ -0,0 +1,263 @@ +/************************************************************************************ + * configs/aerocore/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The AeroCore uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (24,000,000 / 24) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +/* USART1 on PB[6,7]: GPS */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_2 + +/* USART2 on PD[5,6]: J5 Breakout */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_CTS 0 // unused +#define GPIO_USART2_RTS 0 // unused + +/* USART3 on PD[8,9]: to DuoVero UART2 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART3_CTS 0 // unused +#define GPIO_USART3_RTS 0 // unused + +/* UART7 on PE[78]: J7 Breakout */ +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* + * UART8 on PE[0-1]: System Console on Port C of USB (J7) + * No alternate pin config +*/ + +/* USART[1,6] require a RX DMA configuration */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ + +/* PB[10-11]: I2C2 is broken out on J9 header */ +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * SPI + */ +/* PA[4-7] SPI1 broken out on J12 */ +#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */ +#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz) + +/* PB[12-15]: SPI2 connected to DuoVero SPI1 */ +#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */ +#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) + +/* PC[10-12]: SPI3 connected to onboard sensors */ +#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz) + +/* PE[11-14]: SPI4 connected to FRAM */ +#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */ +#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz) + +/************************************************************************************ + * 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); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/aerocore/include/nsh_romfsimg.h b/nuttx-configs/aerocore/include/nsh_romfsimg.h new file mode 100644 index 000000000..15e4e7a8d --- /dev/null +++ b/nuttx-configs/aerocore/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/aerocore/nsh/Make.defs b/nuttx-configs/aerocore/nsh/Make.defs new file mode 100644 index 000000000..c7a1b71bb --- /dev/null +++ b/nuttx-configs/aerocore/nsh/Make.defs @@ -0,0 +1,179 @@ +############################################################################ +# configs/aerocore/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/aerocore/nsh/appconfig b/nuttx-configs/aerocore/nsh/appconfig new file mode 100644 index 000000000..2850dac06 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/appconfig @@ -0,0 +1,42 @@ +############################################################################ +# configs/aerocore/nsh/appconfig +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +# The NSH application library +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += system/readline diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig new file mode 100644 index 000000000..8d0bae7b9 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -0,0 +1,950 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +CONFIG_HOST_LINUX=y +# CONFIG_HOST_OSX is not set +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +# CONFIG_DEBUG_SYMBOLS is not set + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +CONFIG_ARMV7M_STACKCHECK=y +CONFIG_SERIAL_TERMIOS=y + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_ARCH_CHIP_STM32F427V=y +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +CONFIG_STM32_STM32F427=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +# CONFIG_STM32_I2C1 is not set +CONFIG_STM32_I2C2=y +# CONFIG_STM32_I2C3 is not set +# CONFIG_STM32_OTGFS is not set +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +# CONFIG_STM32_SDIO is not set +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI3=y +CONFIG_STM32_SPI4=y +# CONFIG_STM32_SPI5 is not set +# CONFIG_STM32_SPI6 is not set +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM1=y +# CONFIG_STM32_TIM2 is not set +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +CONFIG_STM32_TIM5=y +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +# CONFIG_STM32_TIM10 is not set +# CONFIG_STM32_TIM11 is not set +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +# CONFIG_STM32_UART4 is not set +# CONFIG_STM32_UART5 is not set +# CONFIG_STM32_USART6 is not set +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM1_PWM is not set +# CONFIG_STM32_TIM3_PWM is not set +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM5_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM1_ADC is not set +# CONFIG_STM32_TIM3_ADC is not set +# CONFIG_STM32_TIM4_ADC is not set +# CONFIG_STM32_TIM5_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +CONFIG_USART3_RXDMA=y +# CONFIG_UART7_RS485 is not set +CONFIG_UART7_RXDMA=y +# CONFIG_UART8_RS485 is not set +CONFIG_UART8_RXDMA=y +CONFIG_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +CONFIG_STM32_I2CTIMEOTICKS=500 +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=262144 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=4096 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD="" + +# +# Common Board Options +# +CONFIG_NSH_MMCSDMINOR=0 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_DEV_CONSOLE=y +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=36 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=6000 +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +CONFIG_MTD=y + +# +# MTD Configuration +# +CONFIG_MTD_PARTITION=y +CONFIG_MTD_BYTE_WRITE=y + +# +# MTD Device Drivers +# +# CONFIG_RAMMTD is not set +# CONFIG_MTD_AT24XX is not set +# CONFIG_MTD_AT45DB is not set +# CONFIG_MTD_M25P is not set +# CONFIG_MTD_SMART is not set +CONFIG_MTD_RAMTRON=y +CONFIG_RAMTRON_FUJITSU=y +# CONFIG_MTD_SST25 is not set +# CONFIG_MTD_SST39FV is not set +# CONFIG_MTD_W25 is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART7=y +CONFIG_ARCH_HAVE_UART8=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +# CONFIG_USART3_SERIAL_CONSOLE is not set +# CONFIG_UART7_SERIAL_CONSOLE is not set +CONFIG_UART8_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=512 +CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART1_BAUD=115200 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=512 +CONFIG_USART2_BAUD=115200 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +# CONFIG_USART2_IFLOWCONTROL is not set +# CONFIG_USART2_OFLOWCONTROL is not set + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=512 +CONFIG_USART3_TXBUFSIZE=512 +CONFIG_USART3_BAUD=115200 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +# CONFIG_USART3_IFLOWCONTROL is not set +# CONFIG_USART3_OFLOWCONTROL is not set + +# +# UART7 Configuration +# +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_UART7_BAUD=115200 +CONFIG_UART7_BITS=8 +CONFIG_UART7_PARITY=0 +CONFIG_UART7_2STOP=0 +# CONFIG_UART7_IFLOWCONTROL is not set +# CONFIG_UART7_OFLOWCONTROL is not set + +# +# UART8 Configuration +# +CONFIG_UART8_RXBUFSIZE=512 +CONFIG_UART8_TXBUFSIZE=512 +CONFIG_UART8_BAUD=115200 +CONFIG_UART8_BITS=8 +CONFIG_UART8_PARITY=0 +CONFIG_UART8_2STOP=0 +# CONFIG_UART8_IFLOWCONTROL is not set +# CONFIG_UART8_OFLOWCONTROL is not set +# CONFIG_SERIAL_IFLOWCONTROL is not set +# CONFIG_SERIAL_OFLOWCONTROL is not set +# CONFIG_USBDEV is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_NXFFS_ERASEDSTATE=0xff +CONFIG_NXFFS_PACKTHRESHOLD=32 +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +# CONFIG_SYSLOG_ENABLE is not set +# CONFIG_SYSLOG is not set + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +# CONFIG_GRAN_SINGLE is not set +# CONFIG_GRAN_INTR is not set + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2000 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +CONFIG_EXAMPLES_HELLO=y +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_MTDPART is not set +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +CONFIG_SYSTEM_I2CTOOL=y +CONFIG_I2CTOOL_MINBUS=0 +CONFIG_I2CTOOL_MAXBUS=3 +CONFIG_I2CTOOL_MINADDR=0x03 +CONFIG_I2CTOOL_MAXADDR=0x77 +CONFIG_I2CTOOL_MAXREGADDR=0xff +CONFIG_I2CTOOL_DEFFREQ=4000000 + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# +# CONFIG_SYSTEM_FLASH_ERASEALL is not set + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/nuttx-configs/aerocore/nsh/setenv.sh b/nuttx-configs/aerocore/nsh/setenv.sh new file mode 100755 index 000000000..2327f38a1 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/setenv.sh @@ -0,0 +1,67 @@ +#!/bin/bash +# configs/aerocore/nsh/setenv.sh +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# + +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi + +# This the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# This the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/aerocore/scripts/ld.script b/nuttx-configs/aerocore/scripts/ld.script new file mode 100644 index 000000000..968d3127f --- /dev/null +++ b/nuttx-configs/aerocore/scripts/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/aerocore/common/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/aerocore/src/Makefile b/nuttx-configs/aerocore/src/Makefile new file mode 100644 index 000000000..859ba4ab2 --- /dev/null +++ b/nuttx-configs/aerocore/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/aerocore/src/Makefile +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep + diff --git a/nuttx-configs/aerocore/src/empty.c b/nuttx-configs/aerocore/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx-configs/aerocore/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c new file mode 100644 index 000000000..4e3ba2d7e --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_init.c @@ -0,0 +1,282 @@ +/**************************************************************************** + * + * 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 aerocore_init.c + * + * AeroCore-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 initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include "board_config.h" +#include + +#include + +#include +#include + +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +#if defined(CONFIG_FAT_DMAMEMORY) +# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY) +# error microSD DMA support requires CONFIG_GRAN +# endif + +static GRAN_HANDLE dma_allocator; + +/* + * The DMA heap size constrains the total number of things that can be + * ready to do DMA at a time. + * + * For example, FAT DMA depends on one sector-sized buffer per filesystem plus + * one sector-sized buffer per file. + * + * We use a fundamental alignment / granule size of 64B; this is sufficient + * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits). + */ +static uint8_t g_dma_heap[8192] __attribute__((aligned(64))); +static perf_counter_t g_dma_perf; + +static void +dma_alloc_init(void) +{ + dma_allocator = gran_initialize(g_dma_heap, + sizeof(g_dma_heap), + 7, /* 128B granule - must be > alignment (XXX bug?) */ + 6); /* 64B alignment */ + if (dma_allocator == NULL) { + message("[boot] DMA allocator setup FAILED"); + } else { + g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations"); + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/* + * DMA-aware allocator stubs for the FAT filesystem. + */ + +__EXPORT void *fat_dma_alloc(size_t size); +__EXPORT void fat_dma_free(FAR void *memory, size_t size); + +void * +fat_dma_alloc(size_t size) +{ + perf_count(g_dma_perf); + return gran_alloc(dma_allocator, size); +} + +void +fat_dma_free(FAR void *memory, size_t size) +{ + gran_free(dma_allocator, memory, size); +} + +#else + +# define dma_alloc_init() + +#endif + +/************************************************************************************ + * 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. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi3; +static struct spi_dev_s *spi4; + +#include + +#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) +{ + + /* configure ADC pins */ + stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ + stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */ + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure the DMA allocator */ + dma_alloc_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* 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); + + /* Configure Sensors on SPI bus #3 */ + spi3 = up_spiinitialize(3); + if (!spi3) { + message("[boot] FAILED to initialize SPI port 3\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: 1MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi3, 10000000); + SPI_SETBITS(spi3, 8); + SPI_SETMODE(spi3, SPIDEV_MODE3); + SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi3, PX4_SPIDEV_BARO, false); + up_udelay(20); + message("[boot] Initialized SPI port 3 (SENSORS)\n"); + + /* Configure FRAM on SPI bus #4 */ + spi4 = up_spiinitialize(4); + if (!spi4) { + message("[boot] FAILED to initialize SPI port 4\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: ~10MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000); + SPI_SETBITS(spi4, 8); + SPI_SETMODE(spi4, SPIDEV_MODE0); + SPI_SELECT(spi4, SPIDEV_FLASH, false); + message("[boot] Initialized SPI port 4 (FRAM)\n"); + + return OK; +} diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c new file mode 100644 index 000000000..e40d1730c --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_led.c @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * Copyright (c) 2013 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 aerocore_led.c + * + * AeroCore LED backend. + */ + +#include + +#include + +#include "stm32.h" +#include "board_config.h" + +#include + +/* + * 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(); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +__EXPORT void led_init() +{ + stm32_configgpio(GPIO_LED0); + stm32_configgpio(GPIO_LED1); +} + +__EXPORT void led_on(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_off(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, false); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, false); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_toggle(int led) +{ + switch (led) { + case 0: + if (stm32_gpioread(GPIO_LED0)) + stm32_gpiowrite(GPIO_LED0, false); + else + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + if (stm32_gpioread(GPIO_LED1)) + stm32_gpiowrite(GPIO_LED1, false); + else + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} diff --git a/src/drivers/boards/aerocore/aerocore_pwm_servo.c b/src/drivers/boards/aerocore/aerocore_pwm_servo.c new file mode 100644 index 000000000..251eaff7b --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_pwm_servo.c @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * 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 aerocore_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include +#include +#include + +#include +#include + +#include "board_config.h" + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM1_BASE, + .clock_register = STM32_RCC_APB2ENR, + .clock_bit = RCC_APB2ENR_TIM1EN, + .clock_freq = STM32_APB2_TIM1_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM1_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1500, + } +}; diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c new file mode 100644 index 000000000..e329bd9d1 --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_spi.c @@ -0,0 +1,183 @@ +/**************************************************************************** + * + * 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 aerocore_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI1_NSS); + stm32_gpiowrite(GPIO_SPI1_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(GPIO_SPI2_NSS); + stm32_gpiowrite(GPIO_SPI2_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI3 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + + stm32_configgpio(GPIO_EXTI_GYRO_DRDY); + stm32_configgpio(GPIO_EXTI_MAG_DRDY); + stm32_configgpio(GPIO_EXTI_ACCEL_DRDY); +#endif + +#ifdef CONFIG_STM32_SPI4 + stm32_configgpio(GPIO_SPI4_NSS); + stm32_gpiowrite(GPIO_SPI4_NSS, 1); +#endif +} + +#ifdef CONFIG_STM32_SPI1 +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI1_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI2 +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI2_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI3 +__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_ACCEL_MAG: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_BARO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + break; + + default: + break; + } +} + +__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + + +#ifdef CONFIG_STM32_SPI4 +__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI4_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* FRAM is always present */ + return SPI_STATUS_PRESENT; +} +#endif diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h new file mode 100644 index 000000000..a3257f339 --- /dev/null +++ b/src/drivers/boards/aerocore/board_config.h @@ -0,0 +1,176 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 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 + * + * AeroCore internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include +#include + +#define UDID_START 0x1FFF7A10 + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* LEDs */ +#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10) + +/* Gyro */ +#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0) + +/* Accel & Mag */ +#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1) +#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2) + +/* GPS */ +#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4) + +/* SPI3--Sensors */ +#define PX4_SPI_BUS_SENSORS 3 +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) + +/* Nominal chip selects for devices on SPI bus #3 */ +#define PX4_SPIDEV_ACCEL_MAG 0 +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_BARO 2 + +/* User GPIOs broken out on J11 */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1) +//#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8) + +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +//#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* PWM + * + * Eight PWM outputs are configured. + * + * Pins: + * + * CH1 : PA8 : TIM1_CH1 + * CH2 : PA9 : TIM1_CH2 + * CH3 : PA10 : TIM1_CH3 + * CH4 : PA11 : TIM1_CH4 + * CH5 : PC6 : TIM3_CH1 + * CH6 : PC7 : TIM3_CH2 + * CH7 : PC8 : TIM3_CH3 + * CH8 : PC9 : TIM3_CH4 + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1 +#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3 +#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3 +#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2 +#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2 + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer 8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/* Tone Alarm (no onboard speaker )*/ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0) + + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk new file mode 100644 index 000000000..b53fe0a29 --- /dev/null +++ b/src/drivers/boards/aerocore/module.mk @@ -0,0 +1,8 @@ +# +# Board-specific startup code for the AeroCore +# + +SRCS = aerocore_init.c \ + aerocore_pwm_servo.c \ + aerocore_spi.c \ + aerocore_led.c diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 02c26b5c0..58273f2d2 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -85,6 +85,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) +#define PX4_SPI_BUS_SENSORS 1 + /* * Use these in place of the spi_dev_e enumeration to * select a specific SPI device on SPI1 diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 7cfca7656..c2de1bfba 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -107,6 +107,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) +#define PX4_SPI_BUS_SENSORS 1 + /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index f60964c2b..5acd0d343 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -94,6 +94,14 @@ #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +/* + * AeroCore GPIO numbers and configuration. + * + */ +# define PX4FMU_DEVICE_PATH "/dev/px4fmu" +#endif + #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 /* no GPIO driver on the PX4IOv1 board */ #endif @@ -146,4 +154,4 @@ #define GPIO_SENSOR_RAIL_RESET GPIOC(13) -#endif /* _DRV_GPIO_H */ \ No newline at end of file +#endif /* _DRV_GPIO_H */ diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index 06e3535b3..96669a021 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -46,7 +46,11 @@ #include "drv_sensor.h" #include "drv_orb_dev.h" +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" +#else #define GPS_DEFAULT_UART_PORT "/dev/ttyS3" +#endif #define GPS_DEVICE_PATH "/dev/gps" diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index a902bdf2f..337705570 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -63,6 +63,8 @@ #include #include +#include + #include "ubx.h" #include "mtk.h" @@ -421,7 +423,14 @@ GPS::task_main() void GPS::cmd_reset() { - //XXX add reset? +#ifdef GPIO_GPS_NRESET + warnx("Toggling GPS reset pin"); + stm32_configgpio(GPIO_GPS_NRESET); + stm32_gpiowrite(GPIO_GPS_NRESET, 0); + usleep(100); + stm32_gpiowrite(GPIO_GPS_NRESET, 1); + warnx("Toggled GPS reset pin"); +#endif } void diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 4dee7649b..4ca8b5e42 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1793,7 +1793,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 26216e840..8759d16a1 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -117,7 +117,7 @@ private: device::Device * MS5611_spi_interface(ms5611::prom_u &prom_buf) { - return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); + return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); } MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 4d72ead9b..1b6b136eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -92,6 +92,7 @@ public: MODE_2PWM, MODE_4PWM, MODE_6PWM, + MODE_8PWM, }; PX4FMU(); virtual ~PX4FMU(); @@ -113,6 +114,9 @@ private: #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) static const unsigned _max_actuators = 6; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + static const unsigned _max_actuators = 8; +#endif Mode _mode; unsigned _pwm_default_rate; @@ -203,6 +207,21 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, {GPIO_VDD_5V_PERIPH_OC, 0, 0}, #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + /* AeroCore breaks out User GPIOs on J11 */ + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, +// {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, + {GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0}, + {GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0}, + {GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0}, + {GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, +#endif }; const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); @@ -382,6 +401,20 @@ PX4FMU::set_mode(Mode mode) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: // AeroCore PWMs as 8 PWM outs + debug("MODE_8PWM"); + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0xff); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + break; +#endif + case MODE_NONE: debug("MODE_NONE"); @@ -602,6 +635,9 @@ PX4FMU::task_main() num_outputs = 6; break; + case MODE_8PWM: + num_outputs = 8; + break; default: num_outputs = 0; break; @@ -757,6 +793,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) case MODE_2PWM: case MODE_4PWM: case MODE_6PWM: +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: +#endif ret = pwm_ioctl(filp, cmd, arg); break; @@ -986,6 +1025,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_SET(7): + case PWM_SERVO_SET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_SET(5): case PWM_SERVO_SET(4): if (_mode < MODE_6PWM) { @@ -1013,6 +1061,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET(7): + case PWM_SERVO_GET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_GET(5): case PWM_SERVO_GET(4): if (_mode < MODE_6PWM) { @@ -1040,12 +1097,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(3): case PWM_SERVO_GET_RATEGROUP(4): case PWM_SERVO_GET_RATEGROUP(5): +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET_RATEGROUP(6): + case PWM_SERVO_GET_RATEGROUP(7): +#endif *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: switch (_mode) { +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: + *(unsigned *)arg = 8; + break; +#endif + case MODE_6PWM: *(unsigned *)arg = 6; break; @@ -1091,6 +1158,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) set_mode(MODE_6PWM); break; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + case 8: + set_mode(MODE_8PWM); + break; +#endif default: ret = -EINVAL; @@ -1181,10 +1253,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) unsigned count = len / 2; uint16_t values[6]; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + if (count > 8) { + // we have at most 8 outputs + count = 8; + } +#else if (count > 6) { // we have at most 6 outputs count = 6; } +#endif // allow for misaligned values memcpy(values, buffer, count * 2); @@ -1458,6 +1537,9 @@ fmu_new_mode(PortMode new_mode) #endif #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) servo_mode = PX4FMU::MODE_6PWM; +#endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + servo_mode = PX4FMU::MODE_8PWM; #endif break; @@ -1776,7 +1858,7 @@ fmu_main(int argc, char *argv[]) fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); -#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE) fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n"); #endif exit(1); diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 3a60d2cae..de13b8969 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -419,6 +419,10 @@ adc_main(int argc, char *argv[]) g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)); #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE + /* XXX this hardcodes the default channel set for AeroCore - should be configurable */ + g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif if (g_adc == nullptr) errx(1, "couldn't allocate the ADC driver"); diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 5bb550279..281f918d7 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -141,7 +141,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP -# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM10_CLKIN # if CONFIG_STM32_TIM10 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 # endif @@ -150,7 +150,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM -# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM11_CLKIN # if CONFIG_STM32_TIM11 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 # endif diff --git a/src/lib/version/version.h b/src/lib/version/version.h index af733aaf0..d8ccb6774 100644 --- a/src/lib/version/version.h +++ b/src/lib/version/version.h @@ -59,4 +59,8 @@ #define HW_ARCH "PX4FMU_V2" #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define HW_ARCH "AEROCORE" +#endif + #endif /* VERSION_H_ */ diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 86f77cdb8..940a04aa1 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -206,7 +206,7 @@ int led_init() return ERROR; } - /* the blue LED is only available on FMUv1 but not FMUv2 */ + /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ (void)ioctl(leds, LED_ON, LED_BLUE); /* we consider the amber led mandatory */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 07be3560a..c021e1fde 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); * @group Battery Calibration */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); +#elif CONFIG_ARCH_BOARD_AEROCORE +/** + * Scaling factor for battery voltage sensor on AeroCore. + * + * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 + * + * @group Battery Calibration + */ +PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f); #else /** * Scaling factor for battery voltage sensor on FMU v1. diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 18bf97f8d..d31016111 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -126,6 +126,12 @@ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_BATTERY_CURRENT_CHANNEL -1 +#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1 +#endif + #define BATT_V_LOWPASS 0.001f #define BATT_V_IGNORE_THRESHOLD 3.5f @@ -797,7 +803,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 +#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -806,7 +812,7 @@ Sensors::accel_init() ioctl(fd, SENSORIOCSPOLLRATE, 800); #else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 +#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE #endif diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index 0a88d40f3..a57eaafe7 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/src/systemcmds/mtd/mtd.c @@ -160,7 +160,11 @@ static void ramtron_attach(void) { /* find the right spi */ +#ifdef CONFIG_ARCH_BOARD_AEROCORE + struct spi_dev_s *spi = up_spiinitialize(4); +#else struct spi_dev_s *spi = up_spiinitialize(2); +#endif /* this resets the spi bus, set correct bus speed again */ SPI_SETFREQUENCY(spi, 10 * 1000 * 1000); SPI_SETBITS(spi, 8); -- cgit v1.2.3 From 19ebe076cdb2bf78c39e29db845c674b3b43a5c8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 15 May 2014 14:38:16 +0200 Subject: Fix aerocore config --- makefiles/config_aerocore_default.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'makefiles') diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk index e038500a6..d6902c4ee 100644 --- a/makefiles/config_aerocore_default.mk +++ b/makefiles/config_aerocore_default.mk @@ -53,7 +53,7 @@ MODULES += modules/mavlink # MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_so3 -MODULES += modules/fw_att_pos_estimator +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav # -- cgit v1.2.3 From 04a25fcf1402feab10ede27fe0fe710b85b95941 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 22 May 2014 13:58:12 +0200 Subject: makefiles: check for correct arm-none-eabi-gcc version --- makefiles/toolchain_gnu-arm-eabi.mk | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) (limited to 'makefiles') diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index b519e0e7a..d4689c63e 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -48,6 +48,16 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump +# Check if the right version of the toolchain is available +# +CROSSDEV_VER_SUPPORTED = 4.7.4 +CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) + +ifneq ($(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)) +$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED)) +endif + + # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup MAXOPTIMIZATION ?= -O3 @@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \ ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \ -ffixed-r10 -ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = +ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = # Pick the right set of flags for the architecture. # @@ -265,7 +275,7 @@ define SYM_TO_BIN $(Q) $(OBJCOPY) -O binary $1 $2 endef -# Take the raw binary $1 and make it into an object file $2. +# Take the raw binary $1 and make it into an object file $2. # The symbol $3 points to the beginning of the file, and $3_len # gives its length. # -- cgit v1.2.3 From e710e2a2d1875e4bec2d42e7d4054b11a1195260 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 23 May 2014 12:38:29 +0200 Subject: Allow any GCC 4.7 subversion --- makefiles/toolchain_gnu-arm-eabi.mk | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'makefiles') diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index d4689c63e..808b635bb 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump # Check if the right version of the toolchain is available # -CROSSDEV_VER_SUPPORTED = 4.7.4 +CROSSDEV_VER_SUPPORTED = 4.7 CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) -ifneq ($(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)) -$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED)) +ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND))) +$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x) endif -- cgit v1.2.3