From 054b8093de47eb87c18d5f4ba222042736cb8fe0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 6 May 2022 10:29:14 -0400 Subject: [PATCH] [DO NOT MERGE] try changing UAVCAN default timer to 6 --- Tools/kconfig/cmake_kconfig_lut.txt | 3 --- boards/cuav/nora/default.px4board | 1 - boards/cuav/x7pro/default.px4board | 1 - boards/modalai/fc-v2/default.px4board | 1 - boards/px4/fmu-v5/debug.px4board | 3 +-- boards/px4/fmu-v5/default.px4board | 1 - boards/px4/fmu-v5/stackcheck.px4board | 1 - boards/px4/fmu-v5/uavcanv0periph.px4board | 1 - boards/px4/fmu-v5/uavcanv1.px4board | 1 - boards/px4/fmu-v6x/default.px4board | 1 - src/drivers/uavcan/CMakeLists.txt | 10 +++++----- 11 files changed, 6 insertions(+), 18 deletions(-) diff --git a/Tools/kconfig/cmake_kconfig_lut.txt b/Tools/kconfig/cmake_kconfig_lut.txt index 4183da71ac..42ca6d860b 100644 --- a/Tools/kconfig/cmake_kconfig_lut.txt +++ b/Tools/kconfig/cmake_kconfig_lut.txt @@ -7,9 +7,6 @@ EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2 UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1 -UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 -UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1 -UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0 TESTING,CONFIG_BOARD_TESTING=y ETHERNET,CONFIG_BOARD_ETHERNET=y adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 1c7e018398..99dc798b57 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -40,7 +40,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index a262ced94e..9755f0bbcb 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 5f8fdb69f3..3130519997 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -35,7 +35,6 @@ CONFIG_DRIVERS_RPM=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_INTERFACES=1 -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_CAMERA_FEEDBACK=y diff --git a/boards/px4/fmu-v5/debug.px4board b/boards/px4/fmu-v5/debug.px4board index be936a6aeb..ac44891ab7 100644 --- a/boards/px4/fmu-v5/debug.px4board +++ b/boards/px4/fmu-v5/debug.px4board @@ -1,4 +1,3 @@ -# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set CONFIG_COMMON_BAROMETERS=n CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n CONFIG_COMMON_MAGNETOMETER=n @@ -23,6 +22,7 @@ CONFIG_DRIVERS_UAVCAN=n CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n CONFIG_MODULES_CAMERA_FEEDBACK=n CONFIG_MODULES_ESC_BATTERY=n +CONFIG_MODULES_GIMBAL=n CONFIG_MODULES_GYRO_CALIBRATION=n CONFIG_MODULES_GYRO_FFT=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n @@ -32,7 +32,6 @@ CONFIG_MODULES_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n -CONFIG_MODULES_GIMBAL=n CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_TESTING=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 62b6690e6b..49f0ea4f48 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -43,7 +43,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6 CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board index cdfd48f998..fa8c00fa77 100644 --- a/boards/px4/fmu-v5/stackcheck.px4board +++ b/boards/px4/fmu-v5/stackcheck.px4board @@ -1,4 +1,3 @@ -# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set CONFIG_COMMON_HYGROMETERS=n CONFIG_COMMON_TELEMETRY=n CONFIG_DRIVERS_BATT_SMBUS=n diff --git a/boards/px4/fmu-v5/uavcanv0periph.px4board b/boards/px4/fmu-v5/uavcanv0periph.px4board index 64fa5fea21..131b3127be 100644 --- a/boards/px4/fmu-v5/uavcanv0periph.px4board +++ b/boards/px4/fmu-v5/uavcanv0periph.px4board @@ -1,4 +1,3 @@ -# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set CONFIG_COMMON_HYGROMETERS=n CONFIG_COMMON_TELEMETRY=n CONFIG_DRIVERS_ADC_ADS1115=n diff --git a/boards/px4/fmu-v5/uavcanv1.px4board b/boards/px4/fmu-v5/uavcanv1.px4board index f9b60dd45f..28bfbed512 100644 --- a/boards/px4/fmu-v5/uavcanv1.px4board +++ b/boards/px4/fmu-v5/uavcanv1.px4board @@ -1,4 +1,3 @@ -# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set CONFIG_DRIVERS_HEATER=n CONFIG_DRIVERS_OSD=n CONFIG_DRIVERS_UAVCAN=n diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index 3a61af2e07..6e6934ba7b 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -37,7 +37,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index c2e826c3a1..9765ca23d6 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -45,15 +45,15 @@ if(CONFIG_ARCH_CHIP) set(UAVCAN_TIMER 1) elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7") set(UAVCAN_DRIVER "stm32h7") - set(UAVCAN_TIMER 5) # The default timer is TIM5 - if (DEFINED config_uavcan_timer_override) - set (UAVCAN_TIMER ${config_uavcan_timer_override}) + set(UAVCAN_TIMER 6) # The default timer is TIM5 + if(DEFINED config_uavcan_timer_override) + set(UAVCAN_TIMER ${config_uavcan_timer_override}) endif() elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32") set(UAVCAN_DRIVER "stm32") - set(UAVCAN_TIMER 5) # The default timer is TIM5 + set(UAVCAN_TIMER 6) # The default timer is TIM5 if (DEFINED config_uavcan_timer_override) - set (UAVCAN_TIMER ${config_uavcan_timer_override}) + set(UAVCAN_TIMER ${config_uavcan_timer_override}) endif() endif() endif()