boards rename auav_x21 -> mro_x21

2026-10-31 06:51:35 +08:00 · 2020-01-22 15:33:02 -05:00
parent 3ed8e876b7
commit 036a45377d
20 changed files with 65 additions and 56 deletions
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# AUAV/mRO x21 specific board defaults
-#------------------------------------------------------------------------------
-
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
@@ -1,7 +1,7 @@

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR auav
+	VENDOR mro
 	MODEL x21
 	LABEL default
 	TOOLCHAIN arm-none-eabi
@@ -71,6 +71,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
@@ -1,10 +1,10 @@
 {
    "board_id": 33,
    "magic": "PX4FWv1",
-    "description": "Firmware for the AUAV X2.1 board",
+    "description": "Firmware for the mRo X2.1 board",
    "image": "",
    "build_time": 0,
-    "summary": "AUAV X2.1",
+    "summary": "mRo X2.1",
    "version": "0.1",
    "image_size": 0,
    "image_maxsize": 2080768,
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# mRo x21 specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+
+	# to minimize cpu usage on older boards limit inner loop to 400 Hz
+	param set IMU_GYRO_RATEMAX 400
+
+fi
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# AUAV/mRO x21 specific board MAVLink startup script.
+# mRo x21 specific board MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# AUAV/mRO x21 specific board sensors init
+# mRo x21 specific board sensors init
 #------------------------------------------------------------------------------

 adc start
@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/auav-x21/include/board.h
+ * board.h
 * include/arch/board/board.h
 *
 *   Copyright (C) 2009, 2016 Gregory Nutt. All rights reserved.
@@ -209,9 +209,8 @@

 /* Alternate function pin selections ************************************************/

-/*
- * UARTs.
- */
+/* UARTs */
+
 #define GPIO_USART1_RX   GPIO_USART1_RX_1    /* Console in from IO */
 #define GPIO_USART1_TX   0                   /* USART1 is RX-only */

@@ -234,39 +233,37 @@
 #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.
 */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_3

-/*
- * I2C
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3
+
+/* 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)

-/*
- * SPI
+#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
 *
 * 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
@@ -218,10 +218,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=300
 CONFIG_USART1_RXBUFSIZE=128
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=32
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
@@ -234,7 +232,7 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=300
 CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART3_TXBUFSIZE=600
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=300
 CONFIG_USART6_RXDMA=y
@@ -34,7 +34,7 @@
 /**
 * @file board_config.h
 *
- * AUAVX2.1 internal definitions
+ * mRo X2.1 internal definitions
 */

 #pragma once
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file auav__can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file auav_init.c
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,9 +32,9 @@
 ****************************************************************************/

 /**
- * @file auav_led.c
+ * @file led.c
 *
- * PX4FMU LED backend.
+ * LED backend.
 */

 #include <px4_platform_common/px4_config.h>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file auav_spi.c
+ * @file spi.c
 *
 * Board-specific SPI functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file auav_timer_config.c
+ * @file timer_config.c
 *
 * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file auav_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */