Nucleo F401RE: Remove PX4 cruft that can in with the port
This commit is contained in:
Gregory Nutt
parent
18504d0d75
commit
972c4cbab5
@ -454,7 +454,7 @@ static int stm32_registercallback(FAR struct sdio_dev_s *dev,
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#ifdef CONFIG_SDIO_DMA
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static bool stm32_dmasupported(FAR struct sdio_dev_s *dev);
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static int stm32_dmapreflight(FAR struct sdio_dev_s *dev,
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FAR uint8_t *buffer, size_t buflen);
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FAR const uint8_t *buffer, size_t buflen);
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static int stm32_dmarecvsetup(FAR struct sdio_dev_s *dev,
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FAR uint8_t *buffer, size_t buflen);
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static int stm32_dmasendsetup(FAR struct sdio_dev_s *dev,
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@ -2469,8 +2469,8 @@ static bool stm32_dmasupported(FAR struct sdio_dev_s *dev)
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****************************************************************************/
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#ifdef CONFIG_SDIO_DMA
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static int stm32_dmapreflight(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
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size_t buflen)
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static int stm32_dmapreflight(FAR struct sdio_dev_s *dev,
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FAR const uint8_t *buffer, size_t buflen)
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{
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struct stm32_dev_s *priv = (struct stm32_dev_s *)dev;
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@ -37,28 +37,6 @@ include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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# Pull in *just* libm from the toolchain ... this is grody
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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EXTRA_LIBS += $(LIBM)
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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@ -70,98 +48,61 @@ ifeq ($(WINTOOL),y)
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ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
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ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
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else
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ifeq ($(PX4_WINTOOL),y)
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# Windows-native toolchains (MSYS)
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DIRLINK = $(TOPDIR)/tools/copydir.sh
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DIRUNLINK = $(TOPDIR)/tools/unlink.sh
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# Tool versions
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(ARCROSSDEV)ar rcs
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NM = $(ARCROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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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'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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-fomit-frame-pointer \
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-funsafe-math-optimizations \
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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
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ARCHOPTIMIZATION += -g
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ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
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ARCHOPTIMIZATION = -g
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endif
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ARCHCFLAGS = -std=gnu99
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
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ARCHWARNINGS = -Wall \
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-Wextra \
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-Wdouble-promotion \
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-Wshadow \
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-Wfloat-equal \
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-Wframe-larger-than=1024 \
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-Wpointer-arith \
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-Wlogical-op \
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-Wmissing-declarations \
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-Wpacked \
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-Wno-unused-parameter
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
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ifneq ($(CONFIG_DEBUG_NOOPT),y)
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ARCHOPTIMIZATION += $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
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endif
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ARCHCWARNINGS = $(ARCHWARNINGS) \
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-Wbad-function-cast \
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-Wstrict-prototypes \
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-Wold-style-declaration \
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-Wmissing-parameter-type \
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-Wmissing-prototypes \
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-Wnested-externs
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ARCHWARNINGSXX = $(ARCHWARNINGS) \
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-Wno-psabi
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ARCHCFLAGS = -fno-builtin
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ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti
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ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
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ARCHWARNINGSXX = -Wall -Wshadow
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ARCHDEFINES =
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ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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# This seems to be the only way to add linker flags
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EXTRA_LIBS += --warn-common \
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--gc-sections
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CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
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CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
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CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
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CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
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CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
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CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
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CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
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CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__
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NXFLATLDFLAGS1 = -r -d -warn-common
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NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
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NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
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LDNXFLATFLAGS = -e main -s 2048
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OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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# Produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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endef
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ifneq ($(CROSSDEV),arm-nuttx-elf-)
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LDFLAGS += -nostartfiles -nodefaultlibs
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endif
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ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
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LDFLAGS += -g
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endif
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HOSTCC = gcc
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HOSTINCLUDES = -I.
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@ -1,265 +0,0 @@
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/****************************************************************************
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* configs/px4fmu-v2_upstream/src/board_config.h
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __CONFIGS_NUCLEO_F401RE_SRC_NUCLEO_F401RE_H
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#define __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#ifdef __cplusplus
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__BEGIN_DECLS
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#endif
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/* These headers are not C++ safe */
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#include <stm32.h>
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#include <arch/board/board.h>
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#define UDID_START 0x1FFF7A10
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* PX4IO connection configuration */
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* PX4FMU GPIOs *************************************************************/
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/* LEDs */
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#define GPIO_LED1 \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
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/* External interrupts */
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#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
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#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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/* Data ready pins off */
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#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
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#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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/* SPI1 off */
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#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
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#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
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/* SPI1 chip selects off */
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#define GPIO_SPI_CS_GYRO_OFF \
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(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_SPI_CS_ACCEL_MAG_OFF \
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(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
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#define GPIO_SPI_CS_BARO_OFF \
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(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
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#define GPIO_SPI_CS_MPU_OFF \
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(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
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/* SPI chip selects */
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#define GPIO_SPI_CS_GYRO \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_SPI_CS_ACCEL_MAG \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
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#define GPIO_SPI_CS_BARO \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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#define GPIO_SPI_CS_FRAM \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_SPI_CS_MPU \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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/* Use these in place of the spi_dev_e enumeration to select a specific SPI
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* device on SPI1
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*/
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#define PX4_SPIDEV_GYRO 1
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#define PX4_SPIDEV_ACCEL_MAG 2
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#define PX4_SPIDEV_BARO 3
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#define PX4_SPIDEV_MPU 4
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/* I2C busses */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_LED 2
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/* Devices on the onboard bus.
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*
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_LED 0x55
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#define PX4_I2C_OBDEV_HMC5883 0x1e
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/* User GPIOs
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*
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* GPIO0-5 are the PWM servo outputs.
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_GPIO0_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_OUTPUT \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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/* Power supply control and monitoring GPIOs */
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#define GPIO_VDD_5V_PERIPH_EN \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
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#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
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#define GPIO_VDD_3V3_SENSORS_EN \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
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#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 2 /* timer 2 */
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#define TONE_ALARM_CHANNEL 1 /* channel 1 */
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#define GPIO_TONE_ALARM_IDLE \
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(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TONE_ALARM \
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(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
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/* PWM
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*
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* Six PWM outputs are configured.
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*
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* Pins:
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*
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* CH1 : PE14 : TIM1_CH4
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* CH2 : PE13 : TIM1_CH3
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* CH3 : PE11 : TIM1_CH2
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* CH4 : PE9 : TIM1_CH1
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* CH5 : PD13 : TIM4_CH2
|
||||
* CH6 : PD14 : TIM4_CH3
|
||||
*/
|
||||
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
|
||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
|
||||
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
|
||||
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
|
||||
#define GPIO_OTGFS_VBUS \
|
||||
(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* High-resolution timer */
|
||||
|
||||
#define HRT_TIMER 8 /* Use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* Use capture/compare channel */
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public data
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void stm32_spiinitialize(void);
|
||||
|
||||
/* 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.
|
||||
*/
|
||||
|
||||
void led_init(void);
|
||||
void led_on(int led);
|
||||
void led_off(int led);
|
||||
void led_toggle(int led);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
#ifdef __cplusplus
|
||||
__END_DECLS
|
||||
#endif
|
||||
|
||||
#endif /* __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H */
|
||||
@ -14,42 +14,48 @@
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/*
|
||||
The shield uses the following pins:
|
||||
|
||||
+5V
|
||||
GND
|
||||
Digital pin 3: IRQ for WiFi
|
||||
Digital pin 4: Card Select for SD card
|
||||
Digital pin 5: WiFi enable
|
||||
Digital pin 10: Chip Select for WiFi
|
||||
Digital pins 11, 12, 13 for SPI communication (both WiFi and SD).
|
||||
Digital pin 11:
|
||||
Digital pin 12:
|
||||
Digital pin 13:
|
||||
Even if optional 6-pin SPI header is used, these pins are unavailable for other use.
|
||||
/* The shield uses the following pins:
|
||||
*
|
||||
* +5V
|
||||
* GND
|
||||
* Digital pin 3: IRQ for WiFi
|
||||
* Digital pin 4: Card Select for SD card
|
||||
* Digital pin 5: WiFi enable
|
||||
* Digital pin 10: Chip Select for WiFi
|
||||
* Digital pins 11, 12, 13 for SPI communication (both WiFi and SD).
|
||||
* Digital pin 11:
|
||||
* Digital pin 12:
|
||||
* Digital pin 13:
|
||||
* Even if optional 6-pin SPI header is used, these pins are unavailable for other use.
|
||||
*
|
||||
* LED. User LD2: the green LED is a user LED connected to Arduino signal D13
|
||||
* corresponding to MCU I/O PA5 (pin 21) or PB13 (pin 34) depending on the STM32
|
||||
* target.
|
||||
*
|
||||
* - When the I/O is HIGH value, the LED is on.
|
||||
* - When the I/O is LOW, the LED is off.
|
||||
*/
|
||||
|
||||
#define GPIO_WIFI_INT (GPIO_PORTB | GPIO_PIN3 | GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI)
|
||||
#define GPIO_WIFI_EN (GPIO_PORTB | GPIO_PIN4 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#define GPIO_WIFI_CS (GPIO_PORTB | GPIO_PIN6 | GPIO_OUTPUT_SET | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
|
||||
#define GPIO_LED1 (GPIO_PORTA | GPIO_PIN13 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#define GPIO_LD2 (GPIO_PORTA | GPIO_PIN13 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
|
||||
#if defined(CONFIG_CC3000_PROBES)
|
||||
#define GPIO_D0 (GPIO_PORTB | GPIO_PIN7 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#define GPIO_D1 (GPIO_PORTB | GPIO_PIN6 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_D0 (GPIO_PORTB | GPIO_PIN7 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_D1 (GPIO_PORTB | GPIO_PIN6 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#else
|
||||
#define GPIO_D0 (GPIO_PORTA | GPIO_PIN3 | GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI)
|
||||
#define GPIO_D1 (GPIO_PORTA | GPIO_PIN2 | GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI)
|
||||
#define GPIO_D2 (GPIO_PORTA | GPIO_PIN10 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_D0 (GPIO_PORTA | GPIO_PIN3 | GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI)
|
||||
# define GPIO_D1 (GPIO_PORTA | GPIO_PIN2 | GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI)
|
||||
# define GPIO_D2 (GPIO_PORTA | GPIO_PIN10 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
|
||||
#define GPIO_D8 (GPIO_PORTA | GPIO_PIN9 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_D8 (GPIO_PORTA | GPIO_PIN9 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
|
||||
#define GPIO_A0 (GPIO_PORTA | GPIO_PIN0 | GPIO_OUTPUT_SET | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#define GPIO_A1 (GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_SET | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
#define GPIO_A2 (GPIO_PORTA | GPIO_PIN4 | GPIO_INPUT | GPIO_PULLUP )
|
||||
#define GPIO_A3 (GPIO_PORTB | GPIO_PIN0 | GPIO_INPUT | GPIO_PULLUP )
|
||||
# define GPIO_A0 (GPIO_PORTA | GPIO_PIN0 | GPIO_OUTPUT_SET | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_A1 (GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_SET | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
|
||||
# define GPIO_A2 (GPIO_PORTA | GPIO_PIN4 | GPIO_INPUT | GPIO_PULLUP )
|
||||
# define GPIO_A3 (GPIO_PORTB | GPIO_PIN0 | GPIO_INPUT | GPIO_PULLUP )
|
||||
#endif
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
@ -80,4 +86,3 @@ void stm32_usbinitialize(void);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_NUCLEO_F401RE_SRC_NUCLEO_F401RE_H */
|
||||
|
||||
|
||||
@ -92,7 +92,6 @@ void stm32_boardinitialize(void)
|
||||
stm32_spiinitialize();
|
||||
#endif
|
||||
|
||||
|
||||
/* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
|
||||
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
|
||||
* into the build.
|
||||
|
||||
@ -1,13 +1,8 @@
|
||||
/****************************************************************************
|
||||
* configs/nucleo-f401re/src/stm32_init.c
|
||||
*
|
||||
* PX4FMU-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.
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2014 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -19,7 +14,7 @@
|
||||
* 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
|
||||
* 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.
|
||||
*
|
||||
@ -59,7 +54,6 @@
|
||||
#include <nuttx/gran.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <stm32_uart.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
@ -76,13 +70,6 @@
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/* PX4 LED colour codes */
|
||||
|
||||
#define LED_AMBER 1
|
||||
#define LED_RED 1 /* Some boards have red rather than amber */
|
||||
#define LED_BLUE 0
|
||||
#define LED_SAFETY 2
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
@ -109,7 +96,7 @@ 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
|
||||
* For example, FAT DMA depends on one sector-sized buffer per file system plus
|
||||
* one sector-sized buffer per file.
|
||||
*
|
||||
* We use a fundamental alignment / granule size of 64B; this is sufficient
|
||||
@ -120,7 +107,6 @@ static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
|
||||
#endif
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct sdio_dev_s *sdio;
|
||||
|
||||
/****************************************************************************
|
||||
@ -149,21 +135,6 @@ static void dma_alloc_init(void)
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_FAT_DMAMEMORY
|
||||
/* DMA-aware allocator stubs for the FAT filesystem. */
|
||||
|
||||
void *fat_dma_alloc(size_t size)
|
||||
{
|
||||
return gran_alloc(dma_allocator, size);
|
||||
}
|
||||
|
||||
void fat_dma_free(FAR void *memory, size_t size)
|
||||
{
|
||||
gran_free(dma_allocator, memory, size);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
void up_netinitialize(void)
|
||||
{
|
||||
}
|
||||
@ -182,41 +153,12 @@ int nsh_archinitialize(void)
|
||||
int ret;
|
||||
#endif
|
||||
|
||||
/* Configure ADC pins */
|
||||
|
||||
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
|
||||
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
|
||||
//stm32_configgpio(GPIO_ADC1_IN11); /* unused */
|
||||
//stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */
|
||||
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
|
||||
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
|
||||
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
|
||||
|
||||
/* Configure power supply control/sense pins */
|
||||
|
||||
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
|
||||
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
stm32_configgpio(GPIO_VDD_SERVO_VALID);
|
||||
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
|
||||
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
|
||||
|
||||
/* Configure the DMA allocator */
|
||||
|
||||
dma_alloc_init();
|
||||
|
||||
/* Configure CPU load estimation */
|
||||
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* Initial LED state */
|
||||
|
||||
led_off(LED_AMBER);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi1 = up_spiinitialize(1);
|
||||
@ -227,42 +169,6 @@ int nsh_archinitialize(void)
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
||||
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
message("[boot] Initialized SPI port 1 (SENSORS)\n");
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
|
||||
spi2 = up_spiinitialize(2);
|
||||
if (!spi2)
|
||||
{
|
||||
message("[boot] FAILED to initialize SPI port 2\n");
|
||||
board_led_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
|
||||
* and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
|
||||
|
||||
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, SPIDEV_FLASH, false);
|
||||
|
||||
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
@ -279,7 +185,7 @@ int nsh_archinitialize(void)
|
||||
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
|
||||
if (ret != OK)
|
||||
{
|
||||
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
message("ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
@ -1,7 +1,8 @@
|
||||
/****************************************************************************
|
||||
* configs/nucleo-f401re/src/stm32_led.c
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2014 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -13,7 +14,7 @@
|
||||
* 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
|
||||
* 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.
|
||||
*
|
||||
@ -40,20 +41,20 @@
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "nucleo-f401re.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
void led_init()
|
||||
void led_init(void)
|
||||
{
|
||||
/* Configure LED1 GPIO for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LD2);
|
||||
}
|
||||
|
||||
void led_on(int led)
|
||||
@ -62,7 +63,7 @@ void led_on(int led)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
stm32_gpiowrite(GPIO_LD2, true);
|
||||
}
|
||||
}
|
||||
|
||||
@ -72,7 +73,7 @@ void led_off(int led)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
stm32_gpiowrite(GPIO_LD2, false);
|
||||
}
|
||||
}
|
||||
|
||||
@ -80,13 +81,13 @@ void led_toggle(int led)
|
||||
{
|
||||
if (led == 1)
|
||||
{
|
||||
if (stm32_gpioread(GPIO_LED1))
|
||||
if (stm32_gpioread(GPIO_LD2))
|
||||
{
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
stm32_gpiowrite(GPIO_LD2, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
stm32_gpiowrite(GPIO_LD2, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,7 +1,8 @@
|
||||
/****************************************************************************
|
||||
* configs/nucleo-f401re/src/stm32_spi.c
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2014 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -13,7 +14,7 @@
|
||||
* 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
|
||||
* 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.
|
||||
*
|
||||
@ -49,7 +50,6 @@
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#include "nucleo-f401re.h"
|
||||
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
|
||||
@ -85,35 +85,16 @@
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
* Called to configure SPI chip select GPIO pins for the Nucleo-F401RE board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void weak_function stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||
stm32_configgpio(GPIO_SPI_CS_BARO);
|
||||
stm32_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
/* 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_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
|
||||
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
stm32_configgpio(GPIO_SPI_CS_FRAM);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
||||
|
||||
/* Setup CS, EN & IRQ line IOs */
|
||||
|
||||
#ifdef CONFIG_WL_CC3000
|
||||
@ -121,10 +102,6 @@ void weak_function stm32_spiinitialize(void)
|
||||
stm32_configgpio(GPIO_WIFI_EN);
|
||||
stm32_configgpio(GPIO_WIFI_INT);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MTD_SST25
|
||||
stm32_configgpio(GPIO_MEM_CS); /* FLASH chip select */
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -157,50 +134,6 @@ void weak_function stm32_spiinitialize(void)
|
||||
void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* 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);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 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);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 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);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* 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, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
@ -214,27 +147,12 @@ void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool sele
|
||||
{
|
||||
spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
#if defined(CONFIG_MTD_SST25)
|
||||
|
||||
if (devid == SPIDEV_FLASH)
|
||||
{
|
||||
stm32_gpiowrite(GPIO_MEM_CS, !selected);
|
||||
}
|
||||
else
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_WL_CC3000)
|
||||
if (devid == SPIDEV_WIRELESS)
|
||||
{
|
||||
stm32_gpiowrite(GPIO_WIFI_CS, !selected);
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
/* There can only be one device on this bus, so always select it */
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
@ -282,7 +200,7 @@ uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
int stm32_spi1cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd)
|
||||
{
|
||||
return -ENODEV;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
@ -268,7 +268,6 @@ static bool probe(FAR struct cc3000_config_s *state,int n, bool s)
|
||||
* configure the wireless device. This function will register the driver
|
||||
* as /dev/wirelessN where N is the minor device number.
|
||||
*
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero is returned on success. Otherwise, a negated errno value is
|
||||
* returned to indicate the nature of the failure.
|
||||
|
||||
@ -611,17 +611,9 @@ static void * select_thread_func(FAR void *arg)
|
||||
static void * cc3000_worker(FAR void *arg)
|
||||
{
|
||||
FAR struct cc3000_dev_s *priv = (FAR struct cc3000_dev_s *)arg;
|
||||
FAR struct cc3000_config_s *config;
|
||||
int ret;
|
||||
|
||||
ASSERT(priv != NULL);
|
||||
|
||||
/* Get a pointer the callbacks for convenience (and so the code is not so
|
||||
* ugly).
|
||||
*/
|
||||
|
||||
config = priv->config;
|
||||
DEBUGASSERT(config != NULL);
|
||||
ASSERT(priv != NULL && priv->config != NULL);
|
||||
|
||||
/* We have started release our creator*/
|
||||
|
||||
@ -705,7 +697,8 @@ static void * cc3000_worker(FAR void *arg)
|
||||
priv->rx_buffer.len = data_to_recv;
|
||||
|
||||
ret = mq_send(priv->queue, &priv->rx_buffer, sizeof(priv->rx_buffer), 1);
|
||||
DEBUGASSERT(ret>=0);
|
||||
DEBUGASSERT(ret >= 0);
|
||||
UNUSED(ret);
|
||||
|
||||
/* Notify any waiters that new CC3000 data is available */
|
||||
|
||||
@ -714,9 +707,11 @@ static void * cc3000_worker(FAR void *arg)
|
||||
/* Give up driver */
|
||||
|
||||
cc3000_devgive(priv);
|
||||
|
||||
nllvdbg("Wait On Completion\n");
|
||||
sem_wait(priv->wrkwaitsem);
|
||||
nllvdbg("Completed S:%d irq :%d\n",priv->state,priv->config->irq_read(priv->config));
|
||||
nllvdbg("Completed S:%d irq :%d\n",
|
||||
priv->state, priv->config->irq_read(priv->config));
|
||||
|
||||
sem_getvalue(&priv->irqsem, &count);
|
||||
if (priv->config->irq_read(priv->config) && count==0)
|
||||
@ -731,17 +726,17 @@ static void * cc3000_worker(FAR void *arg)
|
||||
|
||||
continue;
|
||||
}
|
||||
} /* eSPI_STATE_WRITE_DONE or eSPI_STATE_IDLE */
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
nllvdbg("default: State%d\n",priv->state);
|
||||
break;
|
||||
} /* end switch */
|
||||
} /* end if */
|
||||
}
|
||||
}
|
||||
|
||||
cc3000_devgive(priv);
|
||||
} /* while (1) */
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@ -92,7 +92,9 @@
|
||||
|
||||
#ifdef CONFIG_CC3000_MT
|
||||
/* lock to serialze access to driver (spi protocol is window size 1) */
|
||||
|
||||
extern pthread_mutex_t g_cc3000_mut;
|
||||
|
||||
/* This structure describes the state of one CC3000 driver instance */
|
||||
|
||||
typedef struct cc3000_socket_ent
|
||||
@ -185,6 +187,7 @@ static inline void cc3000_lib_lock(void)
|
||||
#ifdef CONFIG_CC3000_MT
|
||||
int status = pthread_mutex_lock(&g_cc3000_mut);
|
||||
DEBUGASSERT(status == 0);
|
||||
UNUSED(status);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -193,6 +196,7 @@ static inline void cc3000_lib_unlock(void)
|
||||
#ifdef CONFIG_CC3000_MT
|
||||
int status = pthread_mutex_unlock(&g_cc3000_mut);
|
||||
DEBUGASSERT(status == 0);
|
||||
UNUSED(status);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -264,6 +264,7 @@ void cc3000_open(gcSpiHandleRx pfRxHandler)
|
||||
status = pthread_create(&spiconf.unsoliced_thread, &attr,
|
||||
unsoliced_thread_func, NULL);
|
||||
DEBUGASSERT(status == 0)
|
||||
UNUSED(status);
|
||||
}
|
||||
|
||||
DEBUGASSERT(spiconf.cc3000fd);
|
||||
|
||||
@ -895,7 +895,7 @@ void update_socket_active_status(char *resp_params)
|
||||
* opcode in a global variable.
|
||||
*
|
||||
* Input Parameters:
|
||||
* usOpcode command operation code
|
||||
* opcode command operation code
|
||||
* pRetParams command return parameters
|
||||
*
|
||||
* Returned Value:
|
||||
@ -903,14 +903,14 @@ void update_socket_active_status(char *resp_params)
|
||||
*
|
||||
*****************************************************************************/
|
||||
|
||||
void SimpleLinkWaitEvent(uint16_t usOpcode, void *pRetParams)
|
||||
void SimpleLinkWaitEvent(uint16_t opcode, void *pRetParams)
|
||||
{
|
||||
/* In the blocking implementation the control to caller will be returned only
|
||||
* after the end of current transaction
|
||||
*/
|
||||
|
||||
tSLInformation.usRxEventOpcode = usOpcode;
|
||||
nllvdbg("Looking for usOpcode 0x%x\n",usOpcode);
|
||||
tSLInformation.usRxEventOpcode = opcode;
|
||||
nllvdbg("Looking for opcode 0x%x\n",opcode);
|
||||
uint16_t event_type;
|
||||
|
||||
do
|
||||
@ -925,22 +925,22 @@ void SimpleLinkWaitEvent(uint16_t usOpcode, void *pRetParams)
|
||||
nllvdbg("Evtn:0x%x\n",event_type);
|
||||
}
|
||||
|
||||
if (event_type != usOpcode)
|
||||
if (event_type != opcode)
|
||||
{
|
||||
if (hci_unsolicited_event_handler() == 1)
|
||||
{
|
||||
nllvdbg("Processed Event 0x%x want 0x%x\n",event_type, usOpcode);
|
||||
nllvdbg("Processed Event 0x%x want 0x%x\n",event_type, opcode);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
nllvdbg("Processing usOpcode 0x%x\n",usOpcode);
|
||||
nllvdbg("Processing opcode 0x%x\n",opcode);
|
||||
hci_event_handler(pRetParams, 0, 0);
|
||||
}
|
||||
}
|
||||
while (tSLInformation.usRxEventOpcode != 0);
|
||||
|
||||
nllvdbg("Done for usOpcode 0x%x\n",usOpcode);
|
||||
nllvdbg("Done for opcode 0x%x\n",opcode);
|
||||
}
|
||||
|
||||
/*****************************************************************************
|
||||
@ -968,7 +968,7 @@ void SimpleLinkWaitData(uint8_t *pBuf, uint8_t *from, uint8_t *fromlen)
|
||||
|
||||
nllvdbg("Looking for Data\n");
|
||||
uint16_t event_type;
|
||||
uint16_t usOpcode = tSLInformation.usRxEventOpcode;
|
||||
uint16_t opcode = tSLInformation.usRxEventOpcode;
|
||||
|
||||
do
|
||||
{
|
||||
@ -983,20 +983,23 @@ void SimpleLinkWaitData(uint8_t *pBuf, uint8_t *from, uint8_t *fromlen)
|
||||
}
|
||||
else
|
||||
{
|
||||
STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET,event_type);
|
||||
nllvdbg("Evtn:0x%x\n",event_type);
|
||||
STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET, event_type);
|
||||
nllvdbg("Evtn:0x%x\n", event_type);
|
||||
|
||||
if (hci_unsolicited_event_handler() == 1)
|
||||
{
|
||||
nllvdbg("Processed Event 0x%x want Data! Opcode 0x%x\n",event_type, usOpcode);
|
||||
nllvdbg("Processed Event 0x%x want Data! Opcode 0x%x\n", event_type, opcode);
|
||||
}
|
||||
else
|
||||
{
|
||||
nllvdbg("!!!!!usOpcode 0x%x\n",usOpcode);
|
||||
nllvdbg("!!!!!opcode 0x%x\n",opcode);
|
||||
}
|
||||
|
||||
UNUSED(event_type);
|
||||
}
|
||||
}
|
||||
while (*tSLInformation.pucReceivedData == HCI_TYPE_EVNT);
|
||||
|
||||
nllvdbg("Done for Data 0x%x\n",usOpcode);
|
||||
nllvdbg("Done for Data 0x%x\n", opcode);
|
||||
UNUSED(opcode);
|
||||
}
|
||||
|
||||
@ -236,12 +236,16 @@ void wlan_init(size_t max_tx_len,
|
||||
|
||||
void SpiReceiveHandler(void *pvBuffer)
|
||||
{
|
||||
uint16_t event_type;
|
||||
|
||||
tSLInformation.pucReceivedData = (uint8_t *)pvBuffer;
|
||||
tSLInformation.usEventOrDataReceived = 1;
|
||||
|
||||
uint16_t event_type;
|
||||
STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET,event_type);
|
||||
nllvdbg("Evtn:0x%x\n", event_type);
|
||||
STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData,
|
||||
HCI_EVENT_OPCODE_OFFSET, event_type);
|
||||
|
||||
nllvdbg("Evnt:0x%x\n", event_type);
|
||||
UNUSED(event_type);
|
||||
|
||||
hci_unsolicited_event_handler();
|
||||
}
|
||||
|
||||
@ -872,13 +872,13 @@ struct sdio_dev_s
|
||||
#ifdef CONFIG_SDIO_DMA
|
||||
bool (*dmasupported)(FAR struct sdio_dev_s *dev);
|
||||
#ifdef CONFIG_SDIO_PREFLIGHT
|
||||
int (*dmapreflight)(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
|
||||
size_t buflen);
|
||||
int (*dmapreflight)(FAR struct sdio_dev_s *dev,
|
||||
FAR const uint8_t *buffer, size_t buflen);
|
||||
#endif
|
||||
int (*dmarecvsetup)(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
|
||||
size_t buflen);
|
||||
int (*dmasendsetup)(FAR struct sdio_dev_s *dev, FAR const uint8_t *buffer,
|
||||
size_t buflen);
|
||||
int (*dmasendsetup)(FAR struct sdio_dev_s *dev,
|
||||
FAR const uint8_t *buffer, size_t buflen);
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
@ -150,7 +150,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||
uint8_t flags, double value)
|
||||
{
|
||||
FAR char *digits; /* String returned by __dtoa */
|
||||
FAR char *digalloc; /* Copy of digits to be freed after usage */
|
||||
FAR char *rve; /* Points to the end of the return value */
|
||||
int expt; /* Integer value of exponent */
|
||||
int numlen; /* Actual number of digits returned by cvt */
|
||||
@ -188,7 +187,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||
/* Perform the conversion */
|
||||
|
||||
digits = __dtoa(value, 3, prec, &expt, &dsgn, &rve);
|
||||
digalloc = digits;
|
||||
numlen = rve - digits;
|
||||
|
||||
if (IS_NEGATE(flags))
|
||||
@ -318,7 +316,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||
digits++;
|
||||
}
|
||||
|
||||
/* Decremnt to get the number of trailing zeroes to print */
|
||||
/* Decrement to get the number of trailing zeroes to print */
|
||||
|
||||
prec -= nchars;
|
||||
}
|
||||
@ -326,15 +324,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||
/* Finally, print any trailing zeroes */
|
||||
|
||||
zeroes(obj, prec);
|
||||
|
||||
/* Is this memory supposed to be freed or not? */
|
||||
|
||||
#if 0
|
||||
if (digalloc)
|
||||
{
|
||||
lib_free(digalloc);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
||||
Loading…
Reference in New Issue
Block a user