alexklimaj
4 years ago
committed by
Daniel Agar
24 changed files with 1760 additions and 0 deletions
@ -0,0 +1,29 @@ |
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# UAVCAN boot loadable Module ID |
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set(uavcanblid_sw_version_major 0) |
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set(uavcanblid_sw_version_minor 1) |
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add_definitions( |
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-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} |
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-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} |
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) |
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set(uavcanblid_hw_version_major 1) |
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set(uavcanblid_hw_version_minor 0) |
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set(uavcanblid_name "\"org.ark.can-flow\"") |
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add_definitions( |
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-DHW_UAVCAN_NAME=${uavcanblid_name} |
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-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} |
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-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} |
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) |
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px4_add_board( |
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PLATFORM nuttx |
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VENDOR ark |
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MODEL can-flow |
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LABEL canbootloader |
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TOOLCHAIN arm-none-eabi |
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ARCHITECTURE cortex-m4 |
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DRIVERS |
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bootloaders |
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) |
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@ -0,0 +1,47 @@ |
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# UAVCAN boot loadable Module ID |
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set(uavcanblid_sw_version_major 0) |
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set(uavcanblid_sw_version_minor 1) |
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add_definitions( |
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-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} |
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-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} |
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) |
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set(uavcanblid_hw_version_major 1) |
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set(uavcanblid_hw_version_minor 0) |
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set(uavcanblid_name "\"org.ark.can-flow\"") |
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add_definitions( |
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-DHW_UAVCAN_NAME=${uavcanblid_name} |
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-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} |
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-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} |
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) |
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px4_add_board( |
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PLATFORM nuttx |
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VENDOR ark |
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MODEL can-flow |
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LABEL default |
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TOOLCHAIN arm-none-eabi |
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ARCHITECTURE cortex-m4 |
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ROMFSROOT cannode |
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UAVCAN_INTERFACES 1 |
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DRIVERS |
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bootloaders |
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imu/bosch/bmi088 |
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optical_flow/paw3902 |
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uavcannode |
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MODULES |
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#ekf2 |
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load_mon |
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#sensors |
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SYSTEMCMDS |
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param |
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perf |
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reboot |
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top |
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topic_listener |
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ver |
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work_queue |
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) |
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@ -0,0 +1,13 @@ |
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{ |
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"board_id": 11, |
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"magic": "PX4FWv1", |
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"description": "Firmware for the ARK flow board", |
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"image": "", |
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"build_time": 0, |
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"summary": "ARFFLOW", |
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"version": "0.1", |
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"image_size": 0, |
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"image_maxsize": 2080768, |
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"git_identity": "", |
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"board_revision": 0 |
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} |
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@ -0,0 +1,9 @@ |
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#!/bin/sh |
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# |
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# board specific defaults |
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#------------------------------------------------------------------------------ |
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if [ $AUTOCNF = yes ] |
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then |
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fi |
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@ -0,0 +1,9 @@ |
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#!/bin/sh |
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# |
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# board sensors init |
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#------------------------------------------------------------------------------ |
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# Internal SPI |
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paw3902 -s start |
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bmi088 -A -s -R 0 start |
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bmi088 -G -s -R 0 start |
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@ -0,0 +1,68 @@ |
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# |
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# This file is autogenerated: PLEASE DO NOT EDIT IT. |
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# |
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# You can use "make menuconfig" to make any modifications to the installed .config file. |
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your |
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# modifications. |
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# |
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CONFIG_ARCH="arm" |
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CONFIG_ARCH_BOARD_CUSTOM=y |
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" |
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y |
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" |
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CONFIG_ARCH_CHIP="stm32" |
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CONFIG_ARCH_CHIP_STM32=y |
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CONFIG_ARCH_CHIP_STM32F412CE=y |
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CONFIG_ARCH_INTERRUPTSTACK=4096 |
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CONFIG_ARMV7M_MEMCPY=y |
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CONFIG_ARMV7M_USEBASEPRI=y |
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CONFIG_BINFMT_DISABLE=y |
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CONFIG_BOARD_LOOPSPERMSEC=16717 |
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CONFIG_C99_BOOL8=y |
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CONFIG_CLOCK_MONOTONIC=y |
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CONFIG_DEBUG_FULLOPT=y |
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CONFIG_DEBUG_SYMBOLS=y |
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CONFIG_DEFAULT_SMALL=y |
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CONFIG_DISABLE_MOUNTPOINT=y |
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CONFIG_DISABLE_MQUEUE=y |
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CONFIG_DISABLE_PTHREAD=y |
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CONFIG_EXPERIMENTAL=y |
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CONFIG_FDCLONE_DISABLE=y |
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CONFIG_FDCLONE_STDIO=y |
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CONFIG_HAVE_CXX=y |
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CONFIG_HAVE_CXXINITIALIZE=y |
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CONFIG_IDLETHREAD_STACKSIZE=4096 |
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CONFIG_LIBC_FLOATINGPOINT=y |
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CONFIG_LIBC_LONG_LONG=y |
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CONFIG_LIBC_STRERROR=y |
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CONFIG_LIB_BOARDCTL=y |
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CONFIG_MAX_TASKS=0 |
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CONFIG_MM_REGIONS=2 |
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CONFIG_NAME_MAX=0 |
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CONFIG_NUNGET_CHARS=0 |
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CONFIG_NXFONTS_DISABLE_16BPP=y |
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CONFIG_NXFONTS_DISABLE_1BPP=y |
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CONFIG_NXFONTS_DISABLE_24BPP=y |
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CONFIG_NXFONTS_DISABLE_2BPP=y |
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CONFIG_NXFONTS_DISABLE_32BPP=y |
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CONFIG_NXFONTS_DISABLE_4BPP=y |
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CONFIG_NXFONTS_DISABLE_8BPP=y |
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CONFIG_PREALLOC_TIMERS=0 |
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CONFIG_PTHREAD_STACK_MIN=512 |
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CONFIG_RAM_SIZE=262144 |
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CONFIG_RAM_START=0x20010000 |
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CONFIG_RAW_BINARY=y |
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CONFIG_SDCLONE_DISABLE=y |
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CONFIG_SIG_DEFAULT=y |
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CONFIG_SIG_SIGALRM_ACTION=y |
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CONFIG_SIG_SIGUSR1_ACTION=y |
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CONFIG_SIG_SIGUSR2_ACTION=y |
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CONFIG_STACK_COLORATION=y |
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CONFIG_START_DAY=30 |
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CONFIG_START_MONTH=11 |
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CONFIG_STDIO_DISABLE_BUFFERING=y |
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CONFIG_STM32_NOEXT_VECTORS=y |
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CONFIG_STM32_TIM8=y |
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CONFIG_TASK_NAME_SIZE=0 |
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CONFIG_USEC_PER_TICK=1000 |
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CONFIG_USERMAIN_STACKSIZE=4096 |
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@ -0,0 +1,140 @@ |
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/************************************************************************************
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* configs/px4fmu/include/board.h |
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* include/arch/board/board.h |
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* |
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* Copyright (C) 2009 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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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 NuttX 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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#include "board_dma_map.h" |
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#ifndef __ARCH_BOARD_BOARD_H |
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#define __ARCH_BOARD_BOARD_H |
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#include <nuttx/config.h> |
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#ifndef __ASSEMBLY__ |
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# include <stdint.h> |
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#endif |
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#include <stm32.h> |
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/* HSI - 8 MHz RC factory-trimmed
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* LSI - 32 KHz RC |
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* HSE - 8 MHz Crystal |
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* LSE - not installed |
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*/ |
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#define STM32_BOARD_USEHSE 1 |
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#define STM32_BOARD_XTAL 8000000 |
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL |
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#define STM32_HSI_FREQUENCY 16000000ul |
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#define STM32_LSI_FREQUENCY 32000 |
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/* Main PLL Configuration */ |
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) |
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384) |
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4 |
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8) |
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#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2) |
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#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16) |
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#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192) |
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#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2) |
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#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2) |
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#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/ |
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#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL |
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#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB |
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#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ |
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#define STM32_SYSCLK_FREQUENCY 96000000ul |
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/* AHB clock (HCLK) is SYSCLK (96MHz) */ |
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ |
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY |
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */ |
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/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */ |
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ |
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) |
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/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */ |
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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/* APB2 clock (PCLK2) is HCLK (96MHz) */ |
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */ |
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY) |
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/* Timers driven from APB2 will be PCLK2 since no prescale division */ |
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#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) |
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#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) |
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#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY) |
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#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY) |
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#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY) |
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */ |
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#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) |
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#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY) |
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/* Alternate function pin selections ************************************************/ |
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/* UARTs */ |
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#define GPIO_USART2_RX GPIO_USART2_RX_1 |
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#define GPIO_USART2_TX GPIO_USART2_TX_1 |
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/* CAN */ |
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#define GPIO_CAN1_RX GPIO_CAN1_RX_2 |
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#define GPIO_CAN1_TX GPIO_CAN1_TX_2 |
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/* I2C */ |
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 |
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#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 |
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/* SPI */ |
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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_SPI2_MOSI GPIO_SPI2_MOSI_1 |
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1 |
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#endif /* __ARCH_BOARD_BOARD_H */ |
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@ -0,0 +1,45 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2021 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 |
||||||
|
* modification, are permitted provided that the following conditions |
||||||
|
* are met: |
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|
* |
||||||
|
* 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. |
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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 |
||||||
|
* 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. |
||||||
|
* |
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****************************************************************************/ |
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#pragma once |
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// DMA1 Channel/Stream Selections
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//--------------------------------------------//---------------------------//----------------
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// DMA2 Channel/Stream Selections
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//--------------------------------------------//---------------------------//----------------
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||||||
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#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
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#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA2, Stream 3, Channel 0
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#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA2, Stream 4, Channel 0
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#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3
|
||||||
@ -0,0 +1,161 @@ |
|||||||
|
# |
||||||
|
# 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_DISABLE_OS_API is not set |
||||||
|
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set |
||||||
|
# CONFIG_NSH_DISABLEBG is not set |
||||||
|
# CONFIG_NSH_DISABLESCRIPT is not set |
||||||
|
# CONFIG_NSH_DISABLE_DF is not set |
||||||
|
# CONFIG_NSH_DISABLE_EXEC is not set |
||||||
|
# CONFIG_NSH_DISABLE_EXIT is not set |
||||||
|
# CONFIG_NSH_DISABLE_GET is not set |
||||||
|
# CONFIG_NSH_DISABLE_ITEF is not set |
||||||
|
# CONFIG_NSH_DISABLE_LOOPS is not set |
||||||
|
# CONFIG_NSH_DISABLE_SEMICOLON is not set |
||||||
|
# CONFIG_NSH_DISABLE_TIME is not set |
||||||
|
# CONFIG_STM32_DMACAPABLE 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_STM32F412CE=y |
||||||
|
CONFIG_ARCH_INTERRUPTSTACK=512 |
||||||
|
CONFIG_ARCH_STACKDUMP=y |
||||||
|
CONFIG_ARMV7M_MEMCPY=y |
||||||
|
CONFIG_ARMV7M_USEBASEPRI=y |
||||||
|
CONFIG_BOARDCTL_RESET=y |
||||||
|
CONFIG_BOARD_LOOPSPERMSEC=16717 |
||||||
|
CONFIG_BOARD_RESET_ON_ASSERT=2 |
||||||
|
CONFIG_BUILTIN=y |
||||||
|
CONFIG_C99_BOOL8=y |
||||||
|
CONFIG_CLOCK_MONOTONIC=y |
||||||
|
CONFIG_DEBUG_FULLOPT=y |
||||||
|
CONFIG_DEBUG_HARDFAULT_ALERT=y |
||||||
|
CONFIG_DEBUG_SYMBOLS=y |
||||||
|
CONFIG_DEFAULT_SMALL=y |
||||||
|
CONFIG_DEV_FIFO_SIZE=0 |
||||||
|
CONFIG_DEV_PIPE_MAXSIZE=1024 |
||||||
|
CONFIG_DEV_PIPE_SIZE=70 |
||||||
|
CONFIG_FDCLONE_STDIO=y |
||||||
|
CONFIG_FS_BINFS=y |
||||||
|
CONFIG_FS_CROMFS=y |
||||||
|
CONFIG_FS_FAT=y |
||||||
|
CONFIG_FS_FATTIME=y |
||||||
|
CONFIG_FS_PROCFS=y |
||||||
|
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y |
||||||
|
CONFIG_FS_PROCFS_REGISTER=y |
||||||
|
CONFIG_FS_ROMFS=y |
||||||
|
CONFIG_GRAN=y |
||||||
|
CONFIG_GRAN_INTR=y |
||||||
|
CONFIG_HAVE_CXX=y |
||||||
|
CONFIG_HAVE_CXXINITIALIZE=y |
||||||
|
CONFIG_I2C=y |
||||||
|
CONFIG_I2C_RESET=y |
||||||
|
CONFIG_IDLETHREAD_STACKSIZE=750 |
||||||
|
CONFIG_LIBC_FLOATINGPOINT=y |
||||||
|
CONFIG_LIBC_LONG_LONG=y |
||||||
|
CONFIG_LIBC_STRERROR=y |
||||||
|
CONFIG_MEMSET_64BIT=y |
||||||
|
CONFIG_MEMSET_OPTSPEED=y |
||||||
|
CONFIG_MM_REGIONS=2 |
||||||
|
CONFIG_MTD=y |
||||||
|
CONFIG_MTD_BYTE_WRITE=y |
||||||
|
CONFIG_MTD_PARTITION=y |
||||||
|
CONFIG_MTD_RAMTRON=y |
||||||
|
CONFIG_NAME_MAX=40 |
||||||
|
CONFIG_NFILE_DESCRIPTORS=12 |
||||||
|
CONFIG_NSH_ARCHINIT=y |
||||||
|
CONFIG_NSH_ARCHROMFS=y |
||||||
|
CONFIG_NSH_ARGCAT=y |
||||||
|
CONFIG_NSH_BUILTIN_APPS=y |
||||||
|
CONFIG_NSH_CMDPARMS=y |
||||||
|
CONFIG_NSH_CROMFSETC=y |
||||||
|
CONFIG_NSH_DISABLE_IFCONFIG=y |
||||||
|
CONFIG_NSH_DISABLE_IFUPDOWN=y |
||||||
|
CONFIG_NSH_DISABLE_MB=y |
||||||
|
CONFIG_NSH_DISABLE_MH=y |
||||||
|
CONFIG_NSH_DISABLE_TELNETD=y |
||||||
|
CONFIG_NSH_LINELEN=128 |
||||||
|
CONFIG_NSH_MAXARGUMENTS=15 |
||||||
|
CONFIG_NSH_NESTDEPTH=8 |
||||||
|
CONFIG_NSH_QUOTE=y |
||||||
|
CONFIG_NSH_ROMFSETC=y |
||||||
|
CONFIG_NSH_ROMFSSECTSIZE=128 |
||||||
|
CONFIG_NSH_STRERROR=y |
||||||
|
CONFIG_NSH_VARS=y |
||||||
|
CONFIG_PIPES=y |
||||||
|
CONFIG_PREALLOC_TIMERS=50 |
||||||
|
CONFIG_PRIORITY_INHERITANCE=y |
||||||
|
CONFIG_PTHREAD_MUTEX_ROBUST=y |
||||||
|
CONFIG_PTHREAD_STACK_MIN=512 |
||||||
|
CONFIG_RAMTRON_SETSPEED=y |
||||||
|
CONFIG_RAMTRON_WRITEWAIT=y |
||||||
|
CONFIG_RAM_SIZE=262144 |
||||||
|
CONFIG_RAM_START=0x20000000 |
||||||
|
CONFIG_RAW_BINARY=y |
||||||
|
CONFIG_RTC_DATETIME=y |
||||||
|
CONFIG_SCHED_ATEXIT=y |
||||||
|
CONFIG_SCHED_HPWORK=y |
||||||
|
CONFIG_SCHED_HPWORKPRIORITY=249 |
||||||
|
CONFIG_SCHED_HPWORKSTACKSIZE=1280 |
||||||
|
CONFIG_SCHED_INSTRUMENTATION=y |
||||||
|
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y |
||||||
|
CONFIG_SCHED_LPWORK=y |
||||||
|
CONFIG_SCHED_LPWORKPRIORITY=50 |
||||||
|
CONFIG_SCHED_LPWORKSTACKSIZE=1632 |
||||||
|
CONFIG_SCHED_WAITPID=y |
||||||
|
CONFIG_SEM_NNESTPRIO=8 |
||||||
|
CONFIG_SEM_PREALLOCHOLDERS=0 |
||||||
|
CONFIG_SERIAL_TERMIOS=y |
||||||
|
CONFIG_SIG_DEFAULT=y |
||||||
|
CONFIG_SIG_SIGALRM_ACTION=y |
||||||
|
CONFIG_SIG_SIGUSR1_ACTION=y |
||||||
|
CONFIG_SIG_SIGUSR2_ACTION=y |
||||||
|
CONFIG_SIG_SIGWORK=4 |
||||||
|
CONFIG_STACK_COLORATION=y |
||||||
|
CONFIG_START_DAY=30 |
||||||
|
CONFIG_START_MONTH=11 |
||||||
|
CONFIG_STDIO_BUFFER_SIZE=32 |
||||||
|
CONFIG_STM32_ADC1=y |
||||||
|
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y |
||||||
|
CONFIG_STM32_DMA1=y |
||||||
|
CONFIG_STM32_DMA2=y |
||||||
|
CONFIG_STM32_FLASH_PREFETCH=y |
||||||
|
CONFIG_STM32_FLOWCONTROL_BROKEN=y |
||||||
|
CONFIG_STM32_I2C1=y |
||||||
|
CONFIG_STM32_JTAG_SW_ENABLE=y |
||||||
|
CONFIG_STM32_PWR=y |
||||||
|
CONFIG_STM32_RTC=y |
||||||
|
CONFIG_STM32_RTC_HSECLOCK=y |
||||||
|
CONFIG_STM32_RTC_MAGIC=0xfacefeee |
||||||
|
CONFIG_STM32_RTC_MAGIC_REG=1 |
||||||
|
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef |
||||||
|
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y |
||||||
|
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y |
||||||
|
CONFIG_STM32_SPI1=y |
||||||
|
CONFIG_STM32_SPI1_DMA=y |
||||||
|
CONFIG_STM32_SPI1_DMA_BUFFER=1024 |
||||||
|
CONFIG_STM32_SPI2=y |
||||||
|
CONFIG_STM32_SPI2_DMA=y |
||||||
|
CONFIG_STM32_SPI2_DMA_BUFFER=1024 |
||||||
|
CONFIG_STM32_SPI_DMA=y |
||||||
|
CONFIG_STM32_TIM8=y |
||||||
|
CONFIG_STM32_USART2=y |
||||||
|
CONFIG_STM32_USART_BREAKS=y |
||||||
|
CONFIG_STM32_WWDG=y |
||||||
|
CONFIG_SYSTEM_NSH=y |
||||||
|
CONFIG_TASK_NAME_SIZE=24 |
||||||
|
CONFIG_USART2_BAUD=57600 |
||||||
|
CONFIG_USART2_RXBUFSIZE=600 |
||||||
|
CONFIG_USART2_SERIAL_CONSOLE=y |
||||||
|
CONFIG_USART2_TXBUFSIZE=1100 |
||||||
|
CONFIG_USEC_PER_TICK=1000 |
||||||
|
CONFIG_USERMAIN_STACKSIZE=2624 |
||||||
|
CONFIG_USER_ENTRYPOINT="nsh_main" |
||||||
@ -0,0 +1,134 @@ |
|||||||
|
/**************************************************************************** |
||||||
|
* nuttx-config/scripts/canbootloader_script.ld |
||||||
|
* |
||||||
|
* Copyright (C) 2015 Gregory Nutt. All rights reserved. |
||||||
|
* Author: Gregory Nutt <gnutt@nuttx.org> |
||||||
|
* |
||||||
|
* Redistribution and use in source and binary forms, with or without |
||||||
|
* modification, are permitted provided that the following conditions |
||||||
|
* 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and |
||||||
|
* 256Kb of SRAM. SRAM is split up into three blocks: |
||||||
|
* |
||||||
|
* 1) 112Kb of SRAM beginning at address 0x2000:0000 |
||||||
|
* 2) 16Kb of SRAM beginning at address 0x2001:c000 |
||||||
|
* 3) 64Kb of SRAM beginning at address 0x2002:0000 |
||||||
|
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 |
||||||
|
* |
||||||
|
* 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. |
||||||
|
* |
||||||
|
* The first 0x10000 of flash is reserved for the bootloader. |
||||||
|
*/ |
||||||
|
|
||||||
|
MEMORY |
||||||
|
{ |
||||||
|
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K |
||||||
|
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K |
||||||
|
} |
||||||
|
|
||||||
|
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.*) |
||||||
|
*(.got) |
||||||
|
*(.gcc_except_table) |
||||||
|
*(.gnu.linkonce.r.*) |
||||||
|
_etext = ABSOLUTE(.); |
||||||
|
} > 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(.); |
||||||
|
|
||||||
|
.data : { |
||||||
|
_sdata = ABSOLUTE(.); |
||||||
|
*(.data .data.*) |
||||||
|
*(.gnu.linkonce.d.*) |
||||||
|
CONSTRUCTORS |
||||||
|
_edata = ABSOLUTE(.); |
||||||
|
} > 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) } |
||||||
|
} |
||||||
@ -0,0 +1,154 @@ |
|||||||
|
/**************************************************************************** |
||||||
|
* scripts/ld.script |
||||||
|
* |
||||||
|
* Copyright (C) 2011 Gregory Nutt. All rights reserved. |
||||||
|
* Author: Gregory Nutt <gnutt@nuttx.org> |
||||||
|
* |
||||||
|
* Redistribution and use in source and binary forms, with or without |
||||||
|
* modification, are permitted provided that the following conditions |
||||||
|
* 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and |
||||||
|
* 256Kb of SRAM. SRAM is split up into three blocks: |
||||||
|
* |
||||||
|
* 1) 112Kb of SRAM beginning at address 0x2000:0000 |
||||||
|
* 2) 16Kb of SRAM beginning at address 0x2001:c000 |
||||||
|
* 3) 64Kb of SRAM beginning at address 0x2002:0000 |
||||||
|
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 |
||||||
|
* |
||||||
|
* 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. |
||||||
|
* |
||||||
|
* The first 0x10000 of flash is reserved for the bootloader. |
||||||
|
*/ |
||||||
|
|
||||||
|
MEMORY |
||||||
|
{ |
||||||
|
flash (rx) : ORIGIN = 0x08010000, LENGTH = 448K |
||||||
|
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K |
||||||
|
} |
||||||
|
|
||||||
|
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) |
||||||
|
EXTERN(_bootdelay_signature) |
||||||
|
|
||||||
|
SECTIONS |
||||||
|
{ |
||||||
|
.text : { |
||||||
|
_stext = ABSOLUTE(.); |
||||||
|
*(.vectors) |
||||||
|
. = ALIGN(8); |
||||||
|
/* |
||||||
|
* This section positions the app_descriptor_t used |
||||||
|
* by the make_can_boot_descriptor.py tool to set |
||||||
|
* the application image's descriptor so that the |
||||||
|
* uavcan bootloader has the ability to validate the |
||||||
|
* image crc, size etc |
||||||
|
*/ |
||||||
|
KEEP(*(.app_descriptor)) |
||||||
|
*(.text .text.*) |
||||||
|
*(.fixup) |
||||||
|
*(.gnu.warning) |
||||||
|
*(.rodata .rodata.*) |
||||||
|
*(.gnu.linkonce.t.*) |
||||||
|
*(.got) |
||||||
|
*(.gcc_except_table) |
||||||
|
*(.gnu.linkonce.r.*) |
||||||
|
_etext = ABSOLUTE(.); |
||||||
|
} > flash |
||||||
|
|
||||||
|
/* |
||||||
|
* Init functions (static constructors and the like) |
||||||
|
*/ |
||||||
|
.init_section : { |
||||||
|
_sinit = ABSOLUTE(.); |
||||||
|
KEEP(*(.init_array .init_array.*)) |
||||||
|
_einit = ABSOLUTE(.); |
||||||
|
} > flash |
||||||
|
|
||||||
|
/* |
||||||
|
* Construction data for parameters. |
||||||
|
*/ |
||||||
|
__param ALIGN(4): { |
||||||
|
__param_start = ABSOLUTE(.); |
||||||
|
KEEP(*(__param*)) |
||||||
|
__param_end = ABSOLUTE(.); |
||||||
|
} > flash |
||||||
|
|
||||||
|
.ARM.extab : { |
||||||
|
*(.ARM.extab*) |
||||||
|
} > flash |
||||||
|
|
||||||
|
__exidx_start = ABSOLUTE(.); |
||||||
|
.ARM.exidx : { |
||||||
|
*(.ARM.exidx*) |
||||||
|
} > flash |
||||||
|
__exidx_end = ABSOLUTE(.); |
||||||
|
|
||||||
|
_eronly = ABSOLUTE(.); |
||||||
|
|
||||||
|
.data : { |
||||||
|
_sdata = ABSOLUTE(.); |
||||||
|
*(.data .data.*) |
||||||
|
*(.gnu.linkonce.d.*) |
||||||
|
CONSTRUCTORS |
||||||
|
_edata = ABSOLUTE(.); |
||||||
|
} > 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) } |
||||||
|
} |
||||||
@ -0,0 +1,65 @@ |
|||||||
|
############################################################################ |
||||||
|
# |
||||||
|
# Copyright (c) 2020 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. |
||||||
|
# |
||||||
|
############################################################################ |
||||||
|
|
||||||
|
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") |
||||||
|
|
||||||
|
add_library(drivers_board |
||||||
|
boot_config.h |
||||||
|
boot.c |
||||||
|
led.c |
||||||
|
) |
||||||
|
target_link_libraries(drivers_board |
||||||
|
PRIVATE |
||||||
|
nuttx_arch |
||||||
|
nuttx_drivers |
||||||
|
canbootloader |
||||||
|
) |
||||||
|
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader) |
||||||
|
|
||||||
|
else() |
||||||
|
add_library(drivers_board |
||||||
|
can.c |
||||||
|
i2c.cpp |
||||||
|
init.c |
||||||
|
spi.cpp |
||||||
|
) |
||||||
|
|
||||||
|
target_link_libraries(drivers_board |
||||||
|
PRIVATE |
||||||
|
arch_spi |
||||||
|
nuttx_arch |
||||||
|
nuttx_drivers |
||||||
|
px4_layer |
||||||
|
arch_io_pins |
||||||
|
) |
||||||
|
endif() |
||||||
@ -0,0 +1,75 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2021 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 |
||||||
|
* |
||||||
|
* board internal definitions |
||||||
|
*/ |
||||||
|
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
#include <px4_platform_common/px4_config.h> |
||||||
|
#include <nuttx/compiler.h> |
||||||
|
#include <stdint.h> |
||||||
|
|
||||||
|
/* CAN Silent mode control */ |
||||||
|
#define GPIO_CAN1_SILENT_S0 /* PA9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN9) |
||||||
|
|
||||||
|
/* CAN termination software control */ |
||||||
|
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) |
||||||
|
|
||||||
|
/* Boot config */ |
||||||
|
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI) |
||||||
|
|
||||||
|
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ |
||||||
|
#define GPIO_LED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) |
||||||
|
#define GPIO_LED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) |
||||||
|
|
||||||
|
#define FLASH_BASED_PARAMS |
||||||
|
|
||||||
|
/* High-resolution timer */ |
||||||
|
#define HRT_TIMER 3 /* use timer 3 for the HRT */ |
||||||
|
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ |
||||||
|
|
||||||
|
__BEGIN_DECLS |
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__ |
||||||
|
|
||||||
|
extern void stm32_spiinitialize(void); |
||||||
|
|
||||||
|
#include <px4_platform_common/board_common.h> |
||||||
|
|
||||||
|
#endif /* __ASSEMBLY__ */ |
||||||
|
|
||||||
|
__END_DECLS |
||||||
@ -0,0 +1,199 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2021 PX4 Development Team. All rights reserved. |
||||||
|
* Author: Ben Dyer <ben_dyer@mac.com> |
||||||
|
* Pavel Kirienko <pavel.kirienko@zubax.com> |
||||||
|
* David Sidrane <david_s5@nscdg.com> |
||||||
|
* |
||||||
|
* 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. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
#include <px4_config.h> |
||||||
|
#include <stdint.h> |
||||||
|
#include "boot_config.h" |
||||||
|
#include "board.h" |
||||||
|
|
||||||
|
#include <debug.h> |
||||||
|
#include <string.h> |
||||||
|
#include <arch/board/board.h> |
||||||
|
|
||||||
|
#include <nuttx/board.h> |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_boardinitialize |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* All STM32 architectures must provide the following entry point. This entry point |
||||||
|
* is called early in the initialization -- after all memory has been configured |
||||||
|
* and mapped but before any devices have been initialized. |
||||||
|
* |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
__EXPORT void stm32_boardinitialize(void) |
||||||
|
{ |
||||||
|
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR); |
||||||
|
stm32_configgpio(GPIO_CAN1_RX); |
||||||
|
stm32_configgpio(GPIO_CAN1_TX); |
||||||
|
stm32_configgpio(GPIO_CAN1_SILENT_S0); |
||||||
|
stm32_configgpio(GPIO_CAN1_TERMINATION); |
||||||
|
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); |
||||||
|
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); |
||||||
|
|
||||||
|
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) |
||||||
|
stm32_configgpio(GPIO_GETNODEINFO_JUMPER); |
||||||
|
#endif |
||||||
|
|
||||||
|
} |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_boarddeinitialize |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* This function is called by the bootloader code prior to booting |
||||||
|
* the application. Is should place the HW into an benign initialized state. |
||||||
|
* |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
void stm32_boarddeinitialize(void) |
||||||
|
{ |
||||||
|
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); |
||||||
|
} |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_get_product_name |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* Called to retrieve the product name. The returned value is a assumed |
||||||
|
* to be written to a pascal style string that will be length prefixed |
||||||
|
* and not null terminated |
||||||
|
* |
||||||
|
* Input Parameters: |
||||||
|
* product_name - A pointer to a buffer to write the name. |
||||||
|
* maxlen - The maximum number of charter that can be written |
||||||
|
* |
||||||
|
* Returned Value: |
||||||
|
* The length of characters written to the buffer. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) |
||||||
|
{ |
||||||
|
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME)); |
||||||
|
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME)); |
||||||
|
return UAVCAN_STRLEN(HW_UAVCAN_NAME); |
||||||
|
} |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_get_hardware_version |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* Called to retrieve the hardware version information. The function |
||||||
|
* will first initialize the the callers struct to all zeros. |
||||||
|
* |
||||||
|
* Input Parameters: |
||||||
|
* hw_version - A pointer to a uavcan_hardwareversion_t. |
||||||
|
* |
||||||
|
* Returned Value: |
||||||
|
* Length of the unique_id |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) |
||||||
|
{ |
||||||
|
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t)); |
||||||
|
|
||||||
|
hw_version->major = HW_VERSION_MAJOR; |
||||||
|
hw_version->minor = HW_VERSION_MINOR; |
||||||
|
|
||||||
|
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id); |
||||||
|
} |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_indicate |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* Provides User feedback to indicate the state of the bootloader |
||||||
|
* on board specific hardware. |
||||||
|
* |
||||||
|
* Input Parameters: |
||||||
|
* indication - A member of the uiindication_t |
||||||
|
* |
||||||
|
* Returned Value: |
||||||
|
* None |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||||
|
|
||||||
|
// typedef begin_packed_struct struct led_t {
|
||||||
|
// uint8_t red;
|
||||||
|
// uint8_t green;
|
||||||
|
// uint8_t blue;
|
||||||
|
// uint8_t hz;
|
||||||
|
// } end_packed_struct led_t;
|
||||||
|
|
||||||
|
// static const led_t i2l[] = {
|
||||||
|
|
||||||
|
// led(0, off, 0, 0, 0, 0),
|
||||||
|
// led(1, reset, 128, 128, 128, 30),
|
||||||
|
// led(2, autobaud_start, 0, 128, 0, 1),
|
||||||
|
// led(3, autobaud_end, 0, 128, 0, 2),
|
||||||
|
// led(4, allocation_start, 0, 0, 64, 2),
|
||||||
|
// led(5, allocation_end, 0, 128, 64, 3),
|
||||||
|
// led(6, fw_update_start, 32, 128, 64, 3),
|
||||||
|
// led(7, fw_update_erase_fail, 32, 128, 32, 3),
|
||||||
|
// led(8, fw_update_invalid_response, 64, 0, 0, 1),
|
||||||
|
// led(9, fw_update_timeout, 64, 0, 0, 2),
|
||||||
|
// led(a, fw_update_invalid_crc, 64, 0, 0, 4),
|
||||||
|
// led(b, jump_to_app, 0, 128, 0, 10),
|
||||||
|
|
||||||
|
// };
|
||||||
|
|
||||||
|
void board_indicate(uiindication_t indication) |
||||||
|
{ |
||||||
|
// switch(indication) {
|
||||||
|
// case off:
|
||||||
|
// led_off(GPIO_nLED_RED);
|
||||||
|
// led_off(GPIO_nLED_BLUE);
|
||||||
|
// break;
|
||||||
|
// case reset:
|
||||||
|
// led_on(GPIO_nLED_RED);
|
||||||
|
// led_on(GPIO_nLED_BLUE);
|
||||||
|
// break;
|
||||||
|
// case jump_to_app:
|
||||||
|
// led_on(GPIO_nLED_RED);
|
||||||
|
// led_off(GPIO_nLED_BLUE);
|
||||||
|
// break;
|
||||||
|
// default:
|
||||||
|
// break;
|
||||||
|
// }
|
||||||
|
} |
||||||
@ -0,0 +1,135 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2021 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 boot_config.h |
||||||
|
* |
||||||
|
* bootloader definitions that configures the behavior and options |
||||||
|
* of the Boot loader |
||||||
|
* This file is relies on the parent folder's boot_config.h file and defines |
||||||
|
* different usages of the hardware for bootloading |
||||||
|
*/ |
||||||
|
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
/* Bring in the board_config.h definitions
|
||||||
|
* todo:make this be pulled in from a targed's build |
||||||
|
* files in nuttx*/ |
||||||
|
|
||||||
|
#include "board_config.h" |
||||||
|
#include "uavcan.h" |
||||||
|
#include <nuttx/compiler.h> |
||||||
|
|
||||||
|
#include <stdint.h> |
||||||
|
|
||||||
|
#include <stm32_flash.h> |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID |
||||||
|
|
||||||
|
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||||
|
#define OPT_TBOOT_MS 5000 |
||||||
|
#define OPT_NODE_STATUS_RATE_MS 800 |
||||||
|
#define OPT_NODE_INFO_RATE_MS 50 |
||||||
|
#define OPT_BL_NUMBER_TIMERS 7 |
||||||
|
|
||||||
|
/*
|
||||||
|
* This Option set is set to 1 ensure a provider of firmware has an |
||||||
|
* opportunity update the node's firmware. |
||||||
|
* This Option is the default policy and can be overridden by |
||||||
|
* a jumper |
||||||
|
* When this Policy is set, the node will ignore tboot and |
||||||
|
* wait indefinitely for a GetNodeInfo request before booting. |
||||||
|
* |
||||||
|
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow |
||||||
|
* the polarity of the jumper to be True Active |
||||||
|
* |
||||||
|
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO |
||||||
|
* Jumper |
||||||
|
* yes 1 0 x |
||||||
|
* yes 1 1 Active |
||||||
|
* no 1 1 Not Active |
||||||
|
* no 0 0 X |
||||||
|
* yes 0 1 Active |
||||||
|
* no 0 1 Not Active |
||||||
|
* |
||||||
|
*/ |
||||||
|
#define OPT_WAIT_FOR_GETNODEINFO 0 |
||||||
|
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 |
||||||
|
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 |
||||||
|
|
||||||
|
#define OPT_ENABLE_WD 1 |
||||||
|
|
||||||
|
#define OPT_RESTART_TIMEOUT_MS 20000 |
||||||
|
|
||||||
|
/* Reserved for the Booloader */ |
||||||
|
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64) |
||||||
|
|
||||||
|
/* Reserved for the application out of the total
|
||||||
|
* system flash minus the BOOTLOADER_SIZE_IN_K |
||||||
|
*/ |
||||||
|
#define OPT_APPLICATION_RESERVER_IN_K 0 |
||||||
|
|
||||||
|
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K |
||||||
|
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K)) |
||||||
|
|
||||||
|
|
||||||
|
#define FLASH_BASE STM32_FLASH_BASE |
||||||
|
#define FLASH_SIZE STM32_FLASH_SIZE |
||||||
|
|
||||||
|
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET) |
||||||
|
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET) |
||||||
|
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t))) |
||||||
|
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t))) |
||||||
|
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) |
||||||
|
|
||||||
|
/* If this board uses big flash that have large sectors */ |
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \ |
||||||
|
defined(CONFIG_STM32_FLASH_CONFIG_F) || \
|
||||||
|
defined(CONFIG_STM32_FLASH_CONFIG_G) || \
|
||||||
|
defined(CONFIG_STM32_FLASH_CONFIG_I) |
||||||
|
#define OPT_USE_YIELD |
||||||
|
#endif |
||||||
|
|
||||||
|
/* Bootloader Option*****************************************************************
|
||||||
|
* |
||||||
|
*/ |
||||||
|
#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI) |
||||||
@ -0,0 +1,130 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (C) 2021 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 can.c |
||||||
|
* |
||||||
|
* Board-specific CAN functions. |
||||||
|
*/ |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
#include <px4_platform_common/px4_config.h> |
||||||
|
|
||||||
|
#include <errno.h> |
||||||
|
#include <debug.h> |
||||||
|
|
||||||
|
#include <nuttx/can/can.h> |
||||||
|
#include <arch/board/board.h> |
||||||
|
|
||||||
|
#include "chip.h" |
||||||
|
#include "arm_arch.h" |
||||||
|
|
||||||
|
#include "stm32.h" |
||||||
|
#include "stm32_can.h" |
||||||
|
#include "board_config.h" |
||||||
|
|
||||||
|
#ifdef CONFIG_CAN |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Pre-processor Definitions |
||||||
|
************************************************************************************/ |
||||||
|
/* Configuration ********************************************************************/ |
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) |
||||||
|
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." |
||||||
|
# undef CONFIG_STM32_CAN2 |
||||||
|
#endif |
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_CAN1 |
||||||
|
# define CAN_PORT 1 |
||||||
|
#else |
||||||
|
# define CAN_PORT 2 |
||||||
|
#endif |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Private Functions |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Functions |
||||||
|
************************************************************************************/ |
||||||
|
int can_devinit(void); |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_devinit |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* All STM32 architectures must provide the following interface to work with |
||||||
|
* examples/can. |
||||||
|
* |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
int can_devinit(void) |
||||||
|
{ |
||||||
|
static bool initialized = false; |
||||||
|
struct can_dev_s *can; |
||||||
|
int ret; |
||||||
|
|
||||||
|
/* Check if we have already initialized */ |
||||||
|
|
||||||
|
if (!initialized) { |
||||||
|
/* Call stm32_caninitialize() to get an instance of the CAN interface */ |
||||||
|
|
||||||
|
can = stm32_caninitialize(CAN_PORT); |
||||||
|
|
||||||
|
if (can == NULL) { |
||||||
|
canerr("ERROR: Failed to get CAN interface\n"); |
||||||
|
return -ENODEV; |
||||||
|
} |
||||||
|
|
||||||
|
/* Register the CAN driver at "/dev/can0" */ |
||||||
|
|
||||||
|
ret = can_register("/dev/can0", can); |
||||||
|
|
||||||
|
if (ret < 0) { |
||||||
|
canerr("ERROR: can_register failed: %d\n", ret); |
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
/* Now we are initialized */ |
||||||
|
|
||||||
|
initialized = true; |
||||||
|
} |
||||||
|
|
||||||
|
return OK; |
||||||
|
} |
||||||
|
|
||||||
|
#endif |
||||||
@ -0,0 +1,38 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (C) 2021 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/i2c_hw_description.h> |
||||||
|
|
||||||
|
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { |
||||||
|
initI2CBusExternal(1), |
||||||
|
}; |
||||||
@ -0,0 +1,144 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2021 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 init.c |
||||||
|
* |
||||||
|
* board specific early startup code. This file implements the |
||||||
|
* board_app_initialize() 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 initialization. |
||||||
|
*/ |
||||||
|
|
||||||
|
#include <px4_platform_common/px4_config.h> |
||||||
|
#include <px4_platform_common/tasks.h> |
||||||
|
|
||||||
|
#include <stdbool.h> |
||||||
|
#include <stdio.h> |
||||||
|
#include <string.h> |
||||||
|
#include <debug.h> |
||||||
|
#include <errno.h> |
||||||
|
|
||||||
|
#include <nuttx/board.h> |
||||||
|
|
||||||
|
#include <stm32.h> |
||||||
|
#include "board_config.h" |
||||||
|
#include <stm32_uart.h> |
||||||
|
|
||||||
|
#include <arch/board/board.h> |
||||||
|
|
||||||
|
#include <drivers/drv_hrt.h> |
||||||
|
#include <drivers/drv_board_led.h> |
||||||
|
|
||||||
|
#include <systemlib/px4_macros.h> |
||||||
|
|
||||||
|
#include <px4_platform_common/init.h> |
||||||
|
|
||||||
|
# if defined(FLASH_BASED_PARAMS) |
||||||
|
# include <parameters/flashparams/flashfs.h> |
||||||
|
#endif |
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_boardinitialize |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* All STM32 architectures must provide the following entry point. This entry point |
||||||
|
* is called early in the initialization -- after all memory has been configured |
||||||
|
* and mapped but before any devices have been initialized. |
||||||
|
* |
||||||
|
************************************************************************************/ |
||||||
|
|
||||||
|
__EXPORT void stm32_boardinitialize(void) |
||||||
|
{ |
||||||
|
// Configure CAN interface
|
||||||
|
stm32_configgpio(GPIO_CAN1_RX); |
||||||
|
stm32_configgpio(GPIO_CAN1_TX); |
||||||
|
|
||||||
|
stm32_configgpio(GPIO_CAN1_SILENT_S0); |
||||||
|
stm32_configgpio(GPIO_CAN1_TERMINATION); |
||||||
|
|
||||||
|
// Configure SPI all interfaces GPIO & enable power.
|
||||||
|
stm32_spiinitialize(); |
||||||
|
} |
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_app_initialize |
||||||
|
* |
||||||
|
* Description: |
||||||
|
* Perform application specific initialization. This function is never |
||||||
|
* called directly from application code, but only indirectly via the |
||||||
|
* (non-standard) boardctl() interface using the command BOARDIOC_INIT. |
||||||
|
* |
||||||
|
* Input Parameters: |
||||||
|
* arg - The boardctl() argument is passed to the board_app_initialize() |
||||||
|
* implementation without modification. The argument has no |
||||||
|
* meaning to NuttX; the meaning of the argument is a contract |
||||||
|
* between the board-specific initalization logic and the the |
||||||
|
* matching application logic. The value cold be such things as a |
||||||
|
* mode enumeration value, a set of DIP switch switch settings, a |
||||||
|
* pointer to configuration data read from a file or serial FLASH, |
||||||
|
* or whatever you would like to do with it. Every implementation |
||||||
|
* should accept zero/NULL as a default configuration. |
||||||
|
* |
||||||
|
* Returned Value: |
||||||
|
* Zero (OK) is returned on success; a negated errno value is returned on |
||||||
|
* any failure to indicate the nature of the failure. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
__EXPORT int board_app_initialize(uintptr_t arg) |
||||||
|
{ |
||||||
|
px4_platform_init(); |
||||||
|
|
||||||
|
#if defined(FLASH_BASED_PARAMS) |
||||||
|
static sector_descriptor_t params_sector_map[] = { |
||||||
|
{2, 16 * 1024, 0x08008000}, |
||||||
|
{3, 16 * 1024, 0x0800C000}, |
||||||
|
{0, 0, 0}, |
||||||
|
}; |
||||||
|
|
||||||
|
/* Initialize the flashfs layer to use heap allocated memory */ |
||||||
|
int result = parameter_flashfs_init(params_sector_map, NULL, 0); |
||||||
|
|
||||||
|
if (result != OK) { |
||||||
|
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); |
||||||
|
return -ENODEV; |
||||||
|
} |
||||||
|
|
||||||
|
#endif // FLASH_BASED_PARAMS
|
||||||
|
|
||||||
|
//px4_platform_configure();
|
||||||
|
|
||||||
|
return OK; |
||||||
|
} |
||||||
@ -0,0 +1,102 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2021 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 led.c |
||||||
|
* |
||||||
|
* board LED backend. |
||||||
|
*/ |
||||||
|
|
||||||
|
#include <px4_platform_common/px4_config.h> |
||||||
|
|
||||||
|
#include <stdbool.h> |
||||||
|
|
||||||
|
#include "stm32.h" |
||||||
|
#include "board_config.h" |
||||||
|
|
||||||
|
#include <arch/board/board.h> |
||||||
|
|
||||||
|
/*
|
||||||
|
* Ideally we'd be able to get these from up_internal.h, |
||||||
|
* but since we want to be able to disable the NuttX use |
||||||
|
* of leds for system indication at will and there is no |
||||||
|
* separate switch, we need to build independent of the |
||||||
|
* CONFIG_ARCH_LEDS configuration switch. |
||||||
|
*/ |
||||||
|
__BEGIN_DECLS |
||||||
|
extern void led_init(void); |
||||||
|
extern void led_on(int led); |
||||||
|
extern void led_off(int led); |
||||||
|
extern void led_toggle(int led); |
||||||
|
__END_DECLS |
||||||
|
|
||||||
|
static uint32_t g_ledmap[] = { |
||||||
|
GPIO_LED_RED, |
||||||
|
GPIO_LED_BLUE, |
||||||
|
}; |
||||||
|
|
||||||
|
__EXPORT void led_init(void) |
||||||
|
{ |
||||||
|
/* Configure LED GPIOs for output */ |
||||||
|
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { |
||||||
|
stm32_configgpio(g_ledmap[l]); |
||||||
|
stm32_gpiowrite(g_ledmap[l], true); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
static void phy_set_led(int led, bool state) |
||||||
|
{ |
||||||
|
/* Pull Down to switch on */ |
||||||
|
stm32_gpiowrite(g_ledmap[led], !state); |
||||||
|
} |
||||||
|
|
||||||
|
static bool phy_get_led(int led) |
||||||
|
{ |
||||||
|
|
||||||
|
return !stm32_gpioread(g_ledmap[led]); |
||||||
|
} |
||||||
|
|
||||||
|
__EXPORT void led_on(int led) |
||||||
|
{ |
||||||
|
phy_set_led(led, true); |
||||||
|
} |
||||||
|
|
||||||
|
__EXPORT void led_off(int led) |
||||||
|
{ |
||||||
|
phy_set_led(led, false); |
||||||
|
} |
||||||
|
|
||||||
|
__EXPORT void led_toggle(int led) |
||||||
|
{ |
||||||
|
phy_set_led(led, !phy_get_led(led)); |
||||||
|
} |
||||||
@ -0,0 +1,49 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (C) 2021 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/spi_hw_description.h> |
||||||
|
#include <drivers/drv_sensor.h> |
||||||
|
#include <nuttx/spi/spi.h> |
||||||
|
|
||||||
|
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { |
||||||
|
initSPIBus(SPI::Bus::SPI1, { |
||||||
|
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), |
||||||
|
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}), |
||||||
|
initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), |
||||||
|
}), |
||||||
|
initSPIBus(SPI::Bus::SPI2, { |
||||||
|
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), |
||||||
|
}), |
||||||
|
}; |
||||||
|
|
||||||
|
static constexpr bool unused = validateSPIConfig(px4_spi_buses); |
||||||
Loading…
Reference in new issue