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Changes to get PX4 config to build. Also some warning removal

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This commit is contained in:
Gregory Nutt 2014-01-14 13:30:22 -06:00
parent a4e3fabee6
commit 803cdfdaf1
39 changed files with 749 additions and 649 deletions
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6
ChangeLog
View file

@ -6428,3 +6428,9 @@
uip/uip_tcpwrbuffer.c: First set of changes to bring in Jason
Jiang's TCP write buffering logic. Still not complete but
apparently harmless if not selected. (2014-1-13).
* All of Jason Jiang's TCP write buffering logic is checked in.
Unfortunately, it does not yet work (2013-1-14).
* configs/px4fmu-v2_upstream: Configuration for testing simple
configurations on the the PX4FMU v2. This version is incomplete
for the PX4 appliation and is not a replacement for the version
in the PX4 GIT repository.

12
arch/arm/src/common/up_mdelay.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/common/up_mdelay.c
*
* Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2008, 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -78,13 +78,13 @@
void up_mdelay(unsigned int milliseconds)
{
volatile int i;
volatile int j;
volatile unsigned int i;
volatile unsigned int j;
for (i = 0; i < milliseconds; i++)
{
for (j = 0; j < CONFIG_BOARD_LOOPSPERMSEC; j++)
{
}
for (j = 0; j < CONFIG_BOARD_LOOPSPERMSEC; j++)
{
}
}
}

4
arch/arm/src/stm32/stm32_otgfsdev.c
View file

@ -1324,11 +1324,11 @@ static void stm32_epin_request(FAR struct stm32_usbdev_s *priv,
*/
regval = stm32_getreg(regaddr);
if ((regval & OTGFS_DTXFSTS_MASK) < nwords)
if ((int)(regval & OTGFS_DTXFSTS_MASK) < nwords)
{
usbtrace(TRACE_INTDECODE(STM32_TRACEINTID_EPIN_EMPWAIT), (uint16_t)regval);
/* There is insufficent space in the TxFIFO. Wait for a TxFIFO
/* There is insufficient space in the TxFIFO. Wait for a TxFIFO
* empty interrupt and try again.
*/

12
arch/arm/src/stm32/stm32_rcc.h
View file

@ -1,7 +1,7 @@
/************************************************************************************
* arch/arm/src/stm32/stm32_rcc.h
*
* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2011-2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.orgr>
*
* Redistribution and use in source and binary forms, with or without
@ -285,6 +285,16 @@ void stm32_rcc_enablelse(void);
void stm32_rcc_enablelsi(void);
/****************************************************************************
* Name: stm32_rcc_disablelsi
*
* Description:
* Disable the Internal Low-Speed (LSI) RC Oscillator.
*
****************************************************************************/
void stm32_rcc_disablelsi(void);
#undef EXTERN
#if defined(__cplusplus)
}

4
arch/arm/src/stm32/stm32_sdio.c
View file

@ -1023,7 +1023,7 @@ static void stm32_sendfifo(struct stm32_dev_s *priv)
int i;
data.w = 0;
for (i = 0; i < priv->remaining; i++)
for (i = 0; i < (int)priv->remaining; i++)
{
data.b[i] = *ptr++;
}
@ -1085,7 +1085,7 @@ static void stm32_recvfifo(struct stm32_dev_s *priv)
uint8_t *ptr = (uint8_t*)priv->buffer;
int i;
for (i = 0; i < priv->remaining; i++)
for (i = 0; i < (int)priv->remaining; i++)
{
*ptr++ = data.b[i];
}

14
configs/Kconfig
View file

@ -504,6 +504,16 @@ config ARCH_BOARD_PJRC_87C52
8051 Microcontroller. This port uses the PJRC 87C52 development system
and the SDCC toolchain. This port is not quite ready for prime time.
config ARCH_BOARD_PX4FMU_V2
bool "PX4FMU v2"
depends on ARCH_CHIP_STM32F427V
---help---
This is a minimal configuration that supports low-level test of the
PX4FMU v2 in the NuttX source tree. If you are using PX4, you
probably don't want this configuration. You probably want the
latest supported configuration available from the PX4 GIT
repositories.
config ARCH_BOARD_QEMU_I486
bool "Qemu i486 Mode"
depends on ARCH_X86 || ARCH_I486
@ -900,6 +910,7 @@ config ARCH_BOARD
default "pic32mx7mmb" if ARCH_BOARD_PIC32_PIC32MX7MMB
default "pirelli_dpl10" if ARCH_BOARD_PIRELLI_DPL10
default "pjrc-8051" if ARCH_BOARD_PJRC_87C52
default "px4fmu-v2_upstream" if ARCH_BOARD_PX4FMU_V2
default "qemu-i486" if ARCH_BOARD_QEMU_I486
default "rgmp" if ARCH_BOARD_RGMP
default "sama5d3x-ek" if ARCH_BOARD_SAMA5D3X_EK
@ -1139,6 +1150,9 @@ endif
if ARCH_BOARD_PJRC_87C52
source "configs/pjrc-8051/Kconfig"
endif
if ARCH_BOARD_PX4FMU_V2
source "configs/px4fmu-v2_upstream/Kconfig"
endif
if ARCH_BOARD_QEMU_I486
source "configs/qemu-i486/Kconfig"
endif

6
configs/README.txt
View file

@ -439,6 +439,12 @@ configs/pjrc-8051
8051 Microcontroller. This port uses the PJRC 87C52 development system
and the SDCC toolchain. This port is not quite ready for prime time.
config/px4fmu-v2_upstream
This is a minimal configuration that supports low-level test of the
PX4FMU v2 in the NuttX source tree. If you are using PX4, you probably
don't want this configuration. You probably want the latest supported
configuration available from the PX4 GIT repositories.
configs/qemu-i486
Port of NuttX to QEMU in i486 mode. This port will also run on real i486
hardwared (Google the Bifferboard).

19
configs/nucleus2g/include/board.h
View file

@ -44,7 +44,7 @@
#include <nuttx/config.h>
/************************************************************************************
* Definitions
* Pre-processor Definitions
************************************************************************************/
/* Clocking *************************************************************************/
@ -232,7 +232,8 @@ enum output_state
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
extern "C"
{
#else
#define EXTERN extern
#endif
@ -250,7 +251,7 @@ extern "C" {
*
************************************************************************************/
EXTERN void lpc17_boardinitialize(void);
void lpc17_boardinitialize(void);
/************************************************************************************
* Name: lpc17_led1 and 2
@ -261,8 +262,8 @@ EXTERN void lpc17_boardinitialize(void);
************************************************************************************/
#ifdef CONFIG_ARCH_LEDS
EXTERN void lpc17_led1(enum lpc17_ledstate_e state);
EXTERN void lpc17_led2(enum lpc17_ledstate_e state);
void lpc17_led1(enum lpc17_ledstate_e state);
void lpc17_led2(enum lpc17_ledstate_e state);
#endif
/************************************************************************************
@ -275,10 +276,10 @@ EXTERN void lpc17_led2(enum lpc17_ledstate_e state);
************************************************************************************/
#ifdef CONFIG_ARCH_BOARD_NUCLEUS2G_BMS
EXTERN void nucleus_bms_relay1(enum output_state state);
EXTERN void nucleus_bms_relay2(enum output_state state);
EXTERN void nucleus_bms_relay3(enum output_state state);
EXTERN void nucleus_bms_relay4(enum output_state state);
void nucleus_bms_relay1(enum output_state state);
void nucleus_bms_relay2(enum output_state state);
void nucleus_bms_relay3(enum output_state state);
void nucleus_bms_relay4(enum output_state state);
#endif
#undef EXTERN

4
configs/px4fmu-v2_upstream/Kconfig Normal file
View file

@ -0,0 +1,4 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#

101
configs/px4fmu-v2_upstream/include/board.h
View file

@ -196,77 +196,92 @@
/* 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 */
/* UARTs */
#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_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */
#define GPIO_USART1_TX 0 /* USART1 is RX-only */
#define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
#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_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1
#define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
#define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1
#define GPIO_UART7_RX GPIO_UART7_RX_1
#define GPIO_UART7_TX GPIO_UART7_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
/* 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
#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)
#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)
/*
* SPI
#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
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
/* LED Definitions. Needed if CONFIG_ARCH_LEDs is defined */
#define LED_STARTED 0
#define LED_HEAPALLOCATE 0
#define LED_IRQSENABLED 0
#define LED_STACKCREATED 1
#define LED_INIRQ 1
#define LED_SIGNAL 1
#define LED_ASSERTION 1
#define LED_PANIC 1
/************************************************************************************
* Public Data

15
configs/px4fmu-v2_upstream/include/nsh_romfsimg.h
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/include/romfsimg.h
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
@ -31,12 +32,14 @@
*
****************************************************************************/
/**
* nsh_romfsetc.h
*
* This file is a stub for 'make export' purposes; the actual ROMFS
* must be supplied by the library client.
*/
#ifndef __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
#define __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
/****************************************************************************
* Public Variables
****************************************************************************/
extern unsigned char romfs_img[];
extern unsigned int romfs_img_len;
#endif /* __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H */

202
configs/px4fmu-v2_upstream/nsh/Make.defs
View file

@ -35,142 +35,136 @@
include ${TOPDIR}/.config
include ${TOPDIR}/tools/Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABIL
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
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# Pull in *just* libm from the toolchain ... this is grody
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
EXTRA_LIBS += $(LIBM)
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
EXTRA_LIBS += $(LIBM)
# Use our linker script
# use our linker script
LDSCRIPT = ld.script
LDSCRIPT = ld.script
ifeq ($(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)}"
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)
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)
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}
# Tool versions
# optimisation flags
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
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}
# Optimization 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
ARCHOPTIMIZATION += -g
endif
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
ARCHWARNINGS = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
ARCHWARNINGS = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-psabi
ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-psabi
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
# This seems to be the only way to add linker flags
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__
EXTRA_LIBS += --warn-common \
--gc-sections
NXFLATLDFLAGS1 = -r -d -warn-common
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
LDNXFLATFLAGS = -e main -s 2048
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(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__
OBJEXT = .o
LIBEXT = .a
EXEEXT =
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
# produce partially-linked $1 from files in $2
define PRELINK
@echo "PRELINK: $1"
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
@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 =
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
HOSTLDFLAGS =

50
configs/px4fmu-v2_upstream/nsh/defconfig
View file

@ -16,7 +16,7 @@ CONFIG_HOST_LINUX=y
#
# Build Configuration
#
CONFIG_APPS_DIR="../apps"
# CONFIG_APPS_DIR="../apps"
# CONFIG_BUILD_2PASS is not set
#
@ -31,7 +31,7 @@ CONFIG_RAW_BINARY=y
# Customize Header Files
#
# CONFIG_ARCH_STDBOOL_H is not set
CONFIG_ARCH_MATH_H=n
# CONFIG_ARCH_MATH_H is not set
# CONFIG_ARCH_FLOAT_H is not set
# CONFIG_ARCH_STDARG_H is not set
@ -106,7 +106,6 @@ CONFIG_ARCH_HAVE_MPU=y
# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
CONFIG_ARMV7M_STACKCHECK=n
CONFIG_SERIAL_TERMIOS=y
CONFIG_SDIO_DMA=y
CONFIG_SDIO_DMAPRIO=0x00010000
@ -209,6 +208,8 @@ CONFIG_STM32_STM32F427=y
#
# STM32 Peripheral Support
#
# CONFIG_STM32_HAVE_USBDEV is not set
CONFIG_STM32_HAVE_OTGFS=y
CONFIG_STM32_ADC1=y
# CONFIG_STM32_ADC2 is not set
# CONFIG_STM32_ADC3 is not set
@ -297,20 +298,19 @@ CONFIG_STM32_USART=y
# U[S]ART Configuration
#
# CONFIG_USART1_RS485 is not set
CONFIG_USART1_RXDMA=n
# CONFIG_USART1_RXDMA is not set
# CONFIG_USART2_RS485 is not set
CONFIG_USART2_RXDMA=n
# CONFIG_USART2_RXDMA is not set
# CONFIG_USART3_RS485 is not set
CONFIG_USART3_RXDMA=n
# CONFIG_USART3_RXDMA is not set
# CONFIG_UART4_RS485 is not set
CONFIG_UART4_RXDMA=n
CONFIG_UART5_RXDMA=n
# CONFIG_UART4_RXDMA is not set
# CONFIG_USART6_RS485 is not set
CONFIG_USART6_RXDMA=n
# CONFIG_USART6_RXDMA is not set
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
# CONFIG_UART8_RS485 is not set
CONFIG_UART8_RXDMA=n
# CONFIG_UART8_RXDMA is not set
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
@ -391,7 +391,8 @@ CONFIG_RAM_SIZE=262144
#
# Board Selection
#
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_PX4FMU_V2=y
# CONFIG_ARCH_BOARD_CUSTOM is not set
CONFIG_ARCH_BOARD="px4fmu-v2_upstream"
#
@ -411,7 +412,7 @@ CONFIG_NSH_MMCSDSLOTNO=0
CONFIG_MSEC_PER_TICK=1
# CONFIG_SYSTEM_TIME64 is not set
CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=n
# CONFIG_SCHED_INSTRUMENTATION is not set
CONFIG_TASK_NAME_SIZE=24
# CONFIG_SCHED_HAVE_PARENT is not set
# CONFIG_JULIAN_TIME is not set
@ -733,7 +734,7 @@ CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_MAXFNAME=32
CONFIG_FS_FATTIME=y
CONFIG_FAT_DMAMEMORY=n
# CONFIG_FAT_DMAMEMORY is not set
CONFIG_FS_NXFFS=y
# CONFIG_NXFFS_SCAN_VOLUME is not set
CONFIG_NXFFS_PREALLOCATED=y
@ -794,6 +795,7 @@ CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STDIO_LINEBUFFER=y
CONFIG_NUNGET_CHARS=2
CONFIG_LIB_HOMEDIR="/"
CONFIG_LIBM=y
# CONFIG_NOPRINTF_FIELDWIDTH is not set
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIB_RAND_ORDER=1
@ -843,14 +845,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=4000
# Basic CXX Support
#
CONFIG_C99_BOOL8=y
CONFIG_HAVE_CXX=n
CONFIG_HAVE_CXXINITIALIZE=n
# CONFIG_CXX_NEWLONG is not set
#
# uClibc++ Standard C++ Library
#
# CONFIG_UCLIBCXX is not set
# CONFIG_HAVE_CXX is not set
#
# Application Configuration
@ -867,7 +862,6 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
# CONFIG_EXAMPLES_BUTTONS is not set
# CONFIG_EXAMPLES_CAN is not set
# CONFIG_EXAMPLES_CONFIGDATA is not set
# CONFIG_EXAMPLES_CXXTEST is not set
# CONFIG_EXAMPLES_DHCPD is not set
# CONFIG_EXAMPLES_ELF is not set
# CONFIG_EXAMPLES_FTPC is not set
@ -882,9 +876,13 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
# CONFIG_EXAMPLES_MM is not set
# CONFIG_EXAMPLES_MODBUS is not set
CONFIG_EXAMPLES_MOUNT=y
# CONFIG_EXAMPLES_MOUNT_BLOCKDEVICE is not set
CONFIG_EXAMPLES_MOUNT_NSECTORS=2048
CONFIG_EXAMPLES_MOUNT_SECTORSIZE=512
CONFIG_EXAMPLES_MOUNT_RAMDEVNO=0
# CONFIG_EXAMPLES_MTDPART is not set
# CONFIG_EXAMPLES_NRF24L01TERM is not set
CONFIG_EXAMPLES_NSH=y
# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
# CONFIG_EXAMPLES_NULL is not set
# CONFIG_EXAMPLES_NX is not set
# CONFIG_EXAMPLES_NXCONSOLE is not set
@ -936,14 +934,11 @@ CONFIG_EXAMPLES_USBTERM=y
# Networking Utilities
#
# CONFIG_NETUTILS_CODECS is not set
# CONFIG_NETUTILS_DHCPC is not set
# CONFIG_NETUTILS_DHCPD is not set
# CONFIG_NETUTILS_FTPC is not set
# CONFIG_NETUTILS_FTPD is not set
# CONFIG_NETUTILS_JSON is not set
# CONFIG_NETUTILS_RESOLV is not set
# CONFIG_NETUTILS_SMTP is not set
# CONFIG_NETUTILS_TELNETD is not set
# CONFIG_NETUTILS_TFTPC is not set
# CONFIG_NETUTILS_THTTPD is not set
# CONFIG_NETUTILS_UIPLIB is not set
@ -1015,7 +1010,10 @@ CONFIG_NSH_CODECS_BUFSIZE=128
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_STRERROR=y
CONFIG_NSH_LINELEN=128
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_CMDPARMS is not set
CONFIG_NSH_MAXARGUMENTS=12
# CONFIG_NSH_ARGCAT is not set
CONFIG_NSH_NESTDEPTH=8
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLEBG is not set

24
configs/px4fmu-v2_upstream/src/Makefile
View file

@ -35,24 +35,24 @@
-include $(TOPDIR)/Make.defs
CFLAGS += -I$(TOPDIR)/sched
CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
COBJS = $(CSRCS:.c=$(OBJEXT))
CSRCS = px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
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 $(ARCH_SRCDIR)/armv7-m}"
CFLAGS += -I "${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
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
endif
all: libboard$(LIBEXT)

233
configs/px4fmu-v2_upstream/src/board_config.h
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/board_config.h
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
@ -31,17 +32,9 @@
*
****************************************************************************/
/**
* @file board_config.h
*
* PX4FMUv2 internal definitions
*/
#pragma once
/****************************************************************************************************
/****************************************************************************
* Included Files
****************************************************************************************************/
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
@ -51,111 +44,144 @@
__BEGIN_DECLS
#endif
/* these headers are not C++ safe */
/* These headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
#define UDID_START 0x1FFF7A10
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
#define UDID_START 0x1FFF7A10
/****************************************************************************
* Pre-processor 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 */
#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 ***********************************************************************************/
/* PX4FMU GPIOs *************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define GPIO_LED1 \
(GPIO_OUTPUT|GPIO_PUSHPULL|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)
#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)
#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)
#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)
#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_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/* 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 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_MPU \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/* 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
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED 2
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED 2
/* 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_LED 0x55
#define PX4_I2C_OBDEV_HMC5883 0x1e
/* 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)
#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)
#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)
#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
*
@ -170,47 +196,62 @@ __BEGIN_DECLS
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
/* 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)
#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 */
/****************************************************************************************************
#define HRT_TIMER 8 /* Use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* Use capture/compare channel */
/****************************************************************************
* Public Types
****************************************************************************************************/
****************************************************************************/
/****************************************************************************************************
/****************************************************************************
* Public data
****************************************************************************************************/
****************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
/****************************************************************************
* Public Functions
****************************************************************************************************/
****************************************************************************/
/****************************************************************************************************
/****************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
****************************************************************************/
void stm32_spiinitialize(void);
/* Ideally we'd be able to get these from up_internal.h, but since we want
* to be able to disable the NuttX use of leds for system indication at will
* and there is no separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
void led_init(void);
void led_on(int led);
void led_off(int led);
void led_toggle(int led);
#endif /* __ASSEMBLY__ */
#ifdef __cplusplus

308
configs/px4fmu-v2_upstream/src/px4fmu2_init.c
View file

@ -1,4 +1,11 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/px4fmu_init.c
*
* PX4FMU-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.
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
@ -31,16 +38,6 @@
*
****************************************************************************/
/**
* @file px4fmu_init.c
*
* PX4FMU-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.
*/
/****************************************************************************
* Included Files
****************************************************************************/
@ -49,6 +46,7 @@
#include <stdbool.h>
#include <stdio.h>
#include <math.h>
#include <debug.h>
#include <errno.h>
@ -72,6 +70,19 @@
/* Configuration ************************************************************/
#ifdef CONFIG_FAT_DMAMEMORY
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN
# endif
#endif
/* PX4 LED colour codes */
#define LED_AMBER 1
#define LED_RED 1 /* Some boards have red rather than amber */
#define LED_BLUE 0
#define LED_SAFETY 2
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
@ -88,75 +99,69 @@
# endif
#endif
/* PX4 LED colour codes */
#define LED_AMBER 1
#define LED_RED 1 /* some boards have red rather than amber */
#define LED_BLUE 0
#define LED_SAFETY 2
/****************************************************************************
* Protected Functions
* Private Data
****************************************************************************/
#if defined(CONFIG_FAT_DMAMEMORY)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN
# endif
#ifdef CONFIG_FAT_DMAMEMORY
static GRAN_HANDLE dma_allocator;
/*
* The DMA heap size constrains the total number of things that can be
/* The DMA heap size constrains the total number of things that can be
* ready to do DMA at a time.
*
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
* one sector-sized buffer per file.
* one sector-sized buffer per file.
*
* We use a fundamental alignment / granule size of 64B; this is sufficient
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
*/
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
static void
dma_alloc_init(void)
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
#endif
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi2;
static struct sdio_dev_s *sdio;
/****************************************************************************
* Private Functions
****************************************************************************/
#ifdef CONFIG_FAT_DMAMEMORY
static void dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL) {
message("[boot] DMA allocator setup FAILED");
}
dma_allocator =
gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL)
{
message("[boot] DMA allocator setup FAILED");
}
}
#else
# define dma_alloc_init()
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/*
* DMA-aware allocator stubs for the FAT filesystem.
*/
#ifdef CONFIG_FAT_DMAMEMORY
/* DMA-aware allocator stubs for the FAT filesystem. */
__EXPORT void *fat_dma_alloc(size_t size);
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
void *
fat_dma_alloc(size_t size)
void *fat_dma_alloc(size_t size)
{
perf_count(g_dma_perf);
return gran_alloc(dma_allocator, size);
return gran_alloc(dma_allocator, size);
}
void
fat_dma_free(FAR void *memory, size_t size)
void fat_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
gran_free(dma_allocator, memory, size);
}
#else
# define dma_alloc_init()
#endif
/************************************************************************************
@ -164,19 +169,20 @@ fat_dma_free(FAR void *memory, size_t size)
*
* 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
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void
stm32_boardinitialize(void)
void stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* Configure SPI interfaces */
/* configure LEDs */
up_ledinit();
stm32_spiinitialize();
/* Configure LEDs */
up_ledinit();
}
/****************************************************************************
@ -187,125 +193,119 @@ stm32_boardinitialize(void)
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi2;
static struct sdio_dev_s *sdio;
#include <math.h>
#ifdef __cplusplus
int matherr(struct __exception *e)
{
return 1;
}
#else
int matherr(struct exception *e)
{
return 1;
}
#endif
int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
// stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
// stm32_configgpio(GPIO_ADC1_IN11); /* unused */
// stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
int ret;
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* Configure ADC pins */
/* configure the high-resolution time/callout interface */
hrt_init();
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
//stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
//stm32_configgpio(GPIO_ADC1_IN11); /* unused */
//stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* configure the DMA allocator */
dma_alloc_init();
/* Configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* Configure the DMA allocator */
dma_alloc_init();
/* Configure CPU load estimation */
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
cpuload_initialize_once();
#endif
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Initial LED state */
/* Configure SPI-based devices */
led_off(LED_AMBER);
spi1 = up_spiinitialize(1);
/* Configure SPI-based devices */
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
spi1 = up_spiinitialize(1);
if (!spi1)
{
message("[boot] FAILED to initialize SPI port 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
message("[boot] Initialized SPI port 1 (SENSORS)\n");
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
/* Get the SPI port for the FRAM */
message("[boot] Initialized SPI port 1 (SENSORS)\n");
spi2 = up_spiinitialize(2);
/* Get the SPI port for the FRAM */
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
spi2 = up_spiinitialize(2);
if (!spi2)
{
message("[boot] FAILED to initialize SPI port 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects.
*/
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio)
{
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
/* Now bind the SDIO interface to the MMC/SD driver */
message("[boot] Initialized SDIO\n");
#endif
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK)
{
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
return OK;
/* Then let's guess and say that there is a card in the slot. There is no
* card detect GPIO.
*/
sdio_mediachange(sdio, true);
message("[boot] Initialized SDIO\n");
#endif
return OK;
}

67
configs/px4fmu-v2_upstream/src/px4fmu2_led.c
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/px4fmu_led.c
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
@ -31,11 +32,9 @@
*
****************************************************************************/
/**
* @file px4fmu2_led.c
*
* PX4FMU LED backend.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
@ -46,50 +45,48 @@
#include <arch/board/board.h>
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
/****************************************************************************
* Public Functions
****************************************************************************/
void led_init()
{
/* Configure LED1 GPIO for output */
/* Configure LED1 GPIO for output */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED1);
}
void led_on(int led)
{
if (led == 1)
{
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
if (led == 1)
{
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
}
void led_off(int led)
{
if (led == 1)
{
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
if (led == 1)
{
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
}
void led_toggle(int led)
{
if (led == 1)
{
if (stm32_gpioread(GPIO_LED1))
stm32_gpiowrite(GPIO_LED1, false);
else
stm32_gpiowrite(GPIO_LED1, true);
}
if (led == 1)
{
if (stm32_gpioread(GPIO_LED1))
{
stm32_gpiowrite(GPIO_LED1, false);
}
else
{
stm32_gpiowrite(GPIO_LED1, true);
}
}
}

52
configs/px4fmu-v2_upstream/src/px4fmu_can.c
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/px4fmu_can.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
@ -31,12 +32,6 @@
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
@ -108,37 +103,40 @@
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
if (!initialized)
{
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
if (can == NULL)
{
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
ret = can_register("/dev/can0", can);
if (ret < 0) {
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
if (ret < 0)
{
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
/* Now we are initialized */
initialized = true;
}
initialized = true;
}
return OK;
return OK;
}
#endif

125
configs/px4fmu-v2_upstream/src/px4fmu_spi.c
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/px4fmu_spi.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
@ -31,12 +32,6 @@
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
@ -70,90 +65,94 @@
void weak_function stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
/* De-activate all peripherals, required for some peripheral state machines */
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
stm32_configgpio(GPIO_EXTI_MPU_DRDY);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
}
void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
switch (devid)
{
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
default:
break;
}
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI2
void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
/* There can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
}
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif

58
configs/px4fmu-v2_upstream/src/px4fmu_usb.c
View file

@ -1,4 +1,5 @@
/****************************************************************************
* configs/px4fmu-v2_upstream/src/px4fmu_usb.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
@ -31,15 +32,9 @@
*
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
/****************************************************************************
* Included Files
************************************************************************************/
****************************************************************************/
#include <nuttx/config.h>
@ -55,53 +50,54 @@
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/************************************************************************************
/****************************************************************************
* Private Functions
************************************************************************************/
****************************************************************************/
/************************************************************************************
/****************************************************************************
* Public Functions
************************************************************************************/
****************************************************************************/
/************************************************************************************
/****************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
****************************************************************************/
void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
/****************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
* Board logic must provide the stm32_usbsuspend logic if the USBDEV
* driver is used. This function is called whenever the USB enters or
* leaves suspend mode. This is an opportunity for the board logic to
* shutdown clocks, power, etc. while the USB is suspended.
*
************************************************************************************/
****************************************************************************/
void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
ulldbg("resume: %d\n", resume);
ulldbg("resume: %d\n", resume);
}

4
drivers/pipes/fifo.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* drivers/pipes/fifo.c
*
* Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2008-2009, 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -40,6 +40,8 @@
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <nuttx/fs/fs.h>
#include <errno.h>

2
drivers/pipes/pipe.c
View file

@ -88,7 +88,7 @@ static const struct file_operations pipe_fops =
#endif
};
static sem_t g_pipesem = { 1 };
static sem_t g_pipesem = SEM_INITIALIZER(1);
static uint32_t g_pipeset = 0;
static uint32_t g_pipecreated = 0;

1
drivers/ramdisk.c
View file

@ -338,5 +338,6 @@ int romdisk_register(int minor, uint8_t *buffer, uint32_t nsectors,
kfree(dev);
}
}
return ret;
}

6
drivers/sensors/lis331dl.c
View file

@ -112,7 +112,9 @@ struct lis331dl_dev_s {
* \param length when >0 it denotes read access, when <0 it denotes write access of -length
* \return OK on success or errno is set.
**/
int lis331dl_access(struct lis331dl_dev_s * dev, uint8_t subaddr, uint8_t *buf, int length)
static int lis331dl_access(struct lis331dl_dev_s * dev, uint8_t subaddr,
uint8_t *buf, int length)
{
uint16_t flags = 0;
int retval;
@ -170,7 +172,7 @@ int lis331dl_access(struct lis331dl_dev_s * dev, uint8_t subaddr, uint8_t *buf,
}
int lis331dl_readregs(struct lis331dl_dev_s * dev)
static int lis331dl_readregs(struct lis331dl_dev_s * dev)
{
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) != 3) return ERROR;
return OK;

4
fs/fs_foreachinode.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* fs/fs_foreachinode.c
*
* Copyright (C) 2012-2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2012-2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -96,7 +96,7 @@ struct inode_path_s
*
****************************************************************************/
int foreach_inodelevel(FAR struct inode *node, struct inode_path_s *info)
static int foreach_inodelevel(FAR struct inode *node, struct inode_path_s *info)
{
int ret = OK;

4
fs/fs_poll.c
View file

@ -153,8 +153,8 @@ static int poll_fdsetup(int fd, FAR struct pollfd *fds, bool setup)
#if CONFIG_NFILE_DESCRIPTORS > 0
static inline int poll_setup(FAR struct pollfd *fds, nfds_t nfds, sem_t *sem)
{
unsigned int i;
int ret;
int i;
/* Process each descriptor in the list */
@ -203,9 +203,9 @@ static inline int poll_setup(FAR struct pollfd *fds, nfds_t nfds, sem_t *sem)
#if CONFIG_NFILE_DESCRIPTORS > 0
static inline int poll_teardown(FAR struct pollfd *fds, nfds_t nfds, int *count)
{
unsigned int i;
int status;
int ret = OK;
int i;
/* Process each descriptor in the list */

9
include/errno.h
View file

@ -341,7 +341,8 @@
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
extern "C"
{
#else
#define EXTERN extern
#endif
@ -354,11 +355,11 @@ extern "C" {
* either as macros or via syscalls.
*/
EXTERN FAR int *get_errno_ptr(void);
FAR int *get_errno_ptr(void);
#ifdef CONFIG_NUTTX_KERNEL
EXTERN void set_errno(int errcode);
EXTERN int get_errno(void);
void set_errno(int errcode);
int get_errno(void);
#endif
#undef EXTERN

7
libc/misc/lib_dumpbuffer.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/misc/lib_dumpbuffer.c
*
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2011, 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -77,7 +77,9 @@
void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer, unsigned int buflen)
{
int i, j, k;
unsigned int i;
unsigned int j;
unsigned int k;
message("%s (%p):\n", msg, buffer);
for (i = 0; i < buflen; i += 32)
@ -124,6 +126,7 @@ void lib_dumpbuffer(FAR const char *msg, FAR const uint8_t *buffer, unsigned int
}
}
}
message("\n");
}
}

2
libc/stdio/lib_fread.c
View file

@ -97,5 +97,3 @@ size_t fread(FAR void *ptr, size_t size, size_t n_items, FAR FILE *stream)
}
return items_read;
}

4
libc/stdio/lib_libfgets.c
View file

@ -47,6 +47,8 @@
#include <assert.h>
#include <debug.h>
#include "lib_internal.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
@ -142,7 +144,7 @@ static void consume_eol(FILE *stream, bool consume)
FAR char *lib_fgets(FAR char *buf, size_t buflen, FILE *stream,
bool keepnl, bool consume)
{
int nch = 0;
size_t nch = 0;
/* Sanity checks */

2
libc/stdio/lib_libfread.c
View file

@ -204,7 +204,7 @@ ssize_t lib_fread(FAR void *ptr, size_t count, FAR FILE *stream)
/* Were all of the requested bytes read? */
if (bytes_read < count)
if ((size_t)bytes_read < count)
{
/* No. We must be at the end of file. */

1
libc/stdio/lib_sscanf.c
View file

@ -44,6 +44,7 @@
#include <stdarg.h>
#include <stdlib.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <ctype.h>
#include <errno.h>

2
libc/stdio/lib_stdoutstream.c
View file

@ -83,7 +83,7 @@ static void stdoutstream_putc(FAR struct lib_outstream_s *this, int ch)
****************************************************************************/
#if defined(CONFIG_STDIO_LINEBUFFER) && CONFIG_STDIO_BUFFER_SIZE > 0
int stdoutstream_flush(FAR struct lib_outstream_s *this)
static int stdoutstream_flush(FAR struct lib_outstream_s *this)
{
FAR struct lib_stdoutstream_s *sthis = (FAR struct lib_stdoutstream_s *)this;
return lib_fflush(sthis->stream, true);

10
sched/Makefile
View file

@ -1,7 +1,7 @@
############################################################################
# sched/Makefile
#
# Copyright (C) 2007-2013 Gregory Nutt. All rights reserved.
# Copyright (C) 2007-2014 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
@ -38,8 +38,12 @@
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
MISC_SRCS = os_start.c os_bringup.c errno_getptr.c errno_get.c errno_set.c
MISC_SRCS += sched_garbage.c sched_getfiles.c sched_getsockets.c sched_getstreams.c
MISC_SRCS = os_start.c os_bringup.c errno_getptr.c sched_garbage.c
MISC_SRCS += sched_getfiles.c sched_getsockets.c sched_getstreams.c
ifeq ($(CONFIG_NUTTX_KERNEL),y)
MISC_SRCS += errno_get.c errno_set.c
endif
TSK_SRCS = prctl.c exit.c getpid.c
TSK_SRCS += task_create.c task_init.c task_setup.c task_activate.c task_start.c

4
sched/env_findvar.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/env_findvar.c
*
* Copyright (C) 2007, 2009, 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2013-2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -45,6 +45,8 @@
#include <string.h>
#include <sched.h>
#include "env_internal.h"
/****************************************************************************
* Private Data
****************************************************************************/

2
sched/env_removevar.c
View file

@ -44,6 +44,8 @@
#include <string.h>
#include <sched.h>
#include "env_internal.h"
/****************************************************************************
* Private Data
****************************************************************************/

4
sched/mq_waitirq.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/mq_waitirq.c
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2009, 2011, 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -45,7 +45,7 @@
#include <nuttx/arch.h>
#include <nuttx/mqueue.h>
#include "os_internal.h"
#include "mq_internal.h"
/****************************************************************************
* Definitions

4
sched/pthread_barrierwait.c
View file

@ -1,7 +1,7 @@
/********************************************************************************
* sched/pthread_barrierwait.c
*
* Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -136,7 +136,7 @@ int pthread_barrier_wait(FAR pthread_barrier_t *barrier)
/* If the number of waiters would be equal to the count, then we are done */
if (1 - semcount >= barrier->count)
if ((1 - semcount) >= (int)barrier->count)
{
/* Free all of the waiting threads */

10
sched/timer_settime.c
View file

@ -1,7 +1,7 @@
/********************************************************************************
* sched/timer_settime.c
*
* Copyright (C) 2007-2010, 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2010, 2013-2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -67,8 +67,8 @@
* Private Function Prototypes
********************************************************************************/
static void inline timer_sigqueue(FAR struct posix_timer_s *timer);
static void inline timer_restart(FAR struct posix_timer_s *timer, uint32_t itimer);
static inline void timer_sigqueue(FAR struct posix_timer_s *timer);
static inline void timer_restart(FAR struct posix_timer_s *timer, uint32_t itimer);
static void timer_timeout(int argc, uint32_t itimer);
/********************************************************************************
@ -93,7 +93,7 @@ static void timer_timeout(int argc, uint32_t itimer);
*
********************************************************************************/
static void inline timer_sigqueue(FAR struct posix_timer_s *timer)
static inline void timer_sigqueue(FAR struct posix_timer_s *timer)
{
siginfo_t info;
@ -133,7 +133,7 @@ static void inline timer_sigqueue(FAR struct posix_timer_s *timer)
*
********************************************************************************/
static void inline timer_restart(FAR struct posix_timer_s *timer, uint32_t itimer)
static inline void timer_restart(FAR struct posix_timer_s *timer, uint32_t itimer)
{
/* If this is a repetitive timer, then restart the watchdog */