mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
add new board config for fmu-v3
This commit is contained in:
Mark Whitehorn
committed by
Lorenz Meier
Lorenz Meier
parent
bdec646736
commit
40f2c4a8e4
12
Images/px4fmu-v3.prototype
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12
Images/px4fmu-v3.prototype
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@@ -0,0 +1,12 @@
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{
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"board_id": 9,
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"magic": "PX4FWv1",
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"description": "Firmware for the PX4FMUv3 board",
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"image": "",
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"build_time": 0,
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"summary": "PX4FMUv3",
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"version": "0.1",
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"image_size": 0,
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"git_identity": "",
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"board_revision": 0
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}
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211
cmake/configs/nuttx_px4fmu-v3_default.cmake
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211
cmake/configs/nuttx_px4fmu-v3_default.cmake
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@@ -0,0 +1,211 @@
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include(nuttx/px4_impl_nuttx)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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set(config_uavcan_num_ifaces 2)
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set(config_module_list
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#
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# Board support modules
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#
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drivers/device
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards/px4fmu-v2
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/lsm303d
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drivers/l3gd20
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drivers/hmc5883
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drivers/ms5611
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#drivers/mb12xx
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#drivers/srf02
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drivers/sf0x
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drivers/ll40ls
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drivers/trone
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drivers/gps
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drivers/pwm_out_sim
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#drivers/hott
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#drivers/hott/hott_telemetry
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#drivers/hott/hott_sensors
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#drivers/blinkm
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drivers/airspeed
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drivers/ets_airspeed
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drivers/meas_airspeed
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drivers/frsky_telemetry
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modules/sensors
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#drivers/mkblctrl
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drivers/px4flow
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#drivers/oreoled
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#drivers/vmount
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drivers/pwm_input
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drivers/camera_trigger
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/lis3mdl
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#
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# System commands
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#
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systemcmds/bl_update
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systemcmds/config
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systemcmds/dumpfile
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systemcmds/esc_calib
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systemcmds/mixer
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systemcmds/motor_ramp
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systemcmds/mtd
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systemcmds/nshterm
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systemcmds/param
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systemcmds/perf
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systemcmds/pwm
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systemcmds/reboot
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systemcmds/sd_bench
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systemcmds/top
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systemcmds/topic_listener
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systemcmds/ver
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#
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# Testing
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#
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#drivers/sf0x/sf0x_tests
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#drivers/test_ppm
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#lib/rc/rc_tests
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#modules/commander/commander_tests
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#modules/controllib_test
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#modules/mavlink/mavlink_tests
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#modules/unit_test
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#modules/uORB/uORB_tests
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#systemcmds/tests
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#
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# General system control
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#
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modules/commander
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modules/load_mon
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modules/navigator
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modules/mavlink
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modules/gpio_led
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modules/uavcan
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modules/land_detector
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#
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# Estimation modules
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#
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modules/attitude_estimator_q
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modules/position_estimator_inav
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modules/local_position_estimator
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modules/ekf2
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#
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# Vehicle Control
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#
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modules/fw_pos_control_l1
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modules/fw_att_control
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modules/mc_att_control
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modules/mc_pos_control
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modules/vtol_att_control
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#
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# Logging
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#
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modules/logger
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modules/sdlog2
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#
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# Library modules
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#
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modules/param
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modules/systemlib
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modules/systemlib/mixer
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modules/uORB
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modules/dataman
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#
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# Libraries
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#
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lib/controllib
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lib/mathlib
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lib/mathlib/math/filter
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/geo_lookup
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lib/conversion
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lib/launchdetection
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lib/terrain_estimation
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lib/runway_takeoff
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lib/tailsitter_recovery
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lib/DriverFramework/framework
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platforms/nuttx
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# had to add for cmake, not sure why wasn't in original config
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platforms/common
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platforms/nuttx/px4_layer
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#
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# OBC challenge
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#
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#modules/bottle_drop
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#
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# Rover apps
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#
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#examples/rover_steering_control
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#
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# Demo apps
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#
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#examples/math_demo
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# Tutorial code from
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# https://px4.io/dev/px4_simple_app
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#examples/px4_simple_app
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# Tutorial code from
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# https://px4.io/dev/daemon
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#examples/px4_daemon_app
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# Tutorial code from
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# https://px4.io/dev/debug_values
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#examples/px4_mavlink_debug
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# Tutorial code from
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# https://px4.io/dev/example_fixedwing_control
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#examples/fixedwing_control
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# Hardware test
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#examples/hwtest
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)
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set(config_extra_builtin_cmds
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serdis
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sercon
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)
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set(config_io_board
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px4io-v2
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)
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set(config_extra_libs
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uavcan
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uavcan_stm32_driver
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)
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set(config_io_extra_libs
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)
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add_custom_target(sercon)
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set_target_properties(sercon PROPERTIES
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PRIORITY "SCHED_PRIORITY_DEFAULT"
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MAIN "sercon" STACK_MAIN "2048"
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COMPILE_FLAGS "-Os")
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add_custom_target(serdis)
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set_target_properties(serdis PROPERTIES
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PRIORITY "SCHED_PRIORITY_DEFAULT"
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MAIN "serdis" STACK_MAIN "2048"
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COMPILE_FLAGS "-Os")
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310
nuttx-configs/px4fmu-v3/include/board.h
Executable file
310
nuttx-configs/px4fmu-v3/include/board.h
Executable file
@@ -0,0 +1,310 @@
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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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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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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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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
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*
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* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
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* System Clock source : PLL (HSE)
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* SYSCLK(Hz) : 168000000 Determined by PLL configuration
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* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
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* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
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* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
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* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
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* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
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* PLLM : 24 (STM32_PLLCFG_PLLM)
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* PLLN : 336 (STM32_PLLCFG_PLLN)
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* PLLP : 2 (STM32_PLLCFG_PLLP)
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* PLLQ : 7 (STM32_PLLCFG_PPQ)
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* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
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* Flash Latency(WS) : 5
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* Prefetch Buffer : OFF
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* Instruction cache : ON
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* Data cache : ON
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* Require 48MHz for USB OTG FS, : Enabled
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* SDIO and RNG clock
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*/
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/* HSI - 16 MHz RC factory-trimmed
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* LSI - 32 KHz RC
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* HSE - On-board crystal frequency is 24MHz
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* LSE - not installed
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*/
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#define STM32_BOARD_XTAL 24000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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//#define STM32_LSE_FREQUENCY 32768
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/* Main PLL Configuration.
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*
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* PLL source is HSE
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* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
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* = (25,000,000 / 25) * 336
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* = 336,000,000
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* SYSCLK = PLL_VCO / PLLP
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* = 336,000,000 / 2 = 168,000,000
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* USB OTG FS, SDIO and RNG Clock
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* = PLL_VCO / PLLQ
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* = 48,000,000
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*/
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
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|
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#define STM32_SYSCLK_FREQUENCY 168000000ul
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|
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/* AHB clock (HCLK) is SYSCLK (168MHz) */
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|
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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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|
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/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
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|
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
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/* Timers driven from APB1 will be twice PCLK1 */
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|
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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_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_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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|
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/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
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||||||
|
|
||||||
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
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/* Timers driven from APB2 will be twice PCLK2 */
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|
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#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
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|
|
||||||
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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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||||||
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* Note: TIM1,8 are on APB2, others on APB1
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|
*/
|
||||||
|
|
||||||
|
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||||
|
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||||
|
|
||||||
|
/* SDIO dividers. Note that slower clocking is required when DMA is disabled
|
||||||
|
* in order to avoid RX overrun/TX underrun errors due to delayed responses
|
||||||
|
* to service FIFOs in interrupt driven mode. These values have not been
|
||||||
|
* tuned!!!
|
||||||
|
*
|
||||||
|
* HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||||
|
|
||||||
|
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz
|
||||||
|
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef CONFIG_SDIO_DMA
|
||||||
|
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||||
|
#else
|
||||||
|
# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz
|
||||||
|
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef CONFIG_SDIO_DMA
|
||||||
|
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||||
|
#else
|
||||||
|
# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* DMA Channl/Stream Selections *****************************************************/
|
||||||
|
/* Stream selections are arbitrary for now but might become important in the future
|
||||||
|
* is we set aside more DMA channels/streams.
|
||||||
|
*
|
||||||
|
* SDIO DMA
|
||||||
|
* DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
|
||||||
|
* DMAMAP_SDIO_2 = Channel 4, Stream 6
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define DMAMAP_SDIO DMAMAP_SDIO_1
|
||||||
|
|
||||||
|
/* Alternate function pin selections ************************************************/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* UARTs.
|
||||||
|
*/
|
||||||
|
#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */
|
||||||
|
#define GPIO_USART1_TX 0 /* USART1 is RX-only */
|
||||||
|
|
||||||
|
#define GPIO_USART2_RX GPIO_USART2_RX_2
|
||||||
|
#define GPIO_USART2_TX GPIO_USART2_TX_2
|
||||||
|
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
|
||||||
|
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
|
||||||
|
|
||||||
|
#define GPIO_USART3_RX GPIO_USART3_RX_3
|
||||||
|
#define GPIO_USART3_TX GPIO_USART3_TX_3
|
||||||
|
#define GPIO_USART3_RTS GPIO_USART3_RTS_2
|
||||||
|
#define GPIO_USART3_CTS GPIO_USART3_CTS_2
|
||||||
|
|
||||||
|
#define GPIO_UART4_RX GPIO_UART4_RX_1
|
||||||
|
#define GPIO_UART4_TX GPIO_UART4_TX_1
|
||||||
|
|
||||||
|
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||||
|
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||||
|
|
||||||
|
#define GPIO_UART7_RX GPIO_UART7_RX_1
|
||||||
|
#define GPIO_UART7_TX GPIO_UART7_TX_1
|
||||||
|
|
||||||
|
/* UART8 has no alternate pin config */
|
||||||
|
|
||||||
|
/* UART RX DMA configurations */
|
||||||
|
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||||
|
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN
|
||||||
|
*
|
||||||
|
* CAN1 is routed to the onboard transceiver.
|
||||||
|
* CAN2 is routed to the expansion connector.
|
||||||
|
*/
|
||||||
|
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
|
||||||
|
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
|
||||||
|
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
|
||||||
|
#define GPIO_CAN2_TX GPIO_CAN2_TX_2
|
||||||
|
|
||||||
|
/*
|
||||||
|
* I2C
|
||||||
|
*
|
||||||
|
* The optional _GPIO configurations allow the I2C driver to manually
|
||||||
|
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||||
|
* but are normally-high GPIOs.
|
||||||
|
*/
|
||||||
|
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
|
||||||
|
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
|
||||||
|
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
|
||||||
|
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||||
|
|
||||||
|
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||||
|
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||||
|
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||||
|
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||||
|
|
||||||
|
/*
|
||||||
|
* SPI
|
||||||
|
*
|
||||||
|
* There are sensors on SPI1, and SPI2 is connected to the FRAM.
|
||||||
|
*/
|
||||||
|
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
|
||||||
|
|
||||||
|
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
|
||||||
|
|
||||||
|
#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Data
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__
|
||||||
|
|
||||||
|
#undef EXTERN
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
#define EXTERN extern "C"
|
||||||
|
extern "C" {
|
||||||
|
#else
|
||||||
|
#define EXTERN extern
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Function Prototypes
|
||||||
|
************************************************************************************/
|
||||||
|
/************************************************************************************
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
EXTERN void stm32_boardinitialize(void);
|
||||||
|
|
||||||
|
#undef EXTERN
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* __ASSEMBLY__ */
|
||||||
|
#endif /* __ARCH_BOARD_BOARD_H */
|
||||||
42
nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h
Normal file
42
nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h
Normal file
@@ -0,0 +1,42 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2013 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* nsh_romfsetc.h
|
||||||
|
*
|
||||||
|
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||||
|
* must be supplied by the library client.
|
||||||
|
*/
|
||||||
|
|
||||||
|
extern unsigned char romfs_img[];
|
||||||
|
extern unsigned int romfs_img_len;
|
||||||
160
nuttx-configs/px4fmu-v3/nsh/Make.defs
Normal file
160
nuttx-configs/px4fmu-v3/nsh/Make.defs
Normal file
@@ -0,0 +1,160 @@
|
|||||||
|
############################################################################
|
||||||
|
# configs/px4fmu-v3/nsh/Make.defs
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
include ${TOPDIR}/.config
|
||||||
|
include ${TOPDIR}/tools/Config.mk
|
||||||
|
|
||||||
|
include $(TOPDIR)/PX4_Warnings.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
|
||||||
|
|
||||||
|
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||||
|
|
||||||
|
CC = $(CROSSDEV)gcc
|
||||||
|
CXX = $(CROSSDEV)g++
|
||||||
|
CPP = $(CROSSDEV)gcc -E
|
||||||
|
LD = $(CROSSDEV)ld
|
||||||
|
AR = $(CROSSDEV)ar rcs
|
||||||
|
NM = $(CROSSDEV)nm
|
||||||
|
OBJCOPY = $(CROSSDEV)objcopy
|
||||||
|
OBJDUMP = $(CROSSDEV)objdump
|
||||||
|
|
||||||
|
MAXOPTIMIZATION = -Os
|
||||||
|
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||||
|
-mthumb \
|
||||||
|
-march=armv7e-m \
|
||||||
|
-mfpu=fpv4-sp-d16 \
|
||||||
|
-mfloat-abi=hard
|
||||||
|
|
||||||
|
|
||||||
|
# enable precise stack overflow tracking
|
||||||
|
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
|
||||||
|
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
|
||||||
|
endif
|
||||||
|
|
||||||
|
# pull in *just* libm from the toolchain ... this is grody
|
||||||
|
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||||
|
EXTRA_LIBS += $(LIBM)
|
||||||
|
|
||||||
|
# use our linker script
|
||||||
|
LDSCRIPT = ld.script
|
||||||
|
|
||||||
|
ifeq ($(WINTOOL),y)
|
||||||
|
# Windows-native toolchains
|
||||||
|
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||||
|
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||||
|
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||||
|
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||||
|
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||||
|
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||||
|
else
|
||||||
|
ifeq ($(PX4_WINTOOL),y)
|
||||||
|
# Windows-native toolchains (MSYS)
|
||||||
|
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||||
|
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||||
|
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||||
|
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||||
|
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||||
|
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||||
|
else
|
||||||
|
# Linux/Cygwin-native toolchain
|
||||||
|
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||||
|
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
|
||||||
|
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
|
||||||
|
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||||
|
-fno-strict-aliasing \
|
||||||
|
-fno-strength-reduce \
|
||||||
|
-fomit-frame-pointer \
|
||||||
|
-funsafe-math-optimizations \
|
||||||
|
-fno-builtin-printf \
|
||||||
|
-ffunction-sections \
|
||||||
|
-fdata-sections
|
||||||
|
|
||||||
|
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||||
|
ARCHOPTIMIZATION += -g
|
||||||
|
endif
|
||||||
|
|
||||||
|
ARCHCFLAGS = -std=gnu99
|
||||||
|
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||||
|
ARCHWARNINGS = $(PX4_ARCHWARNINGS)
|
||||||
|
ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
|
||||||
|
ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
|
||||||
|
ARCHDEFINES =
|
||||||
|
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||||
|
|
||||||
|
# this seems to be the only way to add linker flags
|
||||||
|
EXTRA_LIBS += --warn-common \
|
||||||
|
--gc-sections
|
||||||
|
|
||||||
|
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||||
|
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||||
|
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||||
|
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||||
|
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||||
|
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||||
|
|
||||||
|
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||||
|
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||||
|
LDNXFLATFLAGS = -e main -s 2048
|
||||||
|
|
||||||
|
OBJEXT = .o
|
||||||
|
LIBEXT = .a
|
||||||
|
EXEEXT =
|
||||||
|
|
||||||
|
|
||||||
|
# produce partially-linked $1 from files in $2
|
||||||
|
define PRELINK
|
||||||
|
@echo "PRELINK: $1"
|
||||||
|
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||||
|
endef
|
||||||
|
|
||||||
|
HOSTCC = gcc
|
||||||
|
HOSTINCLUDES = -I.
|
||||||
|
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||||
|
HOSTLDFLAGS =
|
||||||
|
|
||||||
52
nuttx-configs/px4fmu-v3/nsh/appconfig
Normal file
52
nuttx-configs/px4fmu-v3/nsh/appconfig
Normal file
@@ -0,0 +1,52 @@
|
|||||||
|
############################################################################
|
||||||
|
# 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_CAN),y)
|
||||||
|
CONFIGURED_APPS += examples/can
|
||||||
|
endif
|
||||||
|
|
||||||
|
#ifeq ($(CONFIG_USBDEV),y)
|
||||||
|
#ifeq ($(CONFIG_CDCACM),y)
|
||||||
|
CONFIGURED_APPS += examples/cdcacm
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
1063
nuttx-configs/px4fmu-v3/nsh/defconfig
Normal file
1063
nuttx-configs/px4fmu-v3/nsh/defconfig
Normal file
File diff suppressed because it is too large
Load Diff
67
nuttx-configs/px4fmu-v3/nsh/setenv.sh
Executable file
67
nuttx-configs/px4fmu-v3/nsh/setenv.sh
Executable file
@@ -0,0 +1,67 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
# configs/stm3240g-eval/nsh/setenv.sh
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
|
||||||
|
if [ "$_" = "$0" ] ; then
|
||||||
|
echo "You must source this script, not run it!" 1>&2
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
WD=`pwd`
|
||||||
|
if [ ! -x "setenv.sh" ]; then
|
||||||
|
echo "This script must be executed from the top-level NuttX build directory"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "${PATH_ORIG}" ]; then
|
||||||
|
export PATH_ORIG="${PATH}"
|
||||||
|
fi
|
||||||
|
|
||||||
|
# This the Cygwin path to the location where I installed the RIDE
|
||||||
|
# toolchain under windows. You will also have to edit this if you install
|
||||||
|
# the RIDE toolchain in any other location
|
||||||
|
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||||
|
|
||||||
|
# This the Cygwin path to the location where I installed the CodeSourcery
|
||||||
|
# toolchain under windows. You will also have to edit this if you install
|
||||||
|
# the CodeSourcery toolchain in any other location
|
||||||
|
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||||
|
|
||||||
|
# This the Cygwin path to the location where I build the buildroot
|
||||||
|
# toolchain.
|
||||||
|
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||||
|
|
||||||
|
# Add the path to the toolchain to the PATH varialble
|
||||||
|
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||||
|
|
||||||
|
echo "PATH : ${PATH}"
|
||||||
158
nuttx-configs/px4fmu-v3/scripts/ld.script
Normal file
158
nuttx-configs/px4fmu-v3/scripts/ld.script
Normal file
@@ -0,0 +1,158 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* configs/px4fmu/common/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 STM32F427 has 2048Kb 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 0x4000 of flash is reserved for the bootloader.
|
||||||
|
*/
|
||||||
|
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
|
||||||
|
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||||
|
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||||
|
}
|
||||||
|
|
||||||
|
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(32);
|
||||||
|
/*
|
||||||
|
This signature provides the bootloader with a way to delay booting
|
||||||
|
*/
|
||||||
|
_bootdelay_signature = ABSOLUTE(.);
|
||||||
|
FILL(0xffecc2925d7d05c5)
|
||||||
|
. += 8;
|
||||||
|
*(.text .text.*)
|
||||||
|
*(.fixup)
|
||||||
|
*(.gnu.warning)
|
||||||
|
*(.rodata .rodata.*)
|
||||||
|
*(.gnu.linkonce.t.*)
|
||||||
|
*(.got)
|
||||||
|
*(.gcc_except_table)
|
||||||
|
*(.gnu.linkonce.r.*)
|
||||||
|
_etext = ABSOLUTE(.);
|
||||||
|
|
||||||
|
/*
|
||||||
|
* This is a hack to make the newlib libm __errno() call
|
||||||
|
* use the NuttX get_errno_ptr() function.
|
||||||
|
*/
|
||||||
|
__errno = get_errno_ptr;
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Init functions (static constructors and the like)
|
||||||
|
*/
|
||||||
|
.init_section : {
|
||||||
|
_sinit = ABSOLUTE(.);
|
||||||
|
KEEP(*(.init_array .init_array.*))
|
||||||
|
_einit = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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)
|
||||||
|
_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) }
|
||||||
|
}
|
||||||
84
nuttx-configs/px4fmu-v3/src/Makefile
Normal file
84
nuttx-configs/px4fmu-v3/src/Makefile
Normal file
@@ -0,0 +1,84 @@
|
|||||||
|
############################################################################
|
||||||
|
# configs/px4fmu/src/Makefile
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
-include $(TOPDIR)/Make.defs
|
||||||
|
|
||||||
|
CFLAGS += -I$(TOPDIR)/sched
|
||||||
|
|
||||||
|
ASRCS =
|
||||||
|
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||||
|
|
||||||
|
CSRCS = empty.c
|
||||||
|
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||||
|
|
||||||
|
SRCS = $(ASRCS) $(CSRCS)
|
||||||
|
OBJS = $(AOBJS) $(COBJS)
|
||||||
|
|
||||||
|
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||||
|
ifeq ($(WINTOOL),y)
|
||||||
|
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||||
|
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||||
|
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||||
|
else
|
||||||
|
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||||
|
endif
|
||||||
|
|
||||||
|
all: libboard$(LIBEXT)
|
||||||
|
|
||||||
|
$(AOBJS): %$(OBJEXT): %.S
|
||||||
|
$(call ASSEMBLE, $<, $@)
|
||||||
|
|
||||||
|
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||||
|
$(call COMPILE, $<, $@)
|
||||||
|
|
||||||
|
libboard$(LIBEXT): $(OBJS)
|
||||||
|
$(call ARCHIVE, $@, $(OBJS))
|
||||||
|
|
||||||
|
.depend: Makefile $(SRCS)
|
||||||
|
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||||
|
$(Q) touch $@
|
||||||
|
|
||||||
|
depend: .depend
|
||||||
|
|
||||||
|
clean:
|
||||||
|
$(call DELFILE, libboard$(LIBEXT))
|
||||||
|
$(call CLEAN)
|
||||||
|
|
||||||
|
distclean: clean
|
||||||
|
$(call DELFILE, Make.dep)
|
||||||
|
$(call DELFILE, .depend)
|
||||||
|
|
||||||
|
-include Make.dep
|
||||||
|
|
||||||
4
nuttx-configs/px4fmu-v3/src/empty.c
Normal file
4
nuttx-configs/px4fmu-v3/src/empty.c
Normal file
@@ -0,0 +1,4 @@
|
|||||||
|
/*
|
||||||
|
* There are no source files here, but libboard.a can't be empty, so
|
||||||
|
* we have this empty source file to keep it company.
|
||||||
|
*/
|
||||||
327
src/drivers/boards/px4fmu-v3/board_config.h
Normal file
327
src/drivers/boards/px4fmu-v3/board_config.h
Normal file
@@ -0,0 +1,327 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2016 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
|
||||||
|
*
|
||||||
|
* PX4FMUv2 internal definitions
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
#include <px4_config.h>
|
||||||
|
#include <nuttx/compiler.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <stm32.h>
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#define UDID_START 0x1FFF7A10
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Definitions
|
||||||
|
****************************************************************************************************/
|
||||||
|
/* Configuration ************************************************************************************/
|
||||||
|
|
||||||
|
/* PX4IO connection configuration */
|
||||||
|
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
|
||||||
|
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
|
||||||
|
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
|
||||||
|
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
|
||||||
|
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
|
||||||
|
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
|
||||||
|
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
|
||||||
|
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
|
||||||
|
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
|
||||||
|
|
||||||
|
|
||||||
|
/* PX4FMU GPIOs ***********************************************************************************/
|
||||||
|
/* LEDs */
|
||||||
|
|
||||||
|
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||||
|
|
||||||
|
/* External interrupts */
|
||||||
|
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
|
||||||
|
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||||
|
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||||
|
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||||
|
|
||||||
|
/* Data ready pins off */
|
||||||
|
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
|
||||||
|
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
|
||||||
|
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
|
||||||
|
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||||
|
|
||||||
|
/* SPI1 off */
|
||||||
|
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||||
|
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||||
|
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||||
|
|
||||||
|
/* SPI1 chip selects off */
|
||||||
|
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||||
|
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||||
|
|
||||||
|
/* SPI chip selects */
|
||||||
|
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||||
|
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||||
|
#define GPIO_SPI_CS_HMC (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
|
||||||
|
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||||
|
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||||
|
#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||||
|
#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
#define GPIO_SPI_CS_LIS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||||
|
|
||||||
|
#define PX4_SPI_BUS_SENSORS 1
|
||||||
|
#define PX4_SPI_BUS_RAMTRON 2
|
||||||
|
#define PX4_SPI_BUS_EXT 4
|
||||||
|
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||||
|
|
||||||
|
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
||||||
|
#define PX4_SPIDEV_GYRO 1
|
||||||
|
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||||
|
#define PX4_SPIDEV_BARO 3
|
||||||
|
#define PX4_SPIDEV_MPU 4
|
||||||
|
#define PX4_SPIDEV_HMC 5
|
||||||
|
#define PX4_SPIDEV_LIS 7
|
||||||
|
#define PX4_SPIDEV_BMI 8
|
||||||
|
|
||||||
|
/* External bus */
|
||||||
|
#define PX4_SPIDEV_EXT0 1
|
||||||
|
#define PX4_SPIDEV_EXT1 2
|
||||||
|
#define PX4_SPIDEV_EXT2 3
|
||||||
|
#define PX4_SPIDEV_EXT3 4
|
||||||
|
|
||||||
|
/* FMUv3 SPI on external bus */
|
||||||
|
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0
|
||||||
|
#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1
|
||||||
|
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
|
||||||
|
#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
|
||||||
|
|
||||||
|
#define PX4_SPIDEV_EXT_BMI PX4_SPIDEV_EXT_GYRO
|
||||||
|
|
||||||
|
/* I2C busses */
|
||||||
|
#define PX4_I2C_BUS_EXPANSION 1
|
||||||
|
#define PX4_I2C_BUS_ONBOARD 2
|
||||||
|
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
|
||||||
|
|
||||||
|
/* Devices on the onboard bus.
|
||||||
|
*
|
||||||
|
* Note that these are unshifted addresses.
|
||||||
|
*/
|
||||||
|
#define PX4_I2C_OBDEV_LED 0x55
|
||||||
|
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||||
|
#define PX4_I2C_OBDEV_LIS3MDL 0x1e
|
||||||
|
|
||||||
|
/*
|
||||||
|
* ADC channels
|
||||||
|
*
|
||||||
|
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
|
||||||
|
*/
|
||||||
|
#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
|
||||||
|
|
||||||
|
// ADC defines to be used in sensors.cpp to read from a particular channel
|
||||||
|
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
|
||||||
|
#define ADC_BATTERY_CURRENT_CHANNEL 3
|
||||||
|
#define ADC_5V_RAIL_SENSE 4
|
||||||
|
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
|
||||||
|
|
||||||
|
/* User GPIOs
|
||||||
|
*
|
||||||
|
* GPIO0-5 are the PWM servo outputs.
|
||||||
|
*/
|
||||||
|
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
|
||||||
|
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
||||||
|
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
|
||||||
|
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
|
||||||
|
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
|
||||||
|
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
|
||||||
|
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
|
||||||
|
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
|
||||||
|
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||||
|
|
||||||
|
/* Power supply control and monitoring GPIOs */
|
||||||
|
#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
|
||||||
|
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||||
|
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
|
||||||
|
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||||
|
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
|
||||||
|
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
|
||||||
|
|
||||||
|
/* Tone alarm output */
|
||||||
|
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||||
|
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
||||||
|
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||||
|
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
|
||||||
|
|
||||||
|
/* PWM
|
||||||
|
*
|
||||||
|
* Six PWM outputs are configured.
|
||||||
|
*
|
||||||
|
* Pins:
|
||||||
|
*
|
||||||
|
* CH1 : PE14 : TIM1_CH4
|
||||||
|
* CH2 : PE13 : TIM1_CH3
|
||||||
|
* CH3 : PE11 : TIM1_CH2
|
||||||
|
* CH4 : PE9 : TIM1_CH1
|
||||||
|
* CH5 : PD13 : TIM4_CH2
|
||||||
|
* CH6 : PD14 : TIM4_CH3
|
||||||
|
*/
|
||||||
|
#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
|
||||||
|
#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
|
||||||
|
#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
|
||||||
|
#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
|
||||||
|
#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
|
||||||
|
#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
|
||||||
|
#define DIRECT_PWM_OUTPUT_CHANNELS 6
|
||||||
|
|
||||||
|
#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
|
||||||
|
#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
|
||||||
|
#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
|
||||||
|
#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
|
||||||
|
#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
|
||||||
|
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
|
||||||
|
#define DIRECT_INPUT_TIMER_CHANNELS 6
|
||||||
|
|
||||||
|
/* USB OTG FS
|
||||||
|
*
|
||||||
|
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||||
|
*/
|
||||||
|
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||||
|
|
||||||
|
/* High-resolution timer */
|
||||||
|
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||||
|
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||||
|
|
||||||
|
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||||
|
#define PWMIN_TIMER 4
|
||||||
|
#define PWMIN_TIMER_CHANNEL 2
|
||||||
|
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
|
||||||
|
|
||||||
|
#define BOARD_NAME "PX4FMU_V2"
|
||||||
|
|
||||||
|
/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
|
||||||
|
* system_power interface, and therefore provides the true logic
|
||||||
|
* GPIO BOARD_ADC_xxxx macros.
|
||||||
|
*/
|
||||||
|
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||||
|
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
|
||||||
|
#define BOARD_ADC_SERVO_VALID (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
|
||||||
|
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
|
||||||
|
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
|
||||||
|
|
||||||
|
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||||
|
|
||||||
|
#define BOARD_FMU_GPIO_TAB { \
|
||||||
|
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
|
||||||
|
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
|
||||||
|
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
|
||||||
|
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
|
||||||
|
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
|
||||||
|
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
|
||||||
|
{0, GPIO_VDD_5V_PERIPH_EN, 0}, \
|
||||||
|
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
|
||||||
|
{GPIO_VDD_BRICK_VALID, 0, 0}, \
|
||||||
|
{GPIO_VDD_SERVO_VALID, 0, 0}, \
|
||||||
|
{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
|
||||||
|
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
|
||||||
|
|
||||||
|
/* This board provides a DMA pool and APIs */
|
||||||
|
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||||
|
|
||||||
|
__BEGIN_DECLS
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public Types
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public data
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************************************
|
||||||
|
* Name: stm32_spiinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||||
|
*
|
||||||
|
****************************************************************************************************/
|
||||||
|
|
||||||
|
extern void stm32_spiinitialize(void);
|
||||||
|
extern void board_spi_reset(int ms);
|
||||||
|
|
||||||
|
extern void stm32_usbinitialize(void);
|
||||||
|
|
||||||
|
extern void board_peripheral_reset(int ms);
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: nsh_archinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Perform architecture specific initialization for NSH.
|
||||||
|
*
|
||||||
|
* 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
|
||||||
|
int nsh_archinitialize(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "../common/board_common.h"
|
||||||
|
|
||||||
|
#endif /* __ASSEMBLY__ */
|
||||||
|
|
||||||
|
__END_DECLS
|
||||||
Reference in New Issue
Block a user