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Add platform-specific IO firmware for HEX autopilots.

sbg
Mirko Denecke 5 years ago committed by Daniel Agar
parent
2581badabd
commit
57968c6e27
9 changed files with 803 additions and 0 deletions
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  1. 12
      boards/hex/io-v2/default.cmake
  2. 13
      boards/hex/io-v2/firmware.prototype
  3. 141
      boards/hex/io-v2/nuttx-config/include/board.h
  4. 70
      boards/hex/io-v2/nuttx-config/nsh/defconfig
  5. 136
      boards/hex/io-v2/nuttx-config/scripts/script.ld
  6. 42
      boards/hex/io-v2/src/CMakeLists.txt
  7. 170
      boards/hex/io-v2/src/board_config.h
  8. 165
      boards/hex/io-v2/src/init.c
  9. 54
      boards/hex/io-v2/src/timer_config.cpp

12
boards/hex/io-v2/default.cmake
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px4_add_board(
PLATFORM nuttx
VENDOR hex
MODEL io-v2
TOOLCHAIN arm-none-eabi
CONSTRAINED_FLASH
ARCHITECTURE cortex-m3
DRIVERS
MODULES
px4iofirmware
)

13
boards/hex/io-v2/firmware.prototype
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{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"image_maxsize": 61440,
"git_identity": "",
"board_revision": 0
}

141
boards/hex/io-v2/nuttx-config/include/board.h
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/************************************************************************************
* nuttx-configs/px4io/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* On-board crystal frequency is 24MHz (HSE) */
#define STM32_BOARD_XTAL 24000000ul
/* Use the HSE output as the system clock */
#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
/* AHB clock (HCLK) is SYSCLK (24MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB2 clock (PCLK2) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
/* APB2 timer 1 will receive PCLK2. */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
/* All timers run off PCLK */
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1, 15-17 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
/*
* Some of the USART pins are not available; override the GPIO
* definitions with an invalid pin configuration.
*/
#undef GPIO_USART2_CTS
#define GPIO_USART2_CTS 0xffffffff
#undef GPIO_USART2_RTS
#define GPIO_USART2_RTS 0xffffffff
#undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff
#undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff
#undef GPIO_USART3_CTS
#define GPIO_USART3_CTS 0xffffffff
#undef GPIO_USART3_RTS
#define GPIO_USART3_RTS 0xffffffff
#endif /* __ARCH_BOARD_BOARD_H */

70
boards/hex/io-v2/nuttx-config/nsh/defconfig
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#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_DEV_NULL is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F100C8=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARD_LOOPSPERMSEC=2000
CONFIG_C99_BOOL8=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=280
CONFIG_MAX_TASKS=2
CONFIG_MAX_WDOGPARMS=2
CONFIG_MM_FILL_ALLOCATIONS=y
CONFIG_MM_SMALL=y
CONFIG_NAME_MAX=12
CONFIG_NFILE_DESCRIPTORS=3
CONFIG_NFILE_STREAMS=0
CONFIG_PREALLOC_TIMERS=0
CONFIG_PREALLOC_WDOGS=1
CONFIG_RAM_SIZE=8192
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SERIAL_TERMIOS=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_ADC1=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART2=y
CONFIG_STM32_USART3=y
CONFIG_STM32_USART_SINGLEWIRE=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART1_RXBUFSIZE=64
CONFIG_USART1_RXDMA=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_TXBUFSIZE=32
CONFIG_USART2_RXBUFSIZE=64
CONFIG_USART2_TXBUFSIZE=64
CONFIG_USART3_RXBUFSIZE=64
CONFIG_USART3_RXDMA=y
CONFIG_USART3_TXBUFSIZE=64
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=1100
CONFIG_USER_ENTRYPOINT="user_start"
CONFIG_WDOG_INTRESERVE=0

136
boards/hex/io-v2/nuttx-config/scripts/script.ld
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/****************************************************************************
* configs/px4io-v2/scripts/ld.script
*
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
* 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH,
* FLASH memory is aliased to address 0x0000:0000 where the code expects to
* begin execution by jumping to the entry point in the 0x0800:0000 address
* range.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
. = ALIGN(4);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

42
boards/hex/io-v2/src/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_library(drivers_board
init.c
timer_config.cpp
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
)

170
boards/hex/io-v2/src/board_config.h
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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* PX4IOV2 internal definitions
*/
#pragma once
/******************************************************************************
* Included Files
******************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <px4_platform_common/board_common.h>
/******************************************************************************
* Definitions
******************************************************************************/
/* Configuration **************************************************************/
/******************************************************************************
* Serial
******************************************************************************/
#define PX4FMU_SERIAL_BASE STM32_USART2_BASE
#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2
#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX
#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX
#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX
#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX
#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
#define PX4FMU_SERIAL_BITRATE 1500000
/******************************************************************************
* GPIOS
******************************************************************************/
/* LEDS **********************************************************************/
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
/* PixHawk 1:
* PC14 Floating
* PC15 Floating
*
* PixHawk 2:
* PC14 3.3v
* PC15 GND
*/
#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
# define SENSE_PH1 0b10 /* Floating pulled as set */
# define SENSE_PH2 0b01 /* Driven as tied */
#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
/* Safety switch button *******************************************************/
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
/* Power switch controls ******************************************************/
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
/* Analog inputs **************************************************************/
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
/* the same rssi signal goes to both an adc and a timer input */
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
/* PWM pins **************************************************************/
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
#define DIRECT_PWM_OUTPUT_CHANNELS 8
/* SBUS pins *************************************************************/
/* XXX these should be UART pins */
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
/*
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
/* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */
#define LED_STARTED 0 /* LED? */
#define LED_HEAPALLOCATE 1 /* LED? */
#define LED_IRQSENABLED 2 /* LED? + LED? */
#define LED_STACKCREATED 3 /* LED? */
#define LED_INIRQ 4 /* LED? + LED? */
#define LED_SIGNAL 5 /* LED? + LED? */
#define LED_ASSERTION 6 /* LED? + LED? + LED? */
#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DISABLE_I2C_SPI

165
boards/hex/io-v2/src/init.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4iov2_init.c
*
* PX4FMU-specific early startup code. This file implements the
* stm32_boardinitialize() function that is called during cpu startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/board.h>
#include <stm32.h>
#include "board_config.h"
#include <arch/board/board.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure GPIOs */
/* Set up for sensing HW */
stm32_configgpio(GPIO_SENSE_PC14_DN);
stm32_configgpio(GPIO_SENSE_PC15_UP);
/* LEDS - default to off */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
/* PixHawk 1:
* PC14 Floating
* PC15 Floating
*
* PixHawk 2:
* PC14 3.3v
* PC15 GND
*/
uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN);
if (sense == SENSE_PH2) {
stm32_configgpio(GPIO_HEATER_OFF);
}
stm32_configgpio(GPIO_PC14);
stm32_configgpio(GPIO_PC15);
stm32_configgpio(GPIO_BTN_SAFETY);
/* spektrum power enable is active high - enable it by default */
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
/* RSSI inputs */
stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
stm32_configgpio(GPIO_ADC_RSSI);
/* servo rail voltage */
stm32_configgpio(GPIO_ADC_VSERVO);
stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
stm32_configgpio(GPIO_SBUS_OUTPUT);
/* sbus output enable is active low - disable it by default */
stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
stm32_configgpio(GPIO_SBUS_OENABLE);
stm32_configgpio(GPIO_PPM); /* xxx alternate function */
stm32_gpiowrite(GPIO_PWM1, true);
stm32_configgpio(GPIO_PWM1);
stm32_gpiowrite(GPIO_PWM2, true);
stm32_configgpio(GPIO_PWM2);
stm32_gpiowrite(GPIO_PWM3, true);
stm32_configgpio(GPIO_PWM3);
stm32_gpiowrite(GPIO_PWM4, true);
stm32_configgpio(GPIO_PWM4);
stm32_gpiowrite(GPIO_PWM5, true);
stm32_configgpio(GPIO_PWM5);
stm32_gpiowrite(GPIO_PWM6, true);
stm32_configgpio(GPIO_PWM6);
stm32_gpiowrite(GPIO_PWM7, true);
stm32_configgpio(GPIO_PWM7);
stm32_gpiowrite(GPIO_PWM8, true);
stm32_configgpio(GPIO_PWM8);
}

54
boards/hex/io-v2/src/timer_config.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer2),
initIOTimer(Timer::Timer3),
initIOTimer(Timer::Timer4),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortA, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
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