Changes to px4io-v2 for upstream Nuttx

nuttx-configs/px4io-v2/include/board.h

@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/px4io/include/board.h
+ * nuttx-configs/px4io/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
@@ -79,7 +79,9 @@
 /* APB2 timer 1 will receive PCLK2. */
 
 #define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
 
 /* APB1 clock (PCLK1) is HCLK (24MHz) */
 
@@ -88,10 +90,36 @@
 
 /* All timers run off PCLK */
 
-#define STM32_APB1_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+
 #define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (STM32_PCLK1_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1, 15-17 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+#define BOARD_TIM15_FREQUENCY   STM32_APB2_TIM15_CLKIN
+#define BOARD_TIM16_FREQUENCY   STM32_APB2_TIM16_CLKIN
+#define BOARD_TIM17_FREQUENCY   STM32_APB2_TIM17_CLKIN
+
 
 /*
  * Some of the USART pins are not available; override the GPIO

nuttx-configs/px4io-v2/nsh/Make.defs

@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4io-v2/nsh/Make.defs
+# nuttx-configs/px4io-v2/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
 
@@ -60,12 +60,14 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
 			   -mthumb \
 			   -march=armv7-m
 
-# enable precise stack overflow tracking
+# Enable precise stack overflow tracking
+
 ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
 endif
 
-# use our linker script
+# Use our linker script
+
 LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -87,18 +89,20 @@ else
     ARCHSCRIPT		 = -T$(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 \
@@ -120,7 +124,8 @@ 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
 
@@ -139,8 +144,8 @@ 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/px4io-v2/nsh/appconfig

@@ -1,32 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################

nuttx-configs/px4io-v2/nsh/setenv.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-# configs/stm3210e-eval/dfu/setenv.sh
+# nuttx-configs/px4io-v2/nsh/setenv.sh
 #
 #   Copyright (C) 2009 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4io-v2/scripts/ld.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * configs/stm3210e-eval/nsh/ld.script
+ * configs/px4io-v2/scripts/ld.script
  *
  *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>

nuttx-configs/px4io-v2/src/Makefile

@@ -1,5 +1,4 @@
 ############################################################################
-# configs/stm3210e-eval/src/Makefile
 #
 #   Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
@@ -81,4 +80,8 @@ distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
 
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
 -include Make.dep

src/drivers/boards/px4io-v2/board_config.h

@@ -47,9 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32.h>
-#include <arch/board/board.h>
-
 /******************************************************************************
  * Definitions
  ******************************************************************************/

src/drivers/boards/px4io-v2/px4io_init.c

@@ -35,10 +35,10 @@
  * @file px4iov2_init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
+ * stm32_boardinitialize() function that is called during cpu startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -53,6 +53,7 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
+#include <nuttx/board.h>
 
 #include <stm32.h>
 #include "board_config.h"
@@ -69,13 +70,13 @@
 
 #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
@@ -105,55 +106,55 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure GPIOs */
 
 	/* LEDS - default to off */
-	px4_arch_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED1);
-	px4_arch_configgpio(GPIO_LED2);
+	stm32_configgpio(GPIO_LED2);
-	px4_arch_configgpio(GPIO_LED3);
+	stm32_configgpio(GPIO_LED3);
-	px4_arch_configgpio(GPIO_LED4);
+	stm32_configgpio(GPIO_LED4);
 
-	px4_arch_configgpio(GPIO_BTN_SAFETY);
+	stm32_configgpio(GPIO_BTN_SAFETY);
 
 	/* spektrum power enable is active high - enable it by default */
-	px4_arch_configgpio(GPIO_SPEKTRUM_PWR_EN);
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
 
-	px4_arch_configgpio(GPIO_SERVO_FAULT_DETECT);
+	stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
 
 	/* RSSI inputs */
-	px4_arch_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
+	stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
-	px4_arch_configgpio(GPIO_ADC_RSSI);
+	stm32_configgpio(GPIO_ADC_RSSI);
 
 	/* servo rail voltage */
-	px4_arch_configgpio(GPIO_ADC_VSERVO);
+	stm32_configgpio(GPIO_ADC_VSERVO);
 
-	px4_arch_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
+	stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
-	px4_arch_configgpio(GPIO_SBUS_OUTPUT);
+	stm32_configgpio(GPIO_SBUS_OUTPUT);
 
 	/* sbus output enable is active low - disable it by default */
-	px4_arch_gpiowrite(GPIO_SBUS_OENABLE, true);
+	stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
-	px4_arch_configgpio(GPIO_SBUS_OENABLE);
+	stm32_configgpio(GPIO_SBUS_OENABLE);
 
-	px4_arch_configgpio(GPIO_PPM); /* xxx alternate function */
+	stm32_configgpio(GPIO_PPM); /* xxx alternate function */
 
-	px4_arch_gpiowrite(GPIO_PWM1, true);
+	stm32_gpiowrite(GPIO_PWM1, true);
-	px4_arch_configgpio(GPIO_PWM1);
+	stm32_configgpio(GPIO_PWM1);
 
-	px4_arch_gpiowrite(GPIO_PWM2, true);
+	stm32_gpiowrite(GPIO_PWM2, true);
-	px4_arch_configgpio(GPIO_PWM2);
+	stm32_configgpio(GPIO_PWM2);
 
-	px4_arch_gpiowrite(GPIO_PWM3, true);
+	stm32_gpiowrite(GPIO_PWM3, true);
-	px4_arch_configgpio(GPIO_PWM3);
+	stm32_configgpio(GPIO_PWM3);
 
-	px4_arch_gpiowrite(GPIO_PWM4, true);
+	stm32_gpiowrite(GPIO_PWM4, true);
-	px4_arch_configgpio(GPIO_PWM4);
+	stm32_configgpio(GPIO_PWM4);
 
-	px4_arch_gpiowrite(GPIO_PWM5, true);
+	stm32_gpiowrite(GPIO_PWM5, true);
-	px4_arch_configgpio(GPIO_PWM5);
+	stm32_configgpio(GPIO_PWM5);
 
-	px4_arch_gpiowrite(GPIO_PWM6, true);
+	stm32_gpiowrite(GPIO_PWM6, true);
-	px4_arch_configgpio(GPIO_PWM6);
+	stm32_configgpio(GPIO_PWM6);
 
-	px4_arch_gpiowrite(GPIO_PWM7, true);
+	stm32_gpiowrite(GPIO_PWM7, true);
-	px4_arch_configgpio(GPIO_PWM7);
+	stm32_configgpio(GPIO_PWM7);
 
-	px4_arch_gpiowrite(GPIO_PWM8, true);
+	stm32_gpiowrite(GPIO_PWM8, true);
-	px4_arch_configgpio(GPIO_PWM8);
+	stm32_configgpio(GPIO_PWM8);
 }