Changes to px4-stm32f4discovery for upstream Nuttx

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -1,5 +1,7 @@
 include(nuttx/px4_impl_nuttx)
 
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list

nuttx-configs/px4-stm32f4discovery/include/board.h

@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/stm32f4discovery/include/board.h
+ * nuttx-configs/stm32f4discovery/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
@@ -151,11 +151,23 @@
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
  * otherwise frequency is 2xAPBx.
- * Note: TIM1,8 are on APB2, others on APB1
+ * Note: TIM1,8-11 are on APB2, others on APB1
  */
 
-#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+#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_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_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
 
 /* LED definitions ******************************************************************/
 /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any

nuttx-configs/px4-stm32f4discovery/nsh/Make.defs

@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4-stm32f4discovery/nsh/Make.defs
+# nuttx-configs/px4stm32f4discovery/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,14 +35,14 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
-
 include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
 
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
 
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
@@ -62,17 +62,19 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mfpu=fpv4-sp-d16 \
 			   -mfloat-abi=hard
 
+# Enable precise stack overflow tracking
 
-# enable precise stack overflow tracking
 ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
 endif
 
-# pull in *just* libm from the toolchain ... this is grody
+# Pull in *just* libm from the toolchain ... this is grody
+
 LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
 EXTRA_LIBS		+= $(LIBM)
 
-# use our linker script
+# Use our linker script
+
 LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -94,18 +96,20 @@ else
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
     # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   endif
 endif
 
-# tool versions
+# Tool versions
+
 ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
 ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
 
-# optimisation flags
+# Optimization flags
+
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
@@ -127,7 +131,8 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
-# this seems to be the only way to add linker flags
+# This seems to be the only way to add linker flags
+
 EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
@@ -146,8 +151,8 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+# Produce partially-linked $1 from files in $2
 
-# produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
 	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1

nuttx-configs/px4-stm32f4discovery/nsh/appconfig

@@ -1,48 +0,0 @@
-############################################################################
-# configs/px4fmu/nsh/appconfig
-#
-#   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.
-#
-############################################################################
-
-# Path to example in apps/examples containing the user_start entry point
-
-CONFIGURED_APPS	+= examples/nsh
-
-# The NSH application library
-CONFIGURED_APPS += nshlib
-CONFIGURED_APPS += system/readline
-
-#ifeq ($(CONFIG_USBDEV),y)
-#ifeq ($(CONFIG_CDCACM),y)
-CONFIGURED_APPS += examples/cdcacm
-#endif
-#endif

nuttx-configs/px4-stm32f4discovery/nsh/setenv.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-# configs/stm3240g-eval/nsh/setenv.sh
+# nuttx-configs/px4-stm32f4discovery/nsh/setenv.sh
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4-stm32f4discovery/scripts/ld.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * configs/px4fmu-v1/scripts/ld.script
+ * configs/px4-stm32f4discovery/scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4-stm32f4discovery/src/Makefile

@@ -1,5 +1,4 @@
 ############################################################################
-# configs/px4fmu/src/Makefile
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -80,5 +79,9 @@ distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
 
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
 -include Make.dep
 

nuttx-configs/px4-stm32f4discovery/src/empty.c

@@ -1,4 +1,4 @@
 /*
- * There are no source files here, but libboard.a can't be empty, so 
+ * There are no source files here, but libboard.a can't be empty, so
  * we have this empty source file to keep it company.
  */

src/drivers/boards/px4-stm32f4discovery/board_config.h

@@ -47,11 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32.h>
-#include <arch/board/board.h>
-
-#define UDID_START		0x1FFF7A10
-
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/
@@ -112,26 +107,15 @@ __BEGIN_DECLS
 
 extern void stm32_spiinitialize(void);
 
-extern void stm32_usbinitialize(void);
+/****************************************************************************************************
-
+ * Name: stm32_usbinitialize
-/****************************************************************************
- * Name: nsh_archinitialize
  *
  * Description:
- *   Perform architecture specific initialization for NSH.
+ *   Called to configure USB IO.
  *
- *   CONFIG_NSH_ARCHINIT=y :
+ ****************************************************************************************************/
- *     Called from the NSH library
- *
- *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
- *   CONFIG_NSH_ARCHINIT=n :
- *     Called from board_initialize().
- *
- ****************************************************************************/
 
-#ifdef CONFIG_NSH_LIBRARY
+extern void stm32_usbinitialize(void);
-int nsh_archinitialize(void);
-#endif
 
 #include "../common/board_common.h"
 

src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c

@@ -35,10 +35,10 @@
  * @file px4discovery_init.c
  *
  * PX4-stm32f4discovery specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
+ * 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 initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -53,12 +53,13 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/spi.h>
+#include <nuttx/board.h>
-#include <nuttx/i2c.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
-#include <nuttx/gran.h>
+#include <nuttx/mm/gran.h>
 
 #include <stm32.h>
 #include "board_config.h"
@@ -82,13 +83,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lowsyslog
+#    define message syslog
 #  else
 #    define message printf
 #  endif
@@ -116,22 +117,51 @@ __EXPORT void
 stm32_boardinitialize(void)
 {
 	/* configure LEDs */
-	up_ledinit();
+	board_autoled_initialize();
 }
 
 /****************************************************************************
- * Name: nsh_archinitialize
+ * Name: board_app_initialize
  *
  * Description:
- *   Perform architecture specific initialization
+ *   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.
  *
  ****************************************************************************/
 
-#include <math.h>
+__EXPORT int board_app_initialize(uintptr_t arg)
-
-__EXPORT int nsh_archinitialize(void)
 {
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#       if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#               error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#       endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
@@ -159,3 +189,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	return OK;
 }
+
+__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
+{
+}

src/drivers/boards/px4-stm32f4discovery/px4discovery_led.c

@@ -44,7 +44,7 @@
 #include "stm32.h"
 #include "board_config.h"
 
-#include <arch/board/board.h>
+#include <nuttx/board.h>
 
 /*
  * Ideally we'd be able to get these from up_internal.h,
@@ -60,37 +60,39 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-__EXPORT void led_init()
+__EXPORT void board_autoled_initialize(void)
 {
 	/* Configure LED1 GPIO for output */
 
-	px4_arch_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED1);
 }
 
-__EXPORT void led_on(int led)
+__EXPORT void board_autoled_on(int led)
+
 {
 	if (led == 1) {
 		/* Pull down to switch on */
-		px4_arch_gpiowrite(GPIO_LED1, false);
+		stm32_gpiowrite(GPIO_LED1, false);
 	}
 }
 
-__EXPORT void led_off(int led)
+__EXPORT void board_autoled_off(int led)
+
 {
 	if (led == 1) {
 		/* Pull up to switch off */
-		px4_arch_gpiowrite(GPIO_LED1, true);
+		stm32_gpiowrite(GPIO_LED1, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 1) {
-		if (px4_arch_gpioread(GPIO_LED1)) {
+		if (stm32_gpioread(GPIO_LED1)) {
-			px4_arch_gpiowrite(GPIO_LED1, false);
+			stm32_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED1, true);
+			stm32_gpiowrite(GPIO_LED1, true);
 		}
 	}
 }

src/drivers/boards/px4-stm32f4discovery/px4discovery_usb.c

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+	stm32_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	px4_arch_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_PWRON);
-	px4_arch_configgpio(GPIO_OTGFS_OVER);
+	stm32_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
 
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-	//ulldbg("resume: %d\n", resume);
+	uinfo("resume: %d\n", resume);
 }