px4dev
12 years ago
3 changed files with 0 additions and 312 deletions
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#
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# Board-specific startup code for the PX4IOv2
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#
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SRCS = px4iov2_init.c
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/****************************************************************************
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file px4iov2_init.c |
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* |
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* PX4FMU-specific early startup code. This file implements the |
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* nsh_archinitialize() function that is called early by nsh during startup. |
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* |
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* Code here is run before the rcS script is invoked; it should start required |
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* subsystems and perform board-specific initialisation. |
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*/ |
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/****************************************************************************
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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#include <stdbool.h> |
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#include <stdio.h> |
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#include <debug.h> |
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#include <errno.h> |
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#include <nuttx/arch.h> |
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#include "stm32_internal.h" |
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#include "px4iov2_internal.h" |
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#include <arch/board/board.h> |
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/****************************************************************************
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* Pre-Processor Definitions |
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****************************************************************************/ |
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/* Configuration ************************************************************/ |
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/* Debug ********************************************************************/ |
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#ifdef CONFIG_CPP_HAVE_VARARGS |
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# ifdef CONFIG_DEBUG |
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# define message(...) lowsyslog(__VA_ARGS__) |
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# else |
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# define message(...) printf(__VA_ARGS__) |
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# endif |
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#else |
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# ifdef CONFIG_DEBUG |
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# define message lowsyslog |
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# else |
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# define message printf |
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# endif |
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#endif |
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/****************************************************************************
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* Protected Functions |
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****************************************************************************/ |
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/****************************************************************************
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* Public Functions |
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****************************************************************************/ |
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/************************************************************************************
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* Name: stm32_boardinitialize |
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* |
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* Description: |
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* All STM32 architectures must provide the following entry point. This entry point |
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* is called early in the intitialization -- after all memory has been configured |
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* and mapped but before any devices have been initialized. |
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* |
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************************************************************************************/ |
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__EXPORT void stm32_boardinitialize(void) |
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{ |
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/* configure GPIOs */ |
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/* turn off - all leds are active low */ |
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stm32_gpiowrite(BOARD_GPIO_LED1, true); |
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stm32_gpiowrite(BOARD_GPIO_LED2, true); |
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stm32_gpiowrite(BOARD_GPIO_LED3, true); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED1)); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED2)); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED3)); |
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_BTN_SAFETY)); |
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/* spektrum power enable is active high - disable it by default */ |
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stm32_gpiowrite(BOARD_GPIO_SPEKTRUM_PWR_EN, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SPEKTRUM_PWR_EN)); |
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/* servo power enable is active low, and has a pull down resistor
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* to keep it low during boot (since it may power the whole board.) |
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*/ |
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stm32_gpiowrite(BOARD_GPIO_SERVO_PWR_EN, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SERVO_PWR_EN)); |
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stm32_configgpio(BOARD_GPIO_INPUT_PUP(BOARD_GPIO_SERVO_FAULT_DETECT)); |
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_TIM_RSSI)); /* xxx alternate function */ |
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stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_RSSI)); |
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stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_VSERVO)); |
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_SBUS_INPUT)); /* xxx alternate function */ |
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stm32_gpiowrite(BOARD_GPIO_SBUS_OUTPUT, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OUTPUT)); |
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/* sbus output enable is active low - disable it by default */ |
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stm32_gpiowrite(BOARD_GPIO_SBUS_OENABLE, true); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OENABLE)); |
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_PPM)); /* xxx alternate function */ |
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stm32_gpiowrite(BOARD_GPIO_PWM1, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM1)); |
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stm32_gpiowrite(BOARD_GPIO_PWM2, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM2)); |
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stm32_gpiowrite(BOARD_GPIO_PWM3, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM3)); |
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stm32_gpiowrite(BOARD_GPIO_PWM4, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM4)); |
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stm32_gpiowrite(BOARD_GPIO_PWM5, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM5)); |
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stm32_gpiowrite(BOARD_GPIO_PWM6, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM6)); |
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stm32_gpiowrite(BOARD_GPIO_PWM7, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM7)); |
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stm32_gpiowrite(BOARD_GPIO_PWM8, false); |
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM8)); |
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// message("[boot] Successfully initialized px4iov2 gpios\n");
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return OK; |
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} |
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@ -1,135 +0,0 @@ |
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/****************************************************************************
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
|
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* modification, are permitted provided that the following conditions |
|
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
|
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
|
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
|
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file px4iov2_internal.h |
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* |
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* PX4IOV2 internal definitions |
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*/ |
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#pragma once |
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/****************************************************************************************************
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* Included Files |
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****************************************************************************************************/ |
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#include <nuttx/config.h> |
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#include <nuttx/compiler.h> |
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#include <stdint.h> |
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__BEGIN_DECLS |
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/* these headers are not C++ safe */ |
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#include <stm32_internal.h> |
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/****************************************************************************************************
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* Definitions |
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****************************************************************************************************/ |
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/* Configuration ************************************************************************************/ |
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/******************************************************************************
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* GPIOS |
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******************************************************************************/ |
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#define BOARD_GPIO_OUTPUT(pin) (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ |
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GPIO_OUTPUT_CLEAR|(pin)) |
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#define BOARD_GPIO_INPUT_FLOAT(pin) (GPIO_INPUT|GPIO_CNF_INFLOAT|\ |
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GPIO_MODE_INPUT|(pin)) |
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#define BOARD_GPIO_INPUT_PUP(pin) (GPIO_INPUT|GPIO_CNF_INPULLUP|\ |
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GPIO_MODE_INPUT|(pin)) |
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#define BOARD_GPIO_INPUT_ANALOG(pin) (GPIO_INPUT|GPIO_CNF_ANALOGIN|\ |
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GPIO_MODE_INPUT|(pin)) |
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/* LEDS **********************************************************************/ |
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#define BOARD_GPIO_LED1 (GPIO_PORTB|GPIO_PIN14) |
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#define BOARD_GPIO_LED2 (GPIO_PORTB|GPIO_PIN15) |
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#define BOARD_GPIO_LED3 (GPIO_PORTB|GPIO_PIN13) |
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#define BOARD_GPIO_LED_BLUE BOARD_GPIO_LED1 |
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#define BOARD_GPIO_LED_AMBER BOARD_GPIO_LED2 |
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#define BOARD_GPIO_LED_SAFETY BOARD_GPIO_LED3 |
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/* Safety switch button *******************************************************/ |
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#define BOARD_GPIO_BTN_SAFETY (GPIO_PORTB|GPIO_PIN5) |
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/* Power switch controls ******************************************************/ |
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#define BOARD_GPIO_SPEKTRUM_PWR_EN (GPIO_PORTC|GPIO_PIN13) |
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#define BOARD_GPIO_SERVO_PWR_EN (GPIO_PORTC|GPIO_PIN15) |
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#define BOARD_GPIO_SERVO_FAULT_DETECT (GPIO_PORTB|GPIO_PIN13) |
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/* Analog inputs **************************************************************/ |
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#define BOARD_GPIO_ADC_VSERVO (GPIO_PORTA|GPIO_PIN4) |
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/* the same rssi signal goes to both an adc and a timer input */ |
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#define BOARD_GPIO_ADC_RSSI (GPIO_PORTA|GPIO_PIN5) |
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#define BOARD_GPIO_TIM_RSSI (GPIO_PORTA|GPIO_PIN12) |
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/* PWM pins **************************************************************/ |
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#define BOARD_GPIO_PPM (GPIO_PORTA|GPIO_PIN8) |
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#define BOARD_GPIO_PWM1 (GPIO_PORTA|GPIO_PIN0) |
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#define BOARD_GPIO_PWM2 (GPIO_PORTA|GPIO_PIN1) |
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#define BOARD_GPIO_PWM3 (GPIO_PORTB|GPIO_PIN8) |
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#define BOARD_GPIO_PWM4 (GPIO_PORTB|GPIO_PIN9) |
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#define BOARD_GPIO_PWM5 (GPIO_PORTA|GPIO_PIN6) |
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#define BOARD_GPIO_PWM6 (GPIO_PORTA|GPIO_PIN7) |
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#define BOARD_GPIO_PWM7 (GPIO_PORTB|GPIO_PIN0) |
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#define BOARD_GPIO_PWM8 (GPIO_PORTB|GPIO_PIN1) |
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/* SBUS pins *************************************************************/ |
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#define BOARD_GPIO_SBUS_INPUT (GPIO_PORTB|GPIO_PIN11) |
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#define BOARD_GPIO_SBUS_OUTPUT (GPIO_PORTB|GPIO_PIN10) |
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#define BOARD_GPIO_SBUS_OENABLE (GPIO_PORTB|GPIO_PIN4) |
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/****************************************************************************************************
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* Public Types |
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****************************************************************************************************/ |
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/****************************************************************************************************
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* Public data |
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****************************************************************************************************/ |
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#ifndef __ASSEMBLY__ |
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#endif /* __ASSEMBLY__ */ |
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__END_DECLS |
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