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Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-fw_ctrl_api

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This commit is contained in:
RomanBapst
2025-02-04 11:10:04 +03:00
parent 67ac275a19 64d8f9a3c6
commit 37fe25570d
220 changed files with 3050 additions and 979 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v2/default.px4board
+2 -1
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@@ -25,6 +25,7 @@ CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
# CONFIG_EKF2_AUXVEL is not set
# CONFIG_EKF2_BARO_COMPENSATION is not set
# CONFIG_EKF2_DRAG_FUSION is not set
@@ -40,7 +41,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NAVIGATOR_ADSB=n
# CONFIG_NAVIGATOR_ADSB is not set
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
boards/px4/fmu-v5/cryptotest.px4board
+1
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@@ -4,5 +4,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_BOARD_CRYPTO=y
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_DRIVERS_SW_CRYPTO=y
# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
boards/px4/fmu-v5/rover.px4board
-1
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@@ -17,7 +17,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=n
CONFIG_MODULES_UUV_POS_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v5/stackcheck.px4board
-1
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@@ -46,4 +46,3 @@ CONFIG_SYSTEMCMDS_REFLECT=n
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_TESTING=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
boards/px4/fmu-v5x/rover.px4board
-1
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@@ -14,7 +14,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v6c/rover.px4board
-1
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@@ -13,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v6u/rover.px4board
-1
View File
@@ -13,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v6x/multicopter.px4board
-1
View File
@@ -8,7 +8,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_COMMON_RC=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
boards/px4/fmu-v6x/rover.px4board
-1
View File
@@ -13,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v6xrt/rover.px4board
-1
View File
@@ -14,7 +14,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
boards/px4/fmu-v6xrt/src/CMakeLists.txt
+5
View File
@@ -75,9 +75,14 @@ else()
imxrt_flexspi_nor_boot.c
imxrt_flexspi_nor_flash.c
imxrt_clockconfig.c
imxrt_ocram_initialize.c
${SRCS}
)
# Force compiler not to use builtin functions (like memcpy)
# to optimize for loops in init.c (imxrt_ocram_initialize)
set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c
+118
View File
@@ -0,0 +1,118 @@
/****************************************************************************
*
* Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file imxrt_ocram_initialize.c
*
* PX4 fmu-v6xrt RAM startup early startup code.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include "arm_internal.h"
#include "imxrt_iomuxc.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
__BEGIN_DECLS
extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
extern uint64_t _edtcm; /* Copy destination end address in DTCM */
__END_DECLS
/****************************************************************************
* Name: imxrt_ocram_initialize
*
* Description:
* Called off reset vector to reconfigure the flexRAM
* and finish the FLASH to RAM Copy.
* CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
*
****************************************************************************/
__EXPORT void imxrt_ocram_initialize(void)
{
uint32_t regval;
register uint64_t *src;
register uint64_t *dest;
/* Reallocate
* Final Configuration is
* No DTCM
* 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff)
* 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff)
* 64k OCRAM2 ECC parity (2035:0000-2035:ffff)
* 64k OCRAM1 ECC parity (2034:0000-2034:ffff)
* 512k FlexRAM OCRAM2 (202C:0000-2033:ffff)
* 512k FlexRAM OCRAM1 (2024:0000-202B:ffff)
* 256k System OCRAM M4 (2020:0000-2023:ffff)
*/
putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
/* Copy any necessary code sections from FLASH to ITCM. The process is the
* same as the code copying from FLASH to RAM above. */
for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
dest < (uint64_t *)&_eitcmfuncs;) {
*dest++ = *src++;
}
/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
* certain that there are no issues with the state of global variables.
*/
for (dest = &_sdtcm; dest < &_edtcm;) {
*dest++ = 0;
}
#if defined(CONFIG_BOOT_RUNFROMISRAM)
const uint32_t *src;
uint32_t *dest;
for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
dest < (uint32_t *) &_etext;) {
*dest++ = *src++;
}
#endif
}
boards/px4/fmu-v6xrt/src/init.c
-63
View File
@@ -109,11 +109,6 @@ extern void led_off(int led);
extern uint32_t _srodata; /* Start of .rodata */
extern uint32_t _erodata; /* End of .rodata */
extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
extern uint64_t _edtcm; /* Copy destination end address in DTCM */
__END_DECLS
/************************************************************************************
@@ -225,65 +220,7 @@ void imxrt_flash_setup_prefetch_partition(void)
ARM_ISB();
ARM_DMB();
}
/****************************************************************************
* Name: imxrt_ocram_initialize
*
* Description:
* Called off reset vector to reconfigure the flexRAM
* and finish the FLASH to RAM Copy.
*
****************************************************************************/
__EXPORT void imxrt_ocram_initialize(void)
{
uint32_t regval;
register uint64_t *src;
register uint64_t *dest;
/* Reallocate
* Final Configuration is
* No DTCM
* 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff)
* 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff)
* 64k OCRAM2 ECC parity (2035:0000-2035:ffff)
* 64k OCRAM1 ECC parity (2034:0000-2034:ffff)
* 512k FlexRAM OCRAM2 (202C:0000-2033:ffff)
* 512k FlexRAM OCRAM1 (2024:0000-202B:ffff)
* 256k System OCRAM M4 (2020:0000-2023:ffff)
*/
putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
/* Copy any necessary code sections from FLASH to ITCM. The process is the
* same as the code copying from FLASH to RAM above. */
for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
dest < (uint64_t *)&_eitcmfuncs;) {
*dest++ = *src++;
}
/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
* certain that there are no issues with the state of global variables.
*/
for (dest = &_sdtcm; dest < &_edtcm;) {
*dest++ = 0;
}
#if defined(CONFIG_BOOT_RUNFROMISRAM)
const uint32_t *src;
uint32_t *dest;
for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
dest < (uint32_t *) &_etext;) {
*dest++ = *src++;
}
#endif
}
/****************************************************************************
* Name: imxrt_boardinitialize
boards/px4/sitl/default.px4board
-1
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@@ -15,7 +15,6 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_EKF2_VERBOSE_STATUS=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y