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 --- 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 + 8 files changed, 891 insertions(+) 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 'src/drivers/boards') 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 -- cgit v1.2.3