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Added mavstation board driver and module supporting mavlink pasthrough
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| /**************************************************************************** | ||
| * | ||
| * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| /** | ||
| * @file board_config.h | ||
| * | ||
| * PX4IO hardware definitions. | ||
| */ | ||
|
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| #pragma once | ||
|
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| /************************************************************************************ | ||
| * Included Files | ||
| ************************************************************************************/ | ||
|
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| #include <nuttx/config.h> | ||
| #include <nuttx/compiler.h> | ||
| #include <stdint.h> | ||
|
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| /* these headers are not C++ safe */ | ||
| #include <stm32.h> | ||
| #include <arch/board/board.h> | ||
|
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| /************************************************************************************ | ||
| * Definitions | ||
| ************************************************************************************/ | ||
|
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| /* PX4IO GPIOs **********************************************************************/ | ||
| /* LEDs */ | ||
|
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| #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ | ||
| GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) | ||
| #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ | ||
| GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) | ||
| #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ | ||
| GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) | ||
|
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| /* Safety switch button *************************************************************/ | ||
|
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| #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) | ||
|
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| /* Power switch controls ************************************************************/ | ||
|
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| #define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) | ||
| #define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) | ||
| #define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) | ||
|
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| #define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12) | ||
| #define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13) | ||
|
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| #define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12) | ||
| #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11) | ||
|
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| /* Analog inputs ********************************************************************/ | ||
|
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| #define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) | ||
| #define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) | ||
|
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| /* | ||
| * High-resolution timer | ||
| */ | ||
| #define HRT_TIMER 1 /* use timer1 for the HRT */ | ||
| #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ | ||
| #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ | ||
| #define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9) |
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| /**************************************************************************** | ||
| * | ||
| * Copyright (C) 2012 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| /** | ||
| * @file mavstation_init.c | ||
| * | ||
| * mavstation-specific early startup code. This file implements the | ||
| * nsh_archinitialize() 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. | ||
| */ | ||
|
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| /**************************************************************************** | ||
| * Included Files | ||
| ****************************************************************************/ | ||
|
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| #include <nuttx/config.h> | ||
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| #include <stdbool.h> | ||
| #include <stdio.h> | ||
| #include <debug.h> | ||
| #include <errno.h> | ||
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| #include <nuttx/arch.h> | ||
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| #include <stm32.h> | ||
| #include "mavstation_internal.h" | ||
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| #include <arch/board/board.h> | ||
|
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| /**************************************************************************** | ||
| * Pre-Processor Definitions | ||
| ****************************************************************************/ | ||
|
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| /* Configuration ************************************************************/ | ||
|
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| /* Debug ********************************************************************/ | ||
|
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| #ifdef CONFIG_CPP_HAVE_VARARGS | ||
| # ifdef CONFIG_DEBUG | ||
| # define message(...) lowsyslog(__VA_ARGS__) | ||
| # else | ||
| # define message(...) printf(__VA_ARGS__) | ||
| # endif | ||
| #else | ||
| # ifdef CONFIG_DEBUG | ||
| # define message lowsyslog | ||
| # else | ||
| # define message printf | ||
| # endif | ||
| #endif | ||
|
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| /**************************************************************************** | ||
| * Protected Functions | ||
| ****************************************************************************/ | ||
|
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| /**************************************************************************** | ||
| * Public Functions | ||
| ****************************************************************************/ | ||
|
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| /************************************************************************************ | ||
| * Name: stm32_boardinitialize | ||
| * | ||
| * Description: | ||
| * All STM32 architectures must provide the following entry point. This entry point | ||
| * is called early in the intitialization -- after all memory has been configured | ||
| * and mapped but before any devices have been initialized. | ||
| * | ||
| ************************************************************************************/ | ||
|
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| __EXPORT void stm32_boardinitialize(void) | ||
| { | ||
|
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| /* configure GPIOs */ | ||
|
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| /* turn off - all leds are active low */ | ||
| stm32_gpiowrite(GPIO_LED1, true); | ||
| stm32_gpiowrite(GPIO_LED2, true); | ||
| stm32_gpiowrite(GPIO_LED3, true); | ||
| stm32_configgpio(GPIO_LED1); | ||
| stm32_configgpio(GPIO_LED2); | ||
| stm32_configgpio(GPIO_LED3); | ||
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| stm32_configgpio(GPIO_BTN_SAFETY); | ||
|
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| /* spektrum power enable is active high - disable it by default */ | ||
| stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false); | ||
| stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); | ||
|
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| /* servo power enable is active low, and has a pull down resistor | ||
| * to keep it low during boot (since it may power the whole board.) | ||
| */ | ||
| stm32_gpiowrite(GPIO_SERVO_PWR_EN, false); | ||
| stm32_configgpio(GPIO_SERVO_PWR_EN); | ||
|
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| stm32_configgpio(GPIO_SERVO_FAULT_DETECT); | ||
|
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| stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */ | ||
| stm32_configgpio(GPIO_ADC_RSSI); | ||
| stm32_configgpio(GPIO_ADC_VSERVO); | ||
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| stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ | ||
|
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| stm32_gpiowrite(GPIO_SBUS_OUTPUT, false); | ||
| stm32_configgpio(GPIO_SBUS_OUTPUT); | ||
|
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| /* sbus output enable is active low - disable it by default */ | ||
| stm32_gpiowrite(GPIO_SBUS_OENABLE, true); | ||
| stm32_configgpio(GPIO_SBUS_OENABLE); | ||
|
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|
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| stm32_configgpio(GPIO_PPM); /* xxx alternate function */ | ||
|
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| stm32_gpiowrite(GPIO_PWM1, false); | ||
| stm32_configgpio(GPIO_PWM1); | ||
|
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| stm32_gpiowrite(GPIO_PWM2, false); | ||
| stm32_configgpio(GPIO_PWM2); | ||
|
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| stm32_gpiowrite(GPIO_PWM3, false); | ||
| stm32_configgpio(GPIO_PWM3); | ||
|
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| stm32_gpiowrite(GPIO_PWM4, false); | ||
| stm32_configgpio(GPIO_PWM4); | ||
|
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| stm32_gpiowrite(GPIO_PWM5, false); | ||
| stm32_configgpio(GPIO_PWM5); | ||
|
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| stm32_gpiowrite(GPIO_PWM6, false); | ||
| stm32_configgpio(GPIO_PWM6); | ||
|
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| stm32_gpiowrite(GPIO_PWM7, false); | ||
| stm32_configgpio(GPIO_PWM7); | ||
|
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| stm32_gpiowrite(GPIO_PWM8, false); | ||
| stm32_configgpio(GPIO_PWM8); | ||
|
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| // message("[boot] Successfully initialized mavstation gpios\n"); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,112 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * Copyright (C) 2012 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| /** | ||
| * @file mavstation_internal.h | ||
| * | ||
| * Mavstation internal definitions | ||
| */ | ||
|
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| #pragma once | ||
|
|
||
| /****************************************************************************** | ||
| * Included Files | ||
| ******************************************************************************/ | ||
|
|
||
| #include <nuttx/config.h> | ||
| #include <nuttx/compiler.h> | ||
| #include <stdint.h> | ||
|
|
||
| /* these headers are not C++ safe */ | ||
| #include <stm32.h> | ||
|
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||
|
|
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| /****************************************************************************** | ||
| * Definitions | ||
| ******************************************************************************/ | ||
| /* Configuration **************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * GPIOS | ||
| ******************************************************************************/ | ||
|
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| /* LEDS **********************************************************************/ | ||
|
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| #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) | ||
| #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) | ||
| #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) | ||
|
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| #define GPIO_LED_BLUE BOARD_GPIO_LED1 | ||
| #define GPIO_LED_AMBER BOARD_GPIO_LED2 | ||
| #define GPIO_LED_SAFETY BOARD_GPIO_LED3 | ||
|
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| /* Safety switch button *******************************************************/ | ||
|
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| #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) | ||
|
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| /* Power switch controls ******************************************************/ | ||
|
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| #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) | ||
|
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| #define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) | ||
|
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| #define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13) | ||
|
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|
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| /* Analog inputs **************************************************************/ | ||
|
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| #define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) | ||
| /* the same rssi signal goes to both an adc and a timer input */ | ||
| #define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) | ||
| /* floating pin */ | ||
| #define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12) | ||
|
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| /* PWM pins **************************************************************/ | ||
|
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| #define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8) | ||
|
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| #define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) | ||
| #define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) | ||
| #define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) | ||
| #define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) | ||
| #define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) | ||
| #define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) | ||
| #define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) | ||
| #define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) | ||
|
|
||
| /* SBUS pins *************************************************************/ | ||
|
|
||
| #define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) | ||
| #define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) | ||
| #define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) | ||
|
|
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