Changes to get PX4 config to build. Also some warning removal
This commit is contained in:
Gregory Nutt
parent
2d3151edeb
commit
e591430e25
@ -504,6 +504,16 @@ config ARCH_BOARD_PJRC_87C52
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8051 Microcontroller. This port uses the PJRC 87C52 development system
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8051 Microcontroller. This port uses the PJRC 87C52 development system
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and the SDCC toolchain. This port is not quite ready for prime time.
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and the SDCC toolchain. This port is not quite ready for prime time.
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config ARCH_BOARD_PX4FMU_V2
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bool "PX4FMU v2"
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depends on ARCH_CHIP_STM32F427V
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---help---
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This is a minimal configuration that supports low-level test of the
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PX4FMU v2 in the NuttX source tree. If you are using PX4, you
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probably don't want this configuration. You probably want the
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latest supported configuration available from the PX4 GIT
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repositories.
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config ARCH_BOARD_QEMU_I486
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config ARCH_BOARD_QEMU_I486
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bool "Qemu i486 Mode"
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bool "Qemu i486 Mode"
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depends on ARCH_X86 || ARCH_I486
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depends on ARCH_X86 || ARCH_I486
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@ -900,6 +910,7 @@ config ARCH_BOARD
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default "pic32mx7mmb" if ARCH_BOARD_PIC32_PIC32MX7MMB
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default "pic32mx7mmb" if ARCH_BOARD_PIC32_PIC32MX7MMB
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default "pirelli_dpl10" if ARCH_BOARD_PIRELLI_DPL10
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default "pirelli_dpl10" if ARCH_BOARD_PIRELLI_DPL10
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default "pjrc-8051" if ARCH_BOARD_PJRC_87C52
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default "pjrc-8051" if ARCH_BOARD_PJRC_87C52
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default "px4fmu-v2_upstream" if ARCH_BOARD_PX4FMU_V2
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default "qemu-i486" if ARCH_BOARD_QEMU_I486
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default "qemu-i486" if ARCH_BOARD_QEMU_I486
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default "rgmp" if ARCH_BOARD_RGMP
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default "rgmp" if ARCH_BOARD_RGMP
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default "sama5d3x-ek" if ARCH_BOARD_SAMA5D3X_EK
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default "sama5d3x-ek" if ARCH_BOARD_SAMA5D3X_EK
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@ -1139,6 +1150,9 @@ endif
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if ARCH_BOARD_PJRC_87C52
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if ARCH_BOARD_PJRC_87C52
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source "configs/pjrc-8051/Kconfig"
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source "configs/pjrc-8051/Kconfig"
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endif
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endif
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if ARCH_BOARD_PX4FMU_V2
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source "configs/px4fmu-v2_upstream/Kconfig"
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endif
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if ARCH_BOARD_QEMU_I486
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if ARCH_BOARD_QEMU_I486
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source "configs/qemu-i486/Kconfig"
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source "configs/qemu-i486/Kconfig"
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endif
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endif
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@ -439,6 +439,12 @@ configs/pjrc-8051
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8051 Microcontroller. This port uses the PJRC 87C52 development system
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8051 Microcontroller. This port uses the PJRC 87C52 development system
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and the SDCC toolchain. This port is not quite ready for prime time.
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and the SDCC toolchain. This port is not quite ready for prime time.
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config/px4fmu-v2_upstream
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This is a minimal configuration that supports low-level test of the
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PX4FMU v2 in the NuttX source tree. If you are using PX4, you probably
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don't want this configuration. You probably want the latest supported
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configuration available from the PX4 GIT repositories.
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configs/qemu-i486
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configs/qemu-i486
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Port of NuttX to QEMU in i486 mode. This port will also run on real i486
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Port of NuttX to QEMU in i486 mode. This port will also run on real i486
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hardwared (Google the Bifferboard).
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hardwared (Google the Bifferboard).
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@ -44,7 +44,7 @@
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#include <nuttx/config.h>
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#include <nuttx/config.h>
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/************************************************************************************
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/************************************************************************************
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* Definitions
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* Pre-processor Definitions
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************************************************************************************/
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* Clocking *************************************************************************/
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@ -232,7 +232,8 @@ enum output_state
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#undef EXTERN
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#undef EXTERN
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#if defined(__cplusplus)
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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#define EXTERN extern "C"
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extern "C" {
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extern "C"
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{
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#else
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#else
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#define EXTERN extern
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#define EXTERN extern
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#endif
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#endif
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@ -250,7 +251,7 @@ extern "C" {
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*
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*
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************************************************************************************/
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************************************************************************************/
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EXTERN void lpc17_boardinitialize(void);
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void lpc17_boardinitialize(void);
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/************************************************************************************
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/************************************************************************************
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* Name: lpc17_led1 and 2
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* Name: lpc17_led1 and 2
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@ -261,8 +262,8 @@ EXTERN void lpc17_boardinitialize(void);
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************************************************************************************/
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************************************************************************************/
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#ifdef CONFIG_ARCH_LEDS
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#ifdef CONFIG_ARCH_LEDS
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EXTERN void lpc17_led1(enum lpc17_ledstate_e state);
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void lpc17_led1(enum lpc17_ledstate_e state);
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EXTERN void lpc17_led2(enum lpc17_ledstate_e state);
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void lpc17_led2(enum lpc17_ledstate_e state);
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#endif
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#endif
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/************************************************************************************
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/************************************************************************************
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@ -275,10 +276,10 @@ EXTERN void lpc17_led2(enum lpc17_ledstate_e state);
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************************************************************************************/
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************************************************************************************/
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#ifdef CONFIG_ARCH_BOARD_NUCLEUS2G_BMS
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#ifdef CONFIG_ARCH_BOARD_NUCLEUS2G_BMS
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EXTERN void nucleus_bms_relay1(enum output_state state);
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void nucleus_bms_relay1(enum output_state state);
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EXTERN void nucleus_bms_relay2(enum output_state state);
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void nucleus_bms_relay2(enum output_state state);
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EXTERN void nucleus_bms_relay3(enum output_state state);
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void nucleus_bms_relay3(enum output_state state);
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EXTERN void nucleus_bms_relay4(enum output_state state);
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void nucleus_bms_relay4(enum output_state state);
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#endif
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#endif
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#undef EXTERN
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#undef EXTERN
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4
configs/px4fmu-v2_upstream/Kconfig
Normal file
4
configs/px4fmu-v2_upstream/Kconfig
Normal file
@ -0,0 +1,4 @@
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#
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# For a description of the syntax of this configuration file,
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# see misc/tools/kconfig-language.txt.
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#
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@ -196,77 +196,92 @@
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/* Alternate function pin selections ************************************************/
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/* Alternate function pin selections ************************************************/
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/*
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/* UARTs */
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* UARTs.
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*/
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#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART2_RX GPIO_USART2_RX_2
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#define GPIO_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */
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#define GPIO_USART2_TX GPIO_USART2_TX_2
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART3_RX GPIO_USART3_RX_3
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#define GPIO_USART2_RX GPIO_USART2_RX_2
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#define GPIO_USART3_TX GPIO_USART3_TX_3
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#define GPIO_USART2_TX GPIO_USART2_TX_2
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_UART4_RX GPIO_UART4_RX_1
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#define GPIO_USART3_RX GPIO_USART3_RX_3
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#define GPIO_UART4_TX GPIO_UART4_TX_1
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#define GPIO_USART3_TX GPIO_USART3_TX_3
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART6_RX GPIO_USART6_RX_1
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#define GPIO_UART4_RX GPIO_UART4_RX_1
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#define GPIO_USART6_TX GPIO_USART6_TX_1
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#define GPIO_UART4_TX GPIO_UART4_TX_1
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#define GPIO_UART7_RX GPIO_UART7_RX_1
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#define GPIO_USART6_RX GPIO_USART6_RX_1
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#define GPIO_UART7_TX GPIO_UART7_TX_1
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#define GPIO_USART6_TX GPIO_USART6_TX_1
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#define GPIO_UART7_RX GPIO_UART7_RX_1
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#define GPIO_UART7_TX GPIO_UART7_TX_1
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/* UART8 has no alternate pin config */
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/* UART8 has no alternate pin config */
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/* UART RX DMA configurations */
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/* UART RX DMA configurations */
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#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
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#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
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#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
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#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
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/*
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/* CAN
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* CAN
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*
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*
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* CAN1 is routed to the onboard transceiver.
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* CAN1 is routed to the onboard transceiver.
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* CAN2 is routed to the expansion connector.
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* CAN2 is routed to the expansion connector.
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*/
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*/
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2
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/*
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3
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* I2C
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2
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/* I2C
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*
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*
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* The optional _GPIO configurations allow the I2C driver to manually
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* The optional _GPIO configurations allow the I2C driver to manually
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* reset the bus to clear stuck slaves. They match the pin configuration,
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* reset the bus to clear stuck slaves. They match the pin configuration,
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* but are normally-high GPIOs.
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* but are normally-high GPIOs.
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*/
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*/
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
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#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
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#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
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#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
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#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
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#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_I2C1_SCL_GPIO \
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#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_I2C1_SDA_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
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/*
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#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
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* SPI
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#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
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#define GPIO_I2C2_SCL_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_I2C2_SDA_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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/* SPI
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*
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*
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* There are sensors on SPI1, and SPI2 is connected to the FRAM.
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* There are sensors on SPI1, and SPI2 is connected to the FRAM.
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*/
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*/
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
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/* LED Definitions. Needed if CONFIG_ARCH_LEDs is defined */
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#define LED_STARTED 0
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#define LED_HEAPALLOCATE 0
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#define LED_IRQSENABLED 0
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#define LED_STACKCREATED 1
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#define LED_INIRQ 1
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#define LED_SIGNAL 1
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#define LED_ASSERTION 1
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#define LED_PANIC 1
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/************************************************************************************
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/************************************************************************************
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* Public Data
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* Public Data
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@ -1,4 +1,5 @@
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/****************************************************************************
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/****************************************************************************
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* configs/px4fmu-v2_upstream/include/romfsimg.h
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*
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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*
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@ -31,12 +32,14 @@
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*
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*
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****************************************************************************/
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****************************************************************************/
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/**
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#ifndef __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
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* nsh_romfsetc.h
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#define __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
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*
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* This file is a stub for 'make export' purposes; the actual ROMFS
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/****************************************************************************
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* must be supplied by the library client.
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* Public Variables
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*/
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****************************************************************************/
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extern unsigned char romfs_img[];
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extern unsigned char romfs_img[];
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extern unsigned int romfs_img_len;
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extern unsigned int romfs_img_len;
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#endif /* __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H */
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@ -35,142 +35,136 @@
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include ${TOPDIR}/.config
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include ${TOPDIR}/tools/Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABIL
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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CC = $(CROSSDEV)gcc
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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OBJDUMP = $(CROSSDEV)objdump
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MAXOPTIMIZATION = -O3
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MAXOPTIMIZATION = -O3
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ARCHCPUFLAGS = -mcpu=cortex-m4 \
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ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mthumb \
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-mthumb \
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-march=armv7e-m \
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-march=armv7e-m \
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-mfpu=fpv4-sp-d16 \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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-mfloat-abi=hard
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# Pull in *just* libm from the toolchain ... this is grody
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# enable precise stack overflow tracking
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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INSTRUMENTATIONDEFINES = -finstrument-functions \
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EXTRA_LIBS += $(LIBM)
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-ffixed-r10
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# pull in *just* libm from the toolchain ... this is grody
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# Use our linker script
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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EXTRA_LIBS += $(LIBM)
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# use our linker script
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LDSCRIPT = ld.script
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LDSCRIPT = ld.script
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|
||||||
ifeq ($(WINTOOL),y)
|
ifeq ($(WINTOOL),y)
|
||||||
# Windows-native toolchains
|
# Windows-native toolchains
|
||||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||||
else
|
else
|
||||||
ifeq ($(PX4_WINTOOL),y)
|
ifeq ($(PX4_WINTOOL),y)
|
||||||
# Windows-native toolchains (MSYS)
|
# Windows-native toolchains (MSYS)
|
||||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||||
else
|
else
|
||||||
# Linux/Cygwin-native toolchain
|
# Linux/Cygwin-native toolchain
|
||||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||||
endif
|
endif
|
||||||
endif
|
endif
|
||||||
|
|
||||||
# tool versions
|
# Tool versions
|
||||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
|
||||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
|
||||||
|
|
||||||
# optimisation flags
|
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'}
|
||||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||||
-fno-strict-aliasing \
|
|
||||||
-fno-strength-reduce \
|
# Optimization flags
|
||||||
-fomit-frame-pointer \
|
|
||||||
-funsafe-math-optimizations \
|
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||||
-fno-builtin-printf \
|
-fno-strict-aliasing \
|
||||||
-ffunction-sections \
|
-fno-strength-reduce \
|
||||||
-fdata-sections
|
-fomit-frame-pointer \
|
||||||
|
-funsafe-math-optimizations \
|
||||||
|
-fno-builtin-printf \
|
||||||
|
-ffunction-sections \
|
||||||
|
-fdata-sections
|
||||||
|
|
||||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||||
ARCHOPTIMIZATION += -g
|
ARCHOPTIMIZATION += -g
|
||||||
endif
|
endif
|
||||||
|
|
||||||
ARCHCFLAGS = -std=gnu99
|
ARCHCFLAGS = -std=gnu99
|
||||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||||
ARCHWARNINGS = -Wall \
|
ARCHWARNINGS = -Wall \
|
||||||
-Wextra \
|
-Wextra \
|
||||||
-Wdouble-promotion \
|
-Wdouble-promotion \
|
||||||
-Wshadow \
|
-Wshadow \
|
||||||
-Wfloat-equal \
|
-Wfloat-equal \
|
||||||
-Wframe-larger-than=1024 \
|
-Wframe-larger-than=1024 \
|
||||||
-Wpointer-arith \
|
-Wpointer-arith \
|
||||||
-Wlogical-op \
|
-Wlogical-op \
|
||||||
-Wmissing-declarations \
|
-Wmissing-declarations \
|
||||||
-Wpacked \
|
-Wpacked \
|
||||||
-Wno-unused-parameter
|
-Wno-unused-parameter
|
||||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||||
|
|
||||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||||
-Wbad-function-cast \
|
-Wbad-function-cast \
|
||||||
-Wstrict-prototypes \
|
-Wstrict-prototypes \
|
||||||
-Wold-style-declaration \
|
-Wold-style-declaration \
|
||||||
-Wmissing-parameter-type \
|
-Wmissing-parameter-type \
|
||||||
-Wmissing-prototypes \
|
-Wmissing-prototypes \
|
||||||
-Wnested-externs
|
-Wnested-externs
|
||||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||||
-Wno-psabi
|
-Wno-psabi
|
||||||
ARCHDEFINES =
|
ARCHDEFINES =
|
||||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||||
|
|
||||||
# this seems to be the only way to add linker flags
|
# This seems to be the only way to add linker flags
|
||||||
EXTRA_LIBS += --warn-common \
|
|
||||||
--gc-sections
|
|
||||||
|
|
||||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
EXTRA_LIBS += --warn-common \
|
||||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
--gc-sections
|
||||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
|
||||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
|
||||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
|
||||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
|
||||||
|
|
||||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||||
LDNXFLATFLAGS = -e main -s 2048
|
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||||
|
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||||
|
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||||
|
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||||
|
|
||||||
OBJEXT = .o
|
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||||
LIBEXT = .a
|
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||||
EXEEXT =
|
LDNXFLATFLAGS = -e main -s 2048
|
||||||
|
|
||||||
|
OBJEXT = .o
|
||||||
|
LIBEXT = .a
|
||||||
|
EXEEXT =
|
||||||
|
|
||||||
|
# Produce partially-linked $1 from files in $2
|
||||||
|
|
||||||
# produce partially-linked $1 from files in $2
|
|
||||||
define PRELINK
|
define PRELINK
|
||||||
@echo "PRELINK: $1"
|
@echo "PRELINK: $1"
|
||||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||||
endef
|
endef
|
||||||
|
|
||||||
HOSTCC = gcc
|
HOSTCC = gcc
|
||||||
HOSTINCLUDES = -I.
|
HOSTINCLUDES = -I.
|
||||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||||
HOSTLDFLAGS =
|
HOSTLDFLAGS =
|
||||||
|
|||||||
@ -16,7 +16,7 @@ CONFIG_HOST_LINUX=y
|
|||||||
#
|
#
|
||||||
# Build Configuration
|
# Build Configuration
|
||||||
#
|
#
|
||||||
CONFIG_APPS_DIR="../apps"
|
# CONFIG_APPS_DIR="../apps"
|
||||||
# CONFIG_BUILD_2PASS is not set
|
# CONFIG_BUILD_2PASS is not set
|
||||||
|
|
||||||
#
|
#
|
||||||
@ -31,7 +31,7 @@ CONFIG_RAW_BINARY=y
|
|||||||
# Customize Header Files
|
# Customize Header Files
|
||||||
#
|
#
|
||||||
# CONFIG_ARCH_STDBOOL_H is not set
|
# CONFIG_ARCH_STDBOOL_H is not set
|
||||||
CONFIG_ARCH_MATH_H=n
|
# CONFIG_ARCH_MATH_H is not set
|
||||||
# CONFIG_ARCH_FLOAT_H is not set
|
# CONFIG_ARCH_FLOAT_H is not set
|
||||||
# CONFIG_ARCH_STDARG_H is not set
|
# CONFIG_ARCH_STDARG_H is not set
|
||||||
|
|
||||||
@ -106,7 +106,6 @@ CONFIG_ARCH_HAVE_MPU=y
|
|||||||
# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
|
# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
|
||||||
# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
|
# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
|
||||||
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
|
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
|
||||||
CONFIG_ARMV7M_STACKCHECK=n
|
|
||||||
CONFIG_SERIAL_TERMIOS=y
|
CONFIG_SERIAL_TERMIOS=y
|
||||||
CONFIG_SDIO_DMA=y
|
CONFIG_SDIO_DMA=y
|
||||||
CONFIG_SDIO_DMAPRIO=0x00010000
|
CONFIG_SDIO_DMAPRIO=0x00010000
|
||||||
@ -209,6 +208,8 @@ CONFIG_STM32_STM32F427=y
|
|||||||
#
|
#
|
||||||
# STM32 Peripheral Support
|
# STM32 Peripheral Support
|
||||||
#
|
#
|
||||||
|
# CONFIG_STM32_HAVE_USBDEV is not set
|
||||||
|
CONFIG_STM32_HAVE_OTGFS=y
|
||||||
CONFIG_STM32_ADC1=y
|
CONFIG_STM32_ADC1=y
|
||||||
# CONFIG_STM32_ADC2 is not set
|
# CONFIG_STM32_ADC2 is not set
|
||||||
# CONFIG_STM32_ADC3 is not set
|
# CONFIG_STM32_ADC3 is not set
|
||||||
@ -297,20 +298,19 @@ CONFIG_STM32_USART=y
|
|||||||
# U[S]ART Configuration
|
# U[S]ART Configuration
|
||||||
#
|
#
|
||||||
# CONFIG_USART1_RS485 is not set
|
# CONFIG_USART1_RS485 is not set
|
||||||
CONFIG_USART1_RXDMA=n
|
# CONFIG_USART1_RXDMA is not set
|
||||||
# CONFIG_USART2_RS485 is not set
|
# CONFIG_USART2_RS485 is not set
|
||||||
CONFIG_USART2_RXDMA=n
|
# CONFIG_USART2_RXDMA is not set
|
||||||
# CONFIG_USART3_RS485 is not set
|
# CONFIG_USART3_RS485 is not set
|
||||||
CONFIG_USART3_RXDMA=n
|
# CONFIG_USART3_RXDMA is not set
|
||||||
# CONFIG_UART4_RS485 is not set
|
# CONFIG_UART4_RS485 is not set
|
||||||
CONFIG_UART4_RXDMA=n
|
# CONFIG_UART4_RXDMA is not set
|
||||||
CONFIG_UART5_RXDMA=n
|
|
||||||
# CONFIG_USART6_RS485 is not set
|
# CONFIG_USART6_RS485 is not set
|
||||||
CONFIG_USART6_RXDMA=n
|
# CONFIG_USART6_RXDMA is not set
|
||||||
# CONFIG_UART7_RS485 is not set
|
# CONFIG_UART7_RS485 is not set
|
||||||
# CONFIG_UART7_RXDMA is not set
|
# CONFIG_UART7_RXDMA is not set
|
||||||
# CONFIG_UART8_RS485 is not set
|
# CONFIG_UART8_RS485 is not set
|
||||||
CONFIG_UART8_RXDMA=n
|
# CONFIG_UART8_RXDMA is not set
|
||||||
CONFIG_SERIAL_DISABLE_REORDERING=y
|
CONFIG_SERIAL_DISABLE_REORDERING=y
|
||||||
CONFIG_STM32_USART_SINGLEWIRE=y
|
CONFIG_STM32_USART_SINGLEWIRE=y
|
||||||
|
|
||||||
@ -391,7 +391,8 @@ CONFIG_RAM_SIZE=262144
|
|||||||
#
|
#
|
||||||
# Board Selection
|
# Board Selection
|
||||||
#
|
#
|
||||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
CONFIG_ARCH_BOARD_PX4FMU_V2=y
|
||||||
|
# CONFIG_ARCH_BOARD_CUSTOM is not set
|
||||||
CONFIG_ARCH_BOARD="px4fmu-v2_upstream"
|
CONFIG_ARCH_BOARD="px4fmu-v2_upstream"
|
||||||
|
|
||||||
#
|
#
|
||||||
@ -411,7 +412,7 @@ CONFIG_NSH_MMCSDSLOTNO=0
|
|||||||
CONFIG_MSEC_PER_TICK=1
|
CONFIG_MSEC_PER_TICK=1
|
||||||
# CONFIG_SYSTEM_TIME64 is not set
|
# CONFIG_SYSTEM_TIME64 is not set
|
||||||
CONFIG_RR_INTERVAL=0
|
CONFIG_RR_INTERVAL=0
|
||||||
CONFIG_SCHED_INSTRUMENTATION=n
|
# CONFIG_SCHED_INSTRUMENTATION is not set
|
||||||
CONFIG_TASK_NAME_SIZE=24
|
CONFIG_TASK_NAME_SIZE=24
|
||||||
# CONFIG_SCHED_HAVE_PARENT is not set
|
# CONFIG_SCHED_HAVE_PARENT is not set
|
||||||
# CONFIG_JULIAN_TIME is not set
|
# CONFIG_JULIAN_TIME is not set
|
||||||
@ -733,7 +734,7 @@ CONFIG_FAT_LCNAMES=y
|
|||||||
CONFIG_FAT_LFN=y
|
CONFIG_FAT_LFN=y
|
||||||
CONFIG_FAT_MAXFNAME=32
|
CONFIG_FAT_MAXFNAME=32
|
||||||
CONFIG_FS_FATTIME=y
|
CONFIG_FS_FATTIME=y
|
||||||
CONFIG_FAT_DMAMEMORY=n
|
# CONFIG_FAT_DMAMEMORY is not set
|
||||||
CONFIG_FS_NXFFS=y
|
CONFIG_FS_NXFFS=y
|
||||||
# CONFIG_NXFFS_SCAN_VOLUME is not set
|
# CONFIG_NXFFS_SCAN_VOLUME is not set
|
||||||
CONFIG_NXFFS_PREALLOCATED=y
|
CONFIG_NXFFS_PREALLOCATED=y
|
||||||
@ -794,6 +795,7 @@ CONFIG_STDIO_BUFFER_SIZE=32
|
|||||||
CONFIG_STDIO_LINEBUFFER=y
|
CONFIG_STDIO_LINEBUFFER=y
|
||||||
CONFIG_NUNGET_CHARS=2
|
CONFIG_NUNGET_CHARS=2
|
||||||
CONFIG_LIB_HOMEDIR="/"
|
CONFIG_LIB_HOMEDIR="/"
|
||||||
|
CONFIG_LIBM=y
|
||||||
# CONFIG_NOPRINTF_FIELDWIDTH is not set
|
# CONFIG_NOPRINTF_FIELDWIDTH is not set
|
||||||
CONFIG_LIBC_FLOATINGPOINT=y
|
CONFIG_LIBC_FLOATINGPOINT=y
|
||||||
CONFIG_LIB_RAND_ORDER=1
|
CONFIG_LIB_RAND_ORDER=1
|
||||||
@ -843,14 +845,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=4000
|
|||||||
# Basic CXX Support
|
# Basic CXX Support
|
||||||
#
|
#
|
||||||
CONFIG_C99_BOOL8=y
|
CONFIG_C99_BOOL8=y
|
||||||
CONFIG_HAVE_CXX=n
|
# CONFIG_HAVE_CXX is not set
|
||||||
CONFIG_HAVE_CXXINITIALIZE=n
|
|
||||||
# CONFIG_CXX_NEWLONG is not set
|
|
||||||
|
|
||||||
#
|
|
||||||
# uClibc++ Standard C++ Library
|
|
||||||
#
|
|
||||||
# CONFIG_UCLIBCXX is not set
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Application Configuration
|
# Application Configuration
|
||||||
@ -867,7 +862,6 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
|
|||||||
# CONFIG_EXAMPLES_BUTTONS is not set
|
# CONFIG_EXAMPLES_BUTTONS is not set
|
||||||
# CONFIG_EXAMPLES_CAN is not set
|
# CONFIG_EXAMPLES_CAN is not set
|
||||||
# CONFIG_EXAMPLES_CONFIGDATA is not set
|
# CONFIG_EXAMPLES_CONFIGDATA is not set
|
||||||
# CONFIG_EXAMPLES_CXXTEST is not set
|
|
||||||
# CONFIG_EXAMPLES_DHCPD is not set
|
# CONFIG_EXAMPLES_DHCPD is not set
|
||||||
# CONFIG_EXAMPLES_ELF is not set
|
# CONFIG_EXAMPLES_ELF is not set
|
||||||
# CONFIG_EXAMPLES_FTPC is not set
|
# CONFIG_EXAMPLES_FTPC is not set
|
||||||
@ -882,9 +876,13 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
|
|||||||
# CONFIG_EXAMPLES_MM is not set
|
# CONFIG_EXAMPLES_MM is not set
|
||||||
# CONFIG_EXAMPLES_MODBUS is not set
|
# CONFIG_EXAMPLES_MODBUS is not set
|
||||||
CONFIG_EXAMPLES_MOUNT=y
|
CONFIG_EXAMPLES_MOUNT=y
|
||||||
|
# CONFIG_EXAMPLES_MOUNT_BLOCKDEVICE is not set
|
||||||
|
CONFIG_EXAMPLES_MOUNT_NSECTORS=2048
|
||||||
|
CONFIG_EXAMPLES_MOUNT_SECTORSIZE=512
|
||||||
|
CONFIG_EXAMPLES_MOUNT_RAMDEVNO=0
|
||||||
|
# CONFIG_EXAMPLES_MTDPART is not set
|
||||||
# CONFIG_EXAMPLES_NRF24L01TERM is not set
|
# CONFIG_EXAMPLES_NRF24L01TERM is not set
|
||||||
CONFIG_EXAMPLES_NSH=y
|
CONFIG_EXAMPLES_NSH=y
|
||||||
# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
|
|
||||||
# CONFIG_EXAMPLES_NULL is not set
|
# CONFIG_EXAMPLES_NULL is not set
|
||||||
# CONFIG_EXAMPLES_NX is not set
|
# CONFIG_EXAMPLES_NX is not set
|
||||||
# CONFIG_EXAMPLES_NXCONSOLE is not set
|
# CONFIG_EXAMPLES_NXCONSOLE is not set
|
||||||
@ -936,14 +934,11 @@ CONFIG_EXAMPLES_USBTERM=y
|
|||||||
# Networking Utilities
|
# Networking Utilities
|
||||||
#
|
#
|
||||||
# CONFIG_NETUTILS_CODECS is not set
|
# CONFIG_NETUTILS_CODECS is not set
|
||||||
# CONFIG_NETUTILS_DHCPC is not set
|
|
||||||
# CONFIG_NETUTILS_DHCPD is not set
|
# CONFIG_NETUTILS_DHCPD is not set
|
||||||
# CONFIG_NETUTILS_FTPC is not set
|
# CONFIG_NETUTILS_FTPC is not set
|
||||||
# CONFIG_NETUTILS_FTPD is not set
|
# CONFIG_NETUTILS_FTPD is not set
|
||||||
# CONFIG_NETUTILS_JSON is not set
|
# CONFIG_NETUTILS_JSON is not set
|
||||||
# CONFIG_NETUTILS_RESOLV is not set
|
|
||||||
# CONFIG_NETUTILS_SMTP is not set
|
# CONFIG_NETUTILS_SMTP is not set
|
||||||
# CONFIG_NETUTILS_TELNETD is not set
|
|
||||||
# CONFIG_NETUTILS_TFTPC is not set
|
# CONFIG_NETUTILS_TFTPC is not set
|
||||||
# CONFIG_NETUTILS_THTTPD is not set
|
# CONFIG_NETUTILS_THTTPD is not set
|
||||||
# CONFIG_NETUTILS_UIPLIB is not set
|
# CONFIG_NETUTILS_UIPLIB is not set
|
||||||
@ -1015,7 +1010,10 @@ CONFIG_NSH_CODECS_BUFSIZE=128
|
|||||||
CONFIG_NSH_FILEIOSIZE=512
|
CONFIG_NSH_FILEIOSIZE=512
|
||||||
CONFIG_NSH_STRERROR=y
|
CONFIG_NSH_STRERROR=y
|
||||||
CONFIG_NSH_LINELEN=128
|
CONFIG_NSH_LINELEN=128
|
||||||
|
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||||
|
# CONFIG_NSH_CMDPARMS is not set
|
||||||
CONFIG_NSH_MAXARGUMENTS=12
|
CONFIG_NSH_MAXARGUMENTS=12
|
||||||
|
# CONFIG_NSH_ARGCAT is not set
|
||||||
CONFIG_NSH_NESTDEPTH=8
|
CONFIG_NSH_NESTDEPTH=8
|
||||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||||
# CONFIG_NSH_DISABLEBG is not set
|
# CONFIG_NSH_DISABLEBG is not set
|
||||||
|
|||||||
@ -35,24 +35,24 @@
|
|||||||
|
|
||||||
-include $(TOPDIR)/Make.defs
|
-include $(TOPDIR)/Make.defs
|
||||||
|
|
||||||
CFLAGS += -I$(TOPDIR)/sched
|
CFLAGS += -I$(TOPDIR)/sched
|
||||||
|
|
||||||
ASRCS =
|
ASRCS =
|
||||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||||
|
|
||||||
CSRCS = px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
|
CSRCS = px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
|
||||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||||
|
|
||||||
SRCS = $(ASRCS) $(CSRCS)
|
SRCS = $(ASRCS) $(CSRCS)
|
||||||
OBJS = $(AOBJS) $(COBJS)
|
OBJS = $(AOBJS) $(COBJS)
|
||||||
|
|
||||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||||
ifeq ($(WINTOOL),y)
|
ifeq ($(WINTOOL),y)
|
||||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||||
else
|
else
|
||||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||||
endif
|
endif
|
||||||
|
|
||||||
all: libboard$(LIBEXT)
|
all: libboard$(LIBEXT)
|
||||||
|
|||||||
@ -1,4 +1,5 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/board_config.h
|
||||||
*
|
*
|
||||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,17 +32,9 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
/****************************************************************************
|
||||||
* @file board_config.h
|
|
||||||
*
|
|
||||||
* PX4FMUv2 internal definitions
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
|
||||||
* Included Files
|
* Included Files
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#include <nuttx/config.h>
|
#include <nuttx/config.h>
|
||||||
#include <nuttx/compiler.h>
|
#include <nuttx/compiler.h>
|
||||||
@ -51,111 +44,144 @@
|
|||||||
__BEGIN_DECLS
|
__BEGIN_DECLS
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* these headers are not C++ safe */
|
/* These headers are not C++ safe */
|
||||||
|
|
||||||
#include <stm32.h>
|
#include <stm32.h>
|
||||||
#include <arch/board/board.h>
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
#define UDID_START 0x1FFF7A10
|
#define UDID_START 0x1FFF7A10
|
||||||
|
|
||||||
/****************************************************************************************************
|
/****************************************************************************
|
||||||
* Definitions
|
* Pre-processor Definitions
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
/* Configuration ************************************************************************************/
|
/* Configuration ************************************************************/
|
||||||
|
|
||||||
/* PX4IO connection configuration */
|
/* PX4IO connection configuration */
|
||||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
|
|
||||||
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
|
|
||||||
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
|
|
||||||
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
|
|
||||||
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
|
|
||||||
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
|
|
||||||
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
|
|
||||||
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
|
|
||||||
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
|
|
||||||
|
|
||||||
|
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
|
||||||
|
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
|
||||||
|
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
|
||||||
|
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
|
||||||
|
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
|
||||||
|
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
|
||||||
|
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
|
||||||
|
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
|
||||||
|
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
|
||||||
|
|
||||||
/* PX4FMU GPIOs ***********************************************************************************/
|
/* PX4FMU GPIOs *************************************************************/
|
||||||
/* LEDs */
|
/* LEDs */
|
||||||
|
|
||||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
#define GPIO_LED1 \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||||
|
|
||||||
/* External interrupts */
|
/* External interrupts */
|
||||||
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
|
|
||||||
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
|
||||||
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||||
|
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||||
|
|
||||||
/* Data ready pins off */
|
/* Data ready pins off */
|
||||||
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
|
|
||||||
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
|
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
|
||||||
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
|
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
|
||||||
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
|
||||||
|
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||||
|
|
||||||
/* SPI1 off */
|
/* SPI1 off */
|
||||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
|
||||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||||
|
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||||
|
|
||||||
/* SPI1 chip selects off */
|
/* SPI1 chip selects off */
|
||||||
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
|
|
||||||
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
#define GPIO_SPI_CS_GYRO_OFF \
|
||||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
|
||||||
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
#define GPIO_SPI_CS_ACCEL_MAG_OFF \
|
||||||
|
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
#define GPIO_SPI_CS_BARO_OFF \
|
||||||
|
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||||
|
#define GPIO_SPI_CS_MPU_OFF \
|
||||||
|
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||||
|
|
||||||
/* SPI chip selects */
|
/* SPI chip selects */
|
||||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
|
||||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
|
||||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
|
||||||
#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)
|
|
||||||
|
|
||||||
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
#define GPIO_SPI_CS_GYRO \
|
||||||
#define PX4_SPIDEV_GYRO 1
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
#define GPIO_SPI_CS_ACCEL_MAG \
|
||||||
#define PX4_SPIDEV_BARO 3
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||||
#define PX4_SPIDEV_MPU 4
|
#define GPIO_SPI_CS_BARO \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||||
|
#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)
|
||||||
|
|
||||||
|
/* 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
|
||||||
|
#define PX4_SPIDEV_BARO 3
|
||||||
|
#define PX4_SPIDEV_MPU 4
|
||||||
|
|
||||||
/* I2C busses */
|
/* I2C busses */
|
||||||
#define PX4_I2C_BUS_EXPANSION 1
|
#define PX4_I2C_BUS_EXPANSION 1
|
||||||
#define PX4_I2C_BUS_LED 2
|
#define PX4_I2C_BUS_LED 2
|
||||||
|
|
||||||
/* Devices on the onboard bus.
|
/* Devices on the onboard bus.
|
||||||
*
|
*
|
||||||
* Note that these are unshifted addresses.
|
* Note that these are unshifted addresses.
|
||||||
*/
|
*/
|
||||||
#define PX4_I2C_OBDEV_LED 0x55
|
|
||||||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
#define PX4_I2C_OBDEV_LED 0x55
|
||||||
|
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||||
|
|
||||||
/* User GPIOs
|
/* User GPIOs
|
||||||
*
|
*
|
||||||
* GPIO0-5 are the PWM servo outputs.
|
* GPIO0-5 are the PWM servo outputs.
|
||||||
*/
|
*/
|
||||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
|
|
||||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
|
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
|
||||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
|
||||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
|
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
||||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
|
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
|
||||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
|
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
|
||||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
|
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
|
||||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
|
#define GPIO_GPIO0_OUTPUT \
|
||||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
|
||||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
|
#define GPIO_GPIO1_OUTPUT \
|
||||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
|
||||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
#define GPIO_GPIO2_OUTPUT \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
|
||||||
|
#define GPIO_GPIO3_OUTPUT \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
|
||||||
|
#define GPIO_GPIO4_OUTPUT \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO5_OUTPUT \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||||
|
|
||||||
/* Power supply control and monitoring GPIOs */
|
/* Power supply control and monitoring GPIOs */
|
||||||
#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
|
|
||||||
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
#define GPIO_VDD_5V_PERIPH_EN \
|
||||||
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
|
||||||
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||||
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
|
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
|
||||||
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
|
#define GPIO_VDD_3V3_SENSORS_EN \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||||
|
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
|
||||||
|
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
|
||||||
|
|
||||||
/* Tone alarm output */
|
/* Tone alarm output */
|
||||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
|
||||||
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
||||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
|
#define GPIO_TONE_ALARM_IDLE \
|
||||||
|
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||||
|
#define GPIO_TONE_ALARM \
|
||||||
|
(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
|
||||||
|
|
||||||
/* PWM
|
/* PWM
|
||||||
*
|
*
|
||||||
@ -170,47 +196,62 @@ __BEGIN_DECLS
|
|||||||
* CH5 : PD13 : TIM4_CH2
|
* CH5 : PD13 : TIM4_CH2
|
||||||
* CH6 : PD14 : TIM4_CH3
|
* CH6 : PD14 : TIM4_CH3
|
||||||
*/
|
*/
|
||||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
|
|
||||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
|
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
|
||||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
|
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
|
||||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
|
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
|
||||||
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
|
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
|
||||||
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
|
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
|
||||||
|
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
|
||||||
|
|
||||||
/* USB OTG FS
|
/* USB OTG FS
|
||||||
*
|
*
|
||||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
* 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)
|
|
||||||
|
#define GPIO_OTGFS_VBUS \
|
||||||
|
(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||||
|
|
||||||
/* High-resolution timer */
|
/* High-resolution timer */
|
||||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
|
||||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
#define HRT_TIMER 8 /* Use timer8 for the HRT */
|
||||||
|
#define HRT_TIMER_CHANNEL 1 /* Use capture/compare channel */
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
* Public Types
|
* Public Types
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/****************************************************************************************************
|
/****************************************************************************
|
||||||
* Public data
|
* Public data
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#ifndef __ASSEMBLY__
|
#ifndef __ASSEMBLY__
|
||||||
|
|
||||||
/****************************************************************************************************
|
/****************************************************************************
|
||||||
* Public Functions
|
* Public Functions
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/****************************************************************************************************
|
/****************************************************************************
|
||||||
* Name: stm32_spiinitialize
|
* Name: stm32_spiinitialize
|
||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||||
*
|
*
|
||||||
****************************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
void stm32_spiinitialize(void);
|
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__ */
|
#endif /* __ASSEMBLY__ */
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
|
|||||||
@ -1,4 +1,11 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/px4fmu_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) 2012 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,16 +38,6 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
|
||||||
* @file px4fmu_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.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Included Files
|
* Included Files
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
@ -49,6 +46,7 @@
|
|||||||
|
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
#include <math.h>
|
||||||
#include <debug.h>
|
#include <debug.h>
|
||||||
#include <errno.h>
|
#include <errno.h>
|
||||||
|
|
||||||
@ -72,6 +70,19 @@
|
|||||||
|
|
||||||
/* Configuration ************************************************************/
|
/* Configuration ************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_FAT_DMAMEMORY
|
||||||
|
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||||
|
# error microSD DMA support requires CONFIG_GRAN
|
||||||
|
# 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 ********************************************************************/
|
/* Debug ********************************************************************/
|
||||||
|
|
||||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||||
@ -88,75 +99,69 @@
|
|||||||
# endif
|
# endif
|
||||||
#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
|
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Protected Functions
|
* Private Data
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#if defined(CONFIG_FAT_DMAMEMORY)
|
#ifdef CONFIG_FAT_DMAMEMORY
|
||||||
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
|
||||||
# error microSD DMA support requires CONFIG_GRAN
|
|
||||||
# endif
|
|
||||||
|
|
||||||
static GRAN_HANDLE dma_allocator;
|
static GRAN_HANDLE dma_allocator;
|
||||||
|
|
||||||
/*
|
/* The DMA heap size constrains the total number of things that can be
|
||||||
* The DMA heap size constrains the total number of things that can be
|
|
||||||
* ready to do DMA at a time.
|
* 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 filesystem plus
|
||||||
* one sector-sized buffer per file.
|
* one sector-sized buffer per file.
|
||||||
*
|
*
|
||||||
* We use a fundamental alignment / granule size of 64B; this is sufficient
|
* 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).
|
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
|
||||||
*/
|
*/
|
||||||
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
|
|
||||||
|
|
||||||
static void
|
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
|
||||||
dma_alloc_init(void)
|
#endif
|
||||||
|
|
||||||
|
static struct spi_dev_s *spi1;
|
||||||
|
static struct spi_dev_s *spi2;
|
||||||
|
static struct sdio_dev_s *sdio;
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_FAT_DMAMEMORY
|
||||||
|
static void dma_alloc_init(void)
|
||||||
{
|
{
|
||||||
dma_allocator = gran_initialize(g_dma_heap,
|
dma_allocator =
|
||||||
sizeof(g_dma_heap),
|
gran_initialize(g_dma_heap,
|
||||||
7, /* 128B granule - must be > alignment (XXX bug?) */
|
sizeof(g_dma_heap),
|
||||||
6); /* 64B alignment */
|
7, /* 128B granule - must be > alignment (XXX bug?) */
|
||||||
if (dma_allocator == NULL) {
|
6); /* 64B alignment */
|
||||||
message("[boot] DMA allocator setup FAILED");
|
|
||||||
}
|
if (dma_allocator == NULL)
|
||||||
|
{
|
||||||
|
message("[boot] DMA allocator setup FAILED");
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
#else
|
||||||
|
# define dma_alloc_init()
|
||||||
|
#endif
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Public Functions
|
* Public Functions
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/*
|
#ifdef CONFIG_FAT_DMAMEMORY
|
||||||
* DMA-aware allocator stubs for the FAT filesystem.
|
/* DMA-aware allocator stubs for the FAT filesystem. */
|
||||||
*/
|
|
||||||
|
|
||||||
__EXPORT void *fat_dma_alloc(size_t size);
|
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);
|
||||||
return gran_alloc(dma_allocator, size);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void
|
void fat_dma_free(FAR void *memory, size_t size)
|
||||||
fat_dma_free(FAR void *memory, size_t size)
|
|
||||||
{
|
{
|
||||||
gran_free(dma_allocator, memory, size);
|
gran_free(dma_allocator, memory, size);
|
||||||
}
|
}
|
||||||
|
|
||||||
#else
|
|
||||||
|
|
||||||
# define dma_alloc_init()
|
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
@ -164,19 +169,20 @@ fat_dma_free(FAR void *memory, size_t size)
|
|||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* All STM32 architectures must provide the following entry point. This entry point
|
* All STM32 architectures must provide the following entry point. This entry point
|
||||||
* is called early in the intitialization -- after all memory has been configured
|
* is called early in the initialization -- after all memory has been configured
|
||||||
* and mapped but before any devices have been initialized.
|
* and mapped but before any devices have been initialized.
|
||||||
*
|
*
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
|
|
||||||
void
|
void stm32_boardinitialize(void)
|
||||||
stm32_boardinitialize(void)
|
|
||||||
{
|
{
|
||||||
/* configure SPI interfaces */
|
/* Configure SPI interfaces */
|
||||||
stm32_spiinitialize();
|
|
||||||
|
|
||||||
/* configure LEDs */
|
stm32_spiinitialize();
|
||||||
up_ledinit();
|
|
||||||
|
/* Configure LEDs */
|
||||||
|
|
||||||
|
up_ledinit();
|
||||||
}
|
}
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
@ -187,125 +193,119 @@ stm32_boardinitialize(void)
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
static struct spi_dev_s *spi1;
|
|
||||||
static struct spi_dev_s *spi2;
|
|
||||||
static struct sdio_dev_s *sdio;
|
|
||||||
|
|
||||||
#include <math.h>
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
int matherr(struct __exception *e)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
#else
|
|
||||||
int matherr(struct exception *e)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
int nsh_archinitialize(void)
|
int nsh_archinitialize(void)
|
||||||
{
|
{
|
||||||
/* configure ADC pins */
|
int ret;
|
||||||
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 */
|
/* Configure ADC 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 high-resolution time/callout interface */
|
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||||
hrt_init();
|
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 the DMA allocator */
|
/* Configure power supply control/sense pins */
|
||||||
dma_alloc_init();
|
|
||||||
|
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 */
|
||||||
|
|
||||||
/* configure CPU load estimation */
|
|
||||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||||
cpuload_initialize_once();
|
cpuload_initialize_once();
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* initial LED state */
|
/* Initial LED state */
|
||||||
drv_led_start();
|
|
||||||
led_off(LED_AMBER);
|
|
||||||
|
|
||||||
/* Configure SPI-based devices */
|
led_off(LED_AMBER);
|
||||||
|
|
||||||
spi1 = up_spiinitialize(1);
|
/* Configure SPI-based devices */
|
||||||
|
|
||||||
if (!spi1) {
|
spi1 = up_spiinitialize(1);
|
||||||
message("[boot] FAILED to initialize SPI port 1\n");
|
if (!spi1)
|
||||||
up_ledon(LED_AMBER);
|
{
|
||||||
return -ENODEV;
|
message("[boot] FAILED to initialize SPI port 1\n");
|
||||||
}
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
/* 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");
|
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);
|
||||||
|
|
||||||
/* Get the SPI port for the FRAM */
|
message("[boot] Initialized SPI port 1 (SENSORS)\n");
|
||||||
|
|
||||||
spi2 = up_spiinitialize(2);
|
/* Get the SPI port for the FRAM */
|
||||||
|
|
||||||
if (!spi2) {
|
spi2 = up_spiinitialize(2);
|
||||||
message("[boot] FAILED to initialize SPI port 2\n");
|
if (!spi2)
|
||||||
up_ledon(LED_AMBER);
|
{
|
||||||
return -ENODEV;
|
message("[boot] FAILED to initialize SPI port 2\n");
|
||||||
}
|
up_ledon(LED_AMBER);
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
|
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
|
||||||
* and de-assert the known chip selects. */
|
* and de-assert the known chip selects.
|
||||||
|
*/
|
||||||
|
|
||||||
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
|
// 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");
|
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
|
||||||
|
SPI_SETBITS(spi2, 8);
|
||||||
|
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||||
|
SPI_SELECT(spi2, SPIDEV_FLASH, false);
|
||||||
|
|
||||||
#ifdef CONFIG_MMCSD
|
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
|
||||||
/* First, get an instance of the SDIO interface */
|
|
||||||
|
|
||||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
#ifdef CONFIG_MMCSD
|
||||||
if (!sdio) {
|
/* First, get an instance of the SDIO interface */
|
||||||
message("[boot] Failed to initialize SDIO slot %d\n",
|
|
||||||
CONFIG_NSH_MMCSDSLOTNO);
|
|
||||||
return -ENODEV;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||||
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
|
if (!sdio)
|
||||||
if (ret != OK) {
|
{
|
||||||
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
message("[boot] Failed to initialize SDIO slot %d\n",
|
||||||
return ret;
|
CONFIG_NSH_MMCSDSLOTNO);
|
||||||
}
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
|
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||||
sdio_mediachange(sdio, true);
|
|
||||||
|
|
||||||
message("[boot] Initialized SDIO\n");
|
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
|
||||||
#endif
|
if (ret != OK)
|
||||||
|
{
|
||||||
|
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
return OK;
|
/* Then let's guess and say that there is a card in the slot. There is no
|
||||||
|
* card detect GPIO.
|
||||||
|
*/
|
||||||
|
|
||||||
|
sdio_mediachange(sdio, true);
|
||||||
|
|
||||||
|
message("[boot] Initialized SDIO\n");
|
||||||
|
#endif
|
||||||
|
|
||||||
|
return OK;
|
||||||
}
|
}
|
||||||
|
|||||||
@ -1,4 +1,5 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/px4fmu_led.c
|
||||||
*
|
*
|
||||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,11 +32,9 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
/****************************************************************************
|
||||||
* @file px4fmu2_led.c
|
* Included Files
|
||||||
*
|
****************************************************************************/
|
||||||
* PX4FMU LED backend.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <nuttx/config.h>
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
@ -46,50 +45,48 @@
|
|||||||
|
|
||||||
#include <arch/board/board.h>
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
/*
|
/****************************************************************************
|
||||||
* Ideally we'd be able to get these from up_internal.h,
|
* Public Functions
|
||||||
* 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.
|
|
||||||
*/
|
|
||||||
extern void led_init();
|
|
||||||
extern void led_on(int led);
|
|
||||||
extern void led_off(int led);
|
|
||||||
extern void led_toggle(int led);
|
|
||||||
|
|
||||||
void led_init()
|
void led_init()
|
||||||
{
|
{
|
||||||
/* Configure LED1 GPIO for output */
|
/* Configure LED1 GPIO for output */
|
||||||
|
|
||||||
stm32_configgpio(GPIO_LED1);
|
stm32_configgpio(GPIO_LED1);
|
||||||
}
|
}
|
||||||
|
|
||||||
void led_on(int led)
|
void led_on(int led)
|
||||||
{
|
{
|
||||||
if (led == 1)
|
if (led == 1)
|
||||||
{
|
{
|
||||||
/* Pull down to switch on */
|
/* Pull down to switch on */
|
||||||
stm32_gpiowrite(GPIO_LED1, false);
|
|
||||||
}
|
stm32_gpiowrite(GPIO_LED1, false);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void led_off(int led)
|
void led_off(int led)
|
||||||
{
|
{
|
||||||
if (led == 1)
|
if (led == 1)
|
||||||
{
|
{
|
||||||
/* Pull up to switch off */
|
/* Pull up to switch off */
|
||||||
stm32_gpiowrite(GPIO_LED1, true);
|
|
||||||
}
|
stm32_gpiowrite(GPIO_LED1, true);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void led_toggle(int led)
|
void led_toggle(int led)
|
||||||
{
|
{
|
||||||
if (led == 1)
|
if (led == 1)
|
||||||
{
|
{
|
||||||
if (stm32_gpioread(GPIO_LED1))
|
if (stm32_gpioread(GPIO_LED1))
|
||||||
stm32_gpiowrite(GPIO_LED1, false);
|
{
|
||||||
else
|
stm32_gpiowrite(GPIO_LED1, false);
|
||||||
stm32_gpiowrite(GPIO_LED1, true);
|
}
|
||||||
}
|
else
|
||||||
|
{
|
||||||
|
stm32_gpiowrite(GPIO_LED1, true);
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -1,4 +1,5 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/px4fmu_can.c
|
||||||
*
|
*
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,12 +32,6 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
|
||||||
* @file px4fmu_can.c
|
|
||||||
*
|
|
||||||
* Board-specific CAN functions.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
* Included Files
|
* Included Files
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
@ -108,37 +103,40 @@
|
|||||||
|
|
||||||
int can_devinit(void)
|
int can_devinit(void)
|
||||||
{
|
{
|
||||||
static bool initialized = false;
|
static bool initialized = false;
|
||||||
struct can_dev_s *can;
|
struct can_dev_s *can;
|
||||||
int ret;
|
int ret;
|
||||||
|
|
||||||
/* Check if we have already initialized */
|
/* Check if we have already initialized */
|
||||||
|
|
||||||
if (!initialized) {
|
if (!initialized)
|
||||||
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
{
|
||||||
|
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
||||||
|
|
||||||
can = stm32_caninitialize(CAN_PORT);
|
can = stm32_caninitialize(CAN_PORT);
|
||||||
|
|
||||||
if (can == NULL) {
|
if (can == NULL)
|
||||||
candbg("ERROR: Failed to get CAN interface\n");
|
{
|
||||||
return -ENODEV;
|
candbg("ERROR: Failed to get CAN interface\n");
|
||||||
}
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
|
||||||
/* Register the CAN driver at "/dev/can0" */
|
/* Register the CAN driver at "/dev/can0" */
|
||||||
|
|
||||||
ret = can_register("/dev/can0", can);
|
ret = can_register("/dev/can0", can);
|
||||||
|
|
||||||
if (ret < 0) {
|
if (ret < 0)
|
||||||
candbg("ERROR: can_register failed: %d\n", ret);
|
{
|
||||||
return ret;
|
candbg("ERROR: can_register failed: %d\n", ret);
|
||||||
}
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
/* Now we are initialized */
|
/* Now we are initialized */
|
||||||
|
|
||||||
initialized = true;
|
initialized = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
return OK;
|
return OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@ -1,4 +1,5 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/px4fmu_spi.c
|
||||||
*
|
*
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,12 +32,6 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
|
||||||
* @file px4fmu_spi.c
|
|
||||||
*
|
|
||||||
* Board-specific SPI functions.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
* Included Files
|
* Included Files
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
@ -70,90 +65,94 @@
|
|||||||
void weak_function stm32_spiinitialize(void)
|
void weak_function stm32_spiinitialize(void)
|
||||||
{
|
{
|
||||||
#ifdef CONFIG_STM32_SPI1
|
#ifdef CONFIG_STM32_SPI1
|
||||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||||
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||||
stm32_configgpio(GPIO_SPI_CS_BARO);
|
stm32_configgpio(GPIO_SPI_CS_BARO);
|
||||||
stm32_configgpio(GPIO_SPI_CS_MPU);
|
stm32_configgpio(GPIO_SPI_CS_MPU);
|
||||||
|
|
||||||
/* De-activate all peripherals,
|
/* De-activate all peripherals, required for some peripheral state machines */
|
||||||
* 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_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||||
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||||
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||||
stm32_configgpio(GPIO_EXTI_MPU_DRDY);
|
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
|
#endif
|
||||||
|
|
||||||
#ifdef CONFIG_STM32_SPI2
|
#ifdef CONFIG_STM32_SPI2
|
||||||
stm32_configgpio(GPIO_SPI_CS_FRAM);
|
stm32_configgpio(GPIO_SPI_CS_FRAM);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
void stm32_spi1select(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 */
|
/* SPI select is active low, so write !selected to select the device */
|
||||||
|
|
||||||
switch (devid) {
|
switch (devid)
|
||||||
case PX4_SPIDEV_GYRO:
|
{
|
||||||
/* Making sure the other peripherals are not selected */
|
case PX4_SPIDEV_GYRO:
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
/* Making sure the other peripherals are not 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:
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||||
/* Making sure the other peripherals are not selected */
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
break;
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case PX4_SPIDEV_BARO:
|
case PX4_SPIDEV_ACCEL_MAG:
|
||||||
/* Making sure the other peripherals are not selected */
|
/* 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:
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||||
/* Making sure the other peripherals are not selected */
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
break;
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
case PX4_SPIDEV_BARO:
|
||||||
break;
|
/* 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)
|
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||||
{
|
{
|
||||||
return SPI_STATUS_PRESENT;
|
return SPI_STATUS_PRESENT;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
#ifdef CONFIG_STM32_SPI2
|
#ifdef CONFIG_STM32_SPI2
|
||||||
void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
void stm32_spi2select(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 */
|
/* There can only be one device on this bus, so always select it */
|
||||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
|
||||||
|
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||||
{
|
{
|
||||||
/* FRAM is always present */
|
/* FRAM is always present */
|
||||||
return SPI_STATUS_PRESENT;
|
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@ -1,4 +1,5 @@
|
|||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
|
* configs/px4fmu-v2_upstream/src/px4fmu_usb.c
|
||||||
*
|
*
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
*
|
*
|
||||||
@ -31,15 +32,9 @@
|
|||||||
*
|
*
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
/****************************************************************************
|
||||||
* @file px4fmu_usb.c
|
|
||||||
*
|
|
||||||
* Board-specific USB functions.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/************************************************************************************
|
|
||||||
* Included Files
|
* Included Files
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#include <nuttx/config.h>
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
@ -55,53 +50,54 @@
|
|||||||
#include <stm32.h>
|
#include <stm32.h>
|
||||||
#include "board_config.h"
|
#include "board_config.h"
|
||||||
|
|
||||||
/************************************************************************************
|
/****************************************************************************
|
||||||
* Definitions
|
* Pre-processor Definitions
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/************************************************************************************
|
/****************************************************************************
|
||||||
* Private Functions
|
* Private Functions
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/************************************************************************************
|
/****************************************************************************
|
||||||
* Public Functions
|
* Public Functions
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/************************************************************************************
|
/****************************************************************************
|
||||||
* Name: stm32_usbinitialize
|
* Name: stm32_usbinitialize
|
||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
||||||
*
|
*
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
void stm32_usbinitialize(void)
|
void stm32_usbinitialize(void)
|
||||||
{
|
{
|
||||||
/* The OTG FS has an internal soft pull-up */
|
/* The OTG FS has an internal soft pull-up */
|
||||||
|
|
||||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||||
|
|
||||||
#ifdef CONFIG_STM32_OTGFS
|
#ifdef CONFIG_STM32_OTGFS
|
||||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||||
/* XXX We only support device mode
|
|
||||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
/* XXX We only support device mode
|
||||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||||
*/
|
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||||
|
*/
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
/************************************************************************************
|
/****************************************************************************
|
||||||
* Name: stm32_usbsuspend
|
* Name: stm32_usbsuspend
|
||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
* Board logic must provide the stm32_usbsuspend logic if the USBDEV
|
||||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
* driver is used. This function is called whenever the USB enters or
|
||||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
* leaves suspend mode. This is an opportunity for the board logic to
|
||||||
* while the USB is suspended.
|
* shutdown clocks, power, etc. while the USB is suspended.
|
||||||
*
|
*
|
||||||
************************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||||
{
|
{
|
||||||
ulldbg("resume: %d\n", resume);
|
ulldbg("resume: %d\n", resume);
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user