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[DO NOT MERGE] boards: mro_pixracerpro remap GPS1 to 4xPWM/DSHOT

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This commit is contained in:
Daniel Agar
2021-07-21 16:15:24 -04:00
parent bd17653383
commit 0c19fabbd7
10 changed files with 89 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/mro/pixracerpro/default.cmake
+44 -44
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@@ -8,68 +8,68 @@ px4_add_board(
ARCHITECTURE cortex-m7 ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common ROMFSROOT px4fmu_common
BUILD_BOOTLOADER BUILD_BOOTLOADER
UAVCAN_INTERFACES 2 #UAVCAN_INTERFACES 2
SERIAL_PORTS SERIAL_PORTS
#SPARE:/dev/ttyS0 #SPARE:/dev/ttyS0
TEL1:/dev/ttyS1 TEL1:/dev/ttyS1
TEL2:/dev/ttyS2 TEL2:/dev/ttyS2
GPS1:/dev/ttyS3 #RC:/dev/ttyS3
#RC:/dev/ttyS4 #CONSOLE:/dev/ttyS4
#CONSOLE:/dev/ttyS5 #FRSKY:/dev/ttyS5
#FRSKY:/dev/ttyS6
DRIVERS DRIVERS
adc/ads1115 #adc/ads1115
adc/board_adc adc/board_adc
#barometer # all available barometer drivers #barometer # all available barometer drivers
barometer/dps310 barometer/dps310
batt_smbus #batt_smbus
camera_capture #camera_capture
camera_trigger #camera_trigger
differential_pressure # all available differential pressure drivers #differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers #distance_sensor # all available distance sensor drivers
distance_sensor/tfmini
dshot dshot
gps #gps
#imu # all available imu drivers #imu # all available imu drivers
imu/bosch/bmi088 imu/bosch/bmi088
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20948 imu/invensense/icm20948
irlock #irlock
lights # all available light drivers #lights # all available light drivers
magnetometer # all available magnetometer drivers #magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers #optical_flow # all available optical flow drivers
osd #osd
pca9685 #pca9685
pca9685_pwm_out #pca9685_pwm_out
power_monitor/ina226 #power_monitor/ina226
#protocol_splitter #protocol_splitter
pwm_out_sim #pwm_out_sim
pwm_out #pwm_out
rc_input rc_input
roboclaw #roboclaw
rpm #rpm
smart_battery/batmon #smart_battery/batmon
telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
tone_alarm tone_alarm
uavcan #uavcan
MODULES MODULES
airspeed_selector #airspeed_selector
attitude_estimator_q #attitude_estimator_q
battery_status battery_status
camera_feedback #camera_feedback
commander commander
dataman dataman
ekf2 ekf2
esc_battery #esc_battery
events events
flight_mode_manager flight_mode_manager
fw_att_control #fw_att_control
fw_pos_control_l1 #fw_pos_control_l1
gyro_calibration gyro_calibration
gyro_fft gyro_fft
land_detector land_detector
landing_target_estimator #landing_target_estimator
load_mon load_mon
local_position_estimator #local_position_estimator
logger logger
mavlink mavlink
mc_att_control mc_att_control
@@ -79,14 +79,14 @@ px4_add_board(
#micrortps_bridge #micrortps_bridge
navigator navigator
rc_update rc_update
rover_pos_control #rover_pos_control
sensors sensors
sih #sih
temperature_compensation #temperature_compensation
uuv_att_control #uuv_att_control
uuv_pos_control #uuv_pos_control
vmount #vmount
vtol_att_control #vtol_att_control
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
dmesg dmesg
@@ -94,7 +94,7 @@ px4_add_board(
esc_calib esc_calib
gpio gpio
hardfault_log hardfault_log
i2cdetect #i2cdetect
led_control led_control
mft mft
mixer mixer
@@ -118,7 +118,7 @@ px4_add_board(
ver ver
work_queue work_queue
EXAMPLES EXAMPLES
fake_gps #fake_gps
#fake_imu #fake_imu
#fake_magnetometer #fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
boards/mro/pixracerpro/nuttx-config/include/board.h
-8
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@@ -234,9 +234,6 @@
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ #define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ #define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
#define GPIO_USART6_TX 0 /* USART6 is RX-only */ #define GPIO_USART6_TX 0 /* USART6 is RX-only */
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ #define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
@@ -273,8 +270,3 @@
#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ #define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ #define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ #define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
boards/mro/pixracerpro/nuttx-config/nsh/defconfig
-9
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@@ -76,8 +76,6 @@ CONFIG_GRAN=y
CONFIG_GRAN_INTR=y CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_LONG_LONG=y
@@ -165,9 +163,6 @@ CONFIG_STM32H7_DMA1=y
CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMA2=y
CONFIG_STM32H7_DMACAPABLE=y CONFIG_STM32H7_DMACAPABLE=y
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
CONFIG_STM32H7_I2C1=y
CONFIG_STM32H7_I2C_DYNTIMEO=y
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
CONFIG_STM32H7_OTGFS=y CONFIG_STM32H7_OTGFS=y
CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_PROGMEM=y
CONFIG_STM32H7_RTC=y CONFIG_STM32H7_RTC=y
@@ -192,7 +187,6 @@ CONFIG_STM32H7_SPI_DMATHRESHOLD=8
CONFIG_STM32H7_TIM1=y CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM3=y CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART7=y CONFIG_STM32H7_UART7=y
CONFIG_STM32H7_UART8=y CONFIG_STM32H7_UART8=y
CONFIG_STM32H7_USART1=y CONFIG_STM32H7_USART1=y
@@ -208,9 +202,6 @@ CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24 CONFIG_TASK_NAME_SIZE=24
CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGSTP=y CONFIG_TTY_SIGSTP=y
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART7_BAUD=57600 CONFIG_UART7_BAUD=57600
CONFIG_UART7_RXBUFSIZE=600 CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_SERIAL_CONSOLE=y
boards/mro/pixracerpro/src/board_config.h
+5 -5
View File
@@ -83,8 +83,8 @@
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6) #define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
/* PWM */ /* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8 #define DIRECT_PWM_OUTPUT_CHANNELS 4
#define DIRECT_INPUT_TIMER_CHANNELS 8 #define DIRECT_INPUT_TIMER_CHANNELS 4
/* Power supply control and monitoring GPIOs */ /* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) #define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -118,7 +118,7 @@
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
/* RC Serial port */ /* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4" #define RC_SERIAL_PORT "/dev/ttyS3"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) #define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@@ -147,8 +147,8 @@
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) #define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3 #define BOARD_NUM_IO_TIMERS 2
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
#define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_ENABLE_CONSOLE_BUFFER
boards/mro/pixracerpro/src/i2c.cpp
+1 -3
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@@ -33,6 +33,4 @@
#include <px4_arch/i2c_hw_description.h> #include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {};
initI2CBusExternal(1),
};
boards/mro/pixracerpro/src/timer_config.cpp
+5 -10
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@@ -34,20 +34,15 @@
#include <px4_arch/io_timer_hw_description.h> #include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
}; };
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
}; };
constexpr io_timers_channel_mapping_t io_timers_channel_mapping = constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
src/drivers/barometer/dps310/DPS310_I2C.cpp
+4
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@@ -37,6 +37,8 @@
* I2C interface for DPS310 * I2C interface for DPS310
*/ */
#if defined(CONFIG_I2C)
#include <lib/drivers/device/i2c.h> #include <lib/drivers/device/i2c.h>
namespace dps310 namespace dps310
@@ -89,3 +91,5 @@ DPS310_I2C::write(unsigned address, void *data, unsigned count)
} }
} // namespace dps310 } // namespace dps310
#endif // CONFIG_I2C
src/drivers/barometer/dps310/dps310_main.cpp
+16 -4
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@@ -36,7 +36,9 @@
namespace dps310 namespace dps310
{ {
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode); extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
#if defined(CONFIG_I2C)
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency); extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
#endif // CONFIG_I2C
} }
#include <px4_platform_common/getopt.h> #include <px4_platform_common/getopt.h>
@@ -59,12 +61,16 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
{ {
device::Device *interface = nullptr; device::Device *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) { if (config.bus_type == BOARD_I2C_BUS) {
interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency); interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) { } else
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode); #endif // CONFIG_I2C
} if (config.bus_type == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) { if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid); PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
@@ -95,9 +101,15 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
extern "C" int dps310_main(int argc, char *argv[]) extern "C" int dps310_main(int argc, char *argv[])
{ {
using ThisDriver = DPS310; using ThisDriver = DPS310;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
BusCLIArguments cli {true, true};
cli.i2c_address = 0x77; cli.i2c_address = 0x77;
cli.default_i2c_frequency = 400000; cli.default_i2c_frequency = 400000;
#else
BusCLIArguments cli {false, true};
#endif // CONFIG_I2C
cli.default_spi_frequency = 10 * 1000 * 1000; cli.default_spi_frequency = 10 * 1000 * 1000;
const char *verb = cli.parseDefaultArguments(argc, argv); const char *verb = cli.parseDefaultArguments(argc, argv);
src/drivers/imu/invensense/icm20948/CMakeLists.txt
+14 -12
View File
@@ -49,15 +49,17 @@ px4_add_module(
drivers_magnetometer drivers_magnetometer
) )
px4_add_module( if(CONFIG_I2C)
MODULE drivers__imu__invensense__icm20948_i2c_passthrough px4_add_module(
MAIN icm20948_i2c_passthrough MODULE drivers__imu__invensense__icm20948_i2c_passthrough
COMPILE_FLAGS MAIN icm20948_i2c_passthrough
SRCS COMPILE_FLAGS
ICM20948_I2C_Passthrough.cpp SRCS
ICM20948_I2C_Passthrough.hpp ICM20948_I2C_Passthrough.cpp
icm20948_i2c_passthrough_main.cpp ICM20948_I2C_Passthrough.hpp
InvenSense_ICM20948_registers.hpp icm20948_i2c_passthrough_main.cpp
DEPENDS InvenSense_ICM20948_registers.hpp
px4_work_queue DEPENDS
) px4_work_queue
)
endif()
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp
-1
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@@ -43,7 +43,6 @@
#include "AKM_AK09916_registers.hpp" #include "AKM_AK09916_registers.hpp"
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp> #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h> #include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>