diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index ba9b8a1523..2ce027f0ff 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -65,8 +65,6 @@ pipeline { "holybro_pix32v5_default", "matek_gnss-m9n-f4_canbootloader", "matek_gnss-m9n-f4_default", - "matek_h743-mini_default", - "matek_h743-slim_default", "matek_h743_default", "modalai_fc-v1_default", "modalai_fc-v2_default", diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index 2b7828cc5d..2cd9a9ec4a 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -40,8 +40,6 @@ jobs: holybro_pix32v5, matek_gnss-m9n-f4, matek_h743, - matek_h743-mini, - matek_h743-slim, modalai_fc-v1, modalai_fc-v2, mro_ctrl-zero-f7, diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 1f93a5ce3e..56ece27065 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -211,11 +211,11 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: holybro_durandal-v1_default - matek_h743-slim_default: - short: matek_h743-slim + matek_h743_default: + short: matek_h743 buildType: MinSizeRel settings: - CONFIG: matek_h743-slim_default + CONFIG: matek_h743_default matek_gnss-m9n-f4_canbootloader: short: matek_gnss-m9n-f4_canbootloader buildType: MiniSizeRel diff --git a/Makefile b/Makefile index 287fffcb14..96d47569ad 100644 --- a/Makefile +++ b/Makefile @@ -328,7 +328,7 @@ jlink-nuttx: $(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so -bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader +bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader git status .PHONY: coverity_scan diff --git a/boards/matek/h743-mini/bootloader.px4board b/boards/matek/h743-mini/bootloader.px4board deleted file mode 100644 index 19b6e662be..0000000000 --- a/boards/matek/h743-mini/bootloader.px4board +++ /dev/null @@ -1,3 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board deleted file mode 100644 index e654a21f97..0000000000 --- a/boards/matek/h743-mini/default.px4board +++ /dev/null @@ -1,89 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" -CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" -CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" -CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_DRIVERS_BAROMETER_DPS310=y -CONFIG_DRIVERS_CAMERA_CAPTURE=n -CONFIG_DRIVERS_CAMERA_TRIGGER=n -CONFIG_DRIVERS_DSHOT=y -CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y -CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y -CONFIG_COMMON_DISTANCE_SENSOR=n -CONFIG_COMMON_LIGHT=n -CONFIG_COMMON_MAGNETOMETER=n -CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_DRIVERS_OSD=y -CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_PWM_OUT_SIM=n -CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_RPM=n -CONFIG_COMMON_TELEMETRY=y -CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 -CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y -CONFIG_MODULES_BATTERY_STATUS=y -CONFIG_MODULES_COMMANDER=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y -CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_EKF2=y -CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_FLIGHT_MODE_MANAGER=y -CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_POS_CONTROL_L1=y -CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y -CONFIG_MODULES_LAND_DETECTOR=y -CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y -CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y -CONFIG_MODULES_LOGGER=y -CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y -CONFIG_MODULES_MANUAL_CONTROL=y -CONFIG_MODULES_MAVLINK=y -CONFIG_MODULES_MC_ATT_CONTROL=y -CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y -CONFIG_MODULES_MC_POS_CONTROL=y -CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y -CONFIG_MODULES_NAVIGATOR=y -CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_TEMPERATURE_COMPENSATION=n -CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_MODULES_GIMBAL=n -CONFIG_SYSTEMCMDS_BL_UPDATE=n -CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y -CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_DUMPFILE=n -CONFIG_SYSTEMCMDS_GPIO=y -CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_I2CDETECT=y -CONFIG_SYSTEMCMDS_LED_CONTROL=n -CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MOTOR_TEST=n -CONFIG_SYSTEMCMDS_MTD=n -CONFIG_SYSTEMCMDS_NSHTERM=y -CONFIG_SYSTEMCMDS_PARAM=y -CONFIG_SYSTEMCMDS_PERF=y -CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_SD_BENCH=n -CONFIG_SYSTEMCMDS_SD_STRESS=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n -CONFIG_SYSTEMCMDS_SYSTEM_TIME=y -CONFIG_SYSTEMCMDS_TOP=y -CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y -CONFIG_SYSTEMCMDS_TUNE_CONTROL=n -CONFIG_SYSTEMCMDS_UORB=y -CONFIG_SYSTEMCMDS_USB_CONNECTED=y -CONFIG_SYSTEMCMDS_VER=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=n diff --git a/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin b/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin deleted file mode 100755 index 358bb6cc38..0000000000 Binary files a/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin and /dev/null differ diff --git a/boards/matek/h743-mini/extras/matek_h743-slim_bootloader.bin b/boards/matek/h743-mini/extras/matek_h743-slim_bootloader.bin deleted file mode 100644 index 9a03d6bfa4..0000000000 Binary files a/boards/matek/h743-mini/extras/matek_h743-slim_bootloader.bin and /dev/null differ diff --git a/boards/matek/h743-mini/firmware.prototype b/boards/matek/h743-mini/firmware.prototype deleted file mode 100644 index d715678889..0000000000 --- a/boards/matek/h743-mini/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 1013, - "magic": "PX4FWv1", - "description": "Firmware for the MatekH743-slim board", - "image": "", - "build_time": 0, - "summary": "MatekH743-mini", - "version": "0.1", - "image_size": 0, - "image_maxsize": 1966080, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/matek/h743-mini/init/rc.board_extras b/boards/matek/h743-mini/init/rc.board_extras deleted file mode 100644 index a39b81bdc2..0000000000 --- a/boards/matek/h743-mini/init/rc.board_extras +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/sh -# -# board specific extras init -#------------------------------------------------------------------------------ - -# if ! param compare OSD_ATXXXX_CFG 0 -# then -# atxxxx start -s -# fi - -atxxxx start -s - - -# DShot telemetry is always on UART7 -# dshot telemetry /dev/ttyS5 - diff --git a/boards/matek/h743-mini/init/rc.board_sensors b/boards/matek/h743-mini/init/rc.board_sensors deleted file mode 100644 index c37c3b3b58..0000000000 --- a/boards/matek/h743-mini/init/rc.board_sensors +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh -# -# board specific sensors init -#------------------------------------------------------------------------------ - -board_adc start - -# Internal SPI bus ICM-42605 -if ! icm42605 -R 14 -s start -then - # internal SPI bus ICM-20602 - icm20602 -R 12 -s start -fi - -# Internal SPI bus MPU-6000 -mpu6000 -R 12 -s start - -# Internal baro -dps310 -I start -a 118 - -# External mag -qmc5883l -X start -a 13 diff --git a/boards/matek/h743-mini/nuttx-config/Kconfig b/boards/matek/h743-mini/nuttx-config/Kconfig deleted file mode 100644 index bb33d3cfda..0000000000 --- a/boards/matek/h743-mini/nuttx-config/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/matek/h743-mini/nuttx-config/bootloader/defconfig b/boards/matek/h743-mini/nuttx-config/bootloader/defconfig deleted file mode 100644 index 29444c1579..0000000000 --- a/boards/matek/h743-mini/nuttx-config/bootloader/defconfig +++ /dev/null @@ -1,113 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_DEV_CONSOLE is not set -# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_DISABLE_PTHREAD is not set -# CONFIG_SPI_EXCHANGE is not set -# CONFIG_STM32H7_SYSCFG is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-mini/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743VI=y -CONFIG_ARCH_CHIP_STM32H7=y -CONFIG_ARCH_INTERRUPTSTACK=512 -CONFIG_ARMV7M_BASEPRI_WAR=y -CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y -CONFIG_BOARD_INITTHREAD_PRIORITY=254 -CONFIG_BOARD_LATE_INITIALIZE=y -CONFIG_BOARD_LOOPSPERMSEC=22114 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_C99_BOOL8=y -CONFIG_CDCACM=y -CONFIG_CDCACM_PRODUCTID=0x004b -CONFIG_CDCACM_PRODUCTSTR="Matek H743-mini" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x3162 -CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set -CONFIG_DISABLE_MQUEUE=y -CONFIG_DISABLE_PTHREAD=y -CONFIG_EXPERIMENTAL=y -CONFIG_FDCLONE_DISABLE=y -CONFIG_FDCLONE_STDIO=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_SDCLONE_DISABLE=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SPI=y -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=32 -CONFIG_STM32H7_BKPSRAM=y -CONFIG_STM32H7_DMA1=y -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_USART1=y -CONFIG_SYSTEMTICK_HOOK=y -CONFIG_SYSTEM_CDCACM=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_TTY_SIGINT=y -CONFIG_TTY_SIGINT_CHAR=0x03 -CONFIG_TTY_SIGTSTP=y -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_TXBUFSIZE=300 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="bootloader_main" diff --git a/boards/matek/h743-mini/nuttx-config/include/board.h b/boards/matek/h743-mini/nuttx-config/include/board.h deleted file mode 100644 index 4bf2b6e45e..0000000000 --- a/boards/matek/h743-mini/nuttx-config/include/board.h +++ /dev/null @@ -1,493 +0,0 @@ -/************************************************************************************ - * nuttx-configs/px4_fmu-v6u/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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 NuttX 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. - * - ************************************************************************************/ -#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include "board_dma_map.h" - -#include - -#ifndef __ASSEMBLY__ -# include -#endif - -#include "stm32_rcc.h" -#include "stm32_sdmmc.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ -/* The MatekH743-Slim board provides the following clock sources: - * - * X1: 8 MHz crystal for HSE - * - * So we have these clock source available within the STM32 - * - * HSI: 64 MHz RC factory-trimmed - * HSE: 8 MHz crystal for HSE - */ - -#define STM32_BOARD_XTAL 8000000ul - -#define STM32_HSI_FREQUENCY 16000000ul -#define STM32_LSI_FREQUENCY 32000 -#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 - -/* Main PLL Configuration. - * - * PLL source is HSE = 8,000,000 - * - * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN - * Subject to: - * - * 1 <= PLLM <= 63 - * 4 <= PLLN <= 512 - * 150 MHz <= PLL_VCOL <= 420MHz - * 192 MHz <= PLL_VCOH <= 836MHz - * - * SYSCLK = PLL_VCO / PLLP - * CPUCLK = SYSCLK / D1CPRE - * Subject to - * - * PLLP1 = {2, 4, 6, 8, ..., 128} - * PLLP2,3 = {2, 3, 4, ..., 128} - * CPUCLK <= 480 MHz - */ - -#define STM32_BOARD_USEHSE - -#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE - -/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR - * - * PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz - * - * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz - * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz - * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz - */ - -#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP1EN | \ - RCC_PLLCFGR_DIVQ1EN | \ - RCC_PLLCFGR_DIVR1EN) -#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) -#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120) -#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) -#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) -#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) - -#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120) -#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) -#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) -#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) - -/* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) -#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2) -#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) -#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) -#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) -#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) - -#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) -#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) -#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) -#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) - -/* PLL3 */ - -#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVQ3EN) -#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2) -#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) -#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) -#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) -#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) - -#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) -#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) -#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) -#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) - -/* SYSCLK = PLL1P = 480MHz - * CPUCLK = SYSCLK / 1 = 480 MHz - */ - -#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) -#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) -#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) - -/* Configure Clock Assignments */ - -/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) - * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 - */ - -#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ -#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ -#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ -#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ - -/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ -#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ -#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ -#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ - -#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ -#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* Timer clock frequencies */ - -/* Timers driven from APB1 will be twice PCLK1 */ - -#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) - -/* Timers driven from APB2 will be twice PCLK2 */ - -#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) - -/* Kernel Clock Configuration - * - * Note: look at Table 54 in ST Manual - */ - -/* I2C123 clock source */ - -#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI - -/* I2C4 clock source */ - -#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI - -/* SPI123 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 - -/* SPI45 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 - -/* SPI6 clock source */ - -#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 - -/* USB 1 and 2 clock source */ - -#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 - -/* ADC 1 2 3 clock source */ - -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 - -/* FDCAN 1 clock source */ - -#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ - -#define STM32_FDCANCLK STM32_HSE_FREQUENCY - -/* FLASH wait states - * - * ------------ ---------- ----------- - * Vcore MAX ACLK WAIT STATES - * ------------ ---------- ----------- - * 1.15-1.26 V 70 MHz 0 - * (VOS1 level) 140 MHz 1 - * 210 MHz 2 - * 1.05-1.15 V 55 MHz 0 - * (VOS2 level) 110 MHz 1 - * 165 MHz 2 - * 220 MHz 3 - * 0.95-1.05 V 45 MHz 0 - * (VOS3 level) 90 MHz 1 - * 135 MHz 2 - * 180 MHz 3 - * 225 MHz 4 - * ------------ ---------- ----------- - */ - -#define BOARD_FLASH_WAITSTATES 2 - -/* SDMMC definitions ********************************************************/ - -/* Init 480kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ - -#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) - -/* 20 MHz Max for now - more reliable on some boards than 25 MHz - * 20 MHz = PLL1Q/(2*div), div = PLL1Q/(2*freq), div = 6 = 240 / 40 - */ - -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_MMCXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_SDXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif - -#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE - -/* LED definitions ******************************************************************/ -/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, - * that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_NLEDS 2 - -#define BOARD_LED_BLUE BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* Alternate function pin selections ************************************************/ - -#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */ -#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ - -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ - -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ - -#define GPIO_UART4_RX GPIO_UART4_RX_3 /* PB8 */ -#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PB9 */ - -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ - -#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ -#define GPIO_UART7_RTS GPIO_UART7_RTS_1 /* PE9 */ -#define GPIO_UART7_CTS GPIO_UART7_CTS_1 /* PE10 */ - -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ - - -/* CAN - * - * CAN1 is routed to transceiver. - */ - -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ - -/* SPI - * - * SPI1 is MPU6000 - * SPI2 is MAX7456 - * SPI3 is extern with PD4 and PE2 as CS - * SPI4 is ICM20602 - */ - -#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) - -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ - -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ -#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */ - -#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ -#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_4 /* PB5 */ -#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ - -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ -#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ - -/* 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_1 /* PB6 */ -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ - -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) - -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ - -#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) - -/* SDMMC1 - * - * SDMMC1_D0 PC8 - * SDMMC1_D1 PC9 - * SDMMC1_D2 PC10 - * SDMMC1_D3 PC11 - * SDMMC1_CK PC12 - * SDMMC1_CMD PD2 - */ - -// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */ -// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */ -// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */ -// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ -// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ -// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ - - -/* USB - * - * OTG_FS_DM PA11 - * OTG_FS_DP PA12 - * VBUS PA9 - */ - - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# include "stm32_gpio.h" -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ -# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ -# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ -# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ -# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ -# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ - if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - -#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/matek/h743-mini/nuttx-config/include/board_dma_map.h b/boards/matek/h743-mini/nuttx-config/include/board_dma_map.h deleted file mode 100644 index 693132c389..0000000000 --- a/boards/matek/h743-mini/nuttx-config/include/board_dma_map.h +++ /dev/null @@ -1,43 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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. - * - ****************************************************************************/ - -#pragma once - -// DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ - - -// DMAMUX2 -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ diff --git a/boards/matek/h743-mini/nuttx-config/nsh/defconfig b/boards/matek/h743-mini/nuttx-config/nsh/defconfig deleted file mode 100644 index dfa6b12fc7..0000000000 --- a/boards/matek/h743-mini/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,247 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_DISABLE_ENVIRON is not set -# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_DISABLE_PTHREAD is not set -# CONFIG_MMCSD_HAVE_CARDDETECT is not set -# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set -# CONFIG_MMCSD_MMCSUPPORT is not set -# CONFIG_MMCSD_SPI is not set -# CONFIG_NSH_DISABLEBG is not set -# CONFIG_NSH_DISABLESCRIPT is not set -# CONFIG_NSH_DISABLE_DF is not set -# CONFIG_NSH_DISABLE_EXEC is not set -# CONFIG_NSH_DISABLE_EXIT is not set -# CONFIG_NSH_DISABLE_GET is not set -# CONFIG_NSH_DISABLE_ITEF is not set -# CONFIG_NSH_DISABLE_LOOPS is not set -# CONFIG_NSH_DISABLE_SEMICOLON is not set -# CONFIG_NSH_DISABLE_TIME is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-mini/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743VI=y -CONFIG_ARCH_CHIP_STM32H7=y -CONFIG_ARCH_INTERRUPTSTACK=512 -CONFIG_ARCH_STACKDUMP=y -CONFIG_ARMV7M_BASEPRI_WAR=y -CONFIG_ARMV7M_DCACHE=y -CONFIG_ARMV7M_DTCM=y -CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y -CONFIG_BOARD_CRASHDUMP=y -CONFIG_BOARD_LOOPSPERMSEC=95150 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_BUILTIN=y -CONFIG_C99_BOOL8=y -CONFIG_CDCACM=y -CONFIG_CDCACM_PRODUCTID=0x0036 -CONFIG_CDCACM_PRODUCTSTR="MatekH743-mini" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1B8C -CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_EXPERIMENTAL=y -CONFIG_FAT_DMAMEMORY=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_MAX_TASKS=64 -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_MMCSD=y -CONFIG_MMCSD_SDIO=y -CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=4 -CONFIG_NAME_MAX=40 -CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARGCAT=y -CONFIG_NSH_BUILTIN_APPS=y -CONFIG_NSH_CMDPARMS=y -CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_LINELEN=128 -CONFIG_NSH_MAXARGUMENTS=15 -CONFIG_NSH_NESTDEPTH=8 -CONFIG_NSH_QUOTE=y -CONFIG_NSH_ROMFSETC=y -CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y -CONFIG_NSH_VARS=y -CONFIG_OTG_ID_GPIO_DISABLE=y -CONFIG_PIPES=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y -CONFIG_PTHREAD_MUTEX_ROBUST=y -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y -CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_SCHED_HPWORK=y -CONFIG_SCHED_HPWORKPRIORITY=249 -CONFIG_SCHED_HPWORKSTACKSIZE=1280 -CONFIG_SCHED_INSTRUMENTATION=y -CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y -CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 -CONFIG_SCHED_WAITPID=y -CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_PULLUP=y -CONFIG_SEM_PREALLOCHOLDERS=32 -CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SIG_SIGWORK=4 -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=256 -CONFIG_STM32H7_ADC1=y -CONFIG_STM32H7_ADC3=y -CONFIG_STM32H7_BBSRAM=y -CONFIG_STM32H7_BBSRAM_FILES=5 -CONFIG_STM32H7_BDMA=y -CONFIG_STM32H7_BKPSRAM=y -CONFIG_STM32H7_DMA1=y -CONFIG_STM32H7_DMA2=y -CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_FLOWCONTROL_BROKEN=y -CONFIG_STM32H7_I2C1=y -CONFIG_STM32H7_I2C2=y -CONFIG_STM32H7_I2C_DYNTIMEO=y -CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_RTC=y -CONFIG_STM32H7_RTC_HSECLOCK=y -CONFIG_STM32H7_RTC_MAGIC_REG=1 -CONFIG_STM32H7_SAVE_CRASHDUMP=y -CONFIG_STM32H7_SDMMC1=y -CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_SPI1=y -CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=2048 -CONFIG_STM32H7_SPI2=y -CONFIG_STM32H7_SPI3=y -CONFIG_STM32H7_SPI4=y -CONFIG_STM32H7_SPI4_DMA=y -CONFIG_STM32H7_SPI4_DMA_BUFFER=2048 -CONFIG_STM32H7_SPI_DMA=y -CONFIG_STM32H7_SPI_DMATHRESHOLD=8 -CONFIG_STM32H7_TIM15=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_TIM2=y -CONFIG_STM32H7_TIM4=y -CONFIG_STM32H7_TIM5=y -CONFIG_STM32H7_TIM8=y -CONFIG_STM32H7_UART4=y -CONFIG_STM32H7_UART7=y -CONFIG_STM32H7_UART8=y -CONFIG_STM32H7_USART1=y -CONFIG_STM32H7_USART2=y -CONFIG_STM32H7_USART3=y -CONFIG_STM32H7_USART6=y -CONFIG_STM32H7_USART_BREAKS=y -CONFIG_STM32H7_USART_INVERT=y -CONFIG_STM32H7_USART_SINGLEWIRE=y -CONFIG_STM32H7_USART_SWAP=y -CONFIG_SYSTEM_CDCACM=y -CONFIG_SYSTEM_NSH=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_UART4_BAUD=57600 -CONFIG_UART4_RXBUFSIZE=600 -CONFIG_UART4_TXBUFSIZE=1500 -CONFIG_UART7_BAUD=57600 -CONFIG_UART7_IFLOWCONTROL=y -CONFIG_UART7_OFLOWCONTROL=y -CONFIG_UART7_RXBUFSIZE=600 -CONFIG_UART7_TXBUFSIZE=1500 -CONFIG_UART8_BAUD=57600 -CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 -CONFIG_USART1_BAUD=57600 -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_SERIAL_CONSOLE=y -CONFIG_USART1_TXBUFSIZE=1500 -CONFIG_USART2_BAUD=57600 -CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 -CONFIG_USART3_BAUD=57600 -CONFIG_USART3_RXBUFSIZE=600 -CONFIG_USART3_TXBUFSIZE=1500 -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_WATCHDOG=y diff --git a/boards/matek/h743-mini/nuttx-config/scripts/bootloader_script.ld b/boards/matek/h743-mini/nuttx-config/scripts/bootloader_script.ld deleted file mode 100644 index 511ef26242..0000000000 --- a/boards/matek/h743-mini/nuttx-config/scripts/bootloader_script.ld +++ /dev/null @@ -1,213 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. - * The flash memory is partitioned into a User Flash memory and a System - * Flash memory. Each of these memories has two banks: - * - * 1) User Flash memory: - * - * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each - * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each - * - * 2) System Flash memory: - * - * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector - * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector - * - * 3) User option bytes for user configuration, only in Bank 1. - * - * In the STM32H743II, two different boot spaces can be selected through - * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and - * BOOT_ADD1 option bytes: - * - * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. - * ST programmed value: Flash memory at 0x0800:0000 - * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. - * ST programmed value: System bootloader at 0x1FF0:0000 - * - * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, - * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is - * drepresed, then the boot will be from 0x1FF0:0000 - * - * The STM32H743ZI also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K - dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K - sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K - sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K - sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K - sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K - bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - - .ARM.extab : { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/matek/h743-mini/nuttx-config/scripts/script.ld b/boards/matek/h743-mini/nuttx-config/scripts/script.ld deleted file mode 100644 index 85f4990724..0000000000 --- a/boards/matek/h743-mini/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,228 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2020 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/* The board uses an STM32H743II and has 2048Kb of main FLASH memory. - * The flash memory is partitioned into a User Flash memory and a System - * Flash memory. Each of these memories has two banks: - * - * 1) User Flash memory: - * - * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each - * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each - * - * 2) System Flash memory: - * - * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector - * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector - * - * 3) User option bytes for user configuration, only in Bank 1. - * - * In the STM32H743II, two different boot spaces can be selected through - * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and - * BOOT_ADD1 option bytes: - * - * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. - * ST programmed value: Flash memory at 0x0800:0000 - * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. - * ST programmed value: System bootloader at 0x1FF0:0000 - * - * There's a switch on board, the BOOT0 pin is at ground so by default, - * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is - * drepresed, then the boot will be from 0x1FF0:0000 - * - * The STM32H743ZI also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K - - DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ - SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ - SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ - BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > FLASH - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > FLASH - - - .ARM.extab : { - *(.ARM.extab*) - } > FLASH - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > FLASH - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - - /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ - . = ALIGN(16); - FILL(0xffff) - . += 16; - } > AXI_SRAM AT > FLASH = 0xffff - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > AXI_SRAM - - /* Emit the the D3 power domain section for locating BDMA data */ - - .sram4_reserve (NOLOAD) : - { - *(.sram4) - . = ALIGN(4); - _sram4_heap_start = ABSOLUTE(.); - } > SRAM4 - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/matek/h743-mini/src/CMakeLists.txt b/boards/matek/h743-mini/src/CMakeLists.txt deleted file mode 100644 index c47215375d..0000000000 --- a/boards/matek/h743-mini/src/CMakeLists.txt +++ /dev/null @@ -1,68 +0,0 @@ -############################################################################ -# -# Copyright (c) 2021 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. -# -############################################################################ -if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") - add_library(drivers_board - bootloader_main.c - usb.c - ) - target_link_libraries(drivers_board - PRIVATE - nuttx_arch - nuttx_drivers - bootloader - ) - target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) - -else() - add_library(drivers_board - i2c.cpp - init.c - led.c - sdio.c - spi.cpp - timer_config.cpp - usb.c - ) - add_dependencies(drivers_board arch_board_hw_info) - - target_link_libraries(drivers_board - PRIVATE - arch_io_pins - arch_spi - arch_board_hw_info - drivers__led - nuttx_arch - nuttx_drivers - px4_layer - ) -endif() diff --git a/boards/matek/h743-mini/src/board_config.h b/boards/matek/h743-mini/src/board_config.h deleted file mode 100644 index 151d6b59c5..0000000000 --- a/boards/matek/h743-mini/src/board_config.h +++ /dev/null @@ -1,237 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 board_config.h - * - * Board internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -// #define FLASH_BASED_PARAMS - - -/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ - -#define GPIO_nLED_BLUE /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -#define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) - -#define BOARD_HAS_CONTROL_STATUS_LEDS 1 -#define BOARD_ARMED_STATE_LED 1 // Green LED -#define BOARD_OVERLOAD_LED 0 // Blue LED - - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* ADC defines to be used in sensors.cpp to read from a particular channel */ -#define ADC1_CH(n) (n) - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ -#define PX4_ADC_GPIO \ - /* PC0 */ GPIO_ADC123_INP10, \ - /* PC1 */ GPIO_ADC123_INP11, \ - /* PA4 */ GPIO_ADC12_INP18, \ - /* PA7 */ GPIO_ADC12_INP7, \ - /* PC4 */ GPIO_ADC12_INP4, \ - /* PC5 */ GPIO_ADC12_INP8 - -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10) -#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11) -#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA4 */ ADC1_CH(18) -#define ADC_BATTERY2_CURRENT_CHANNEL /* PA7 */ ADC1_CH(7) -#define ADC_AIRSPEED_IN_CHANNEL /* PC4 */ ADC1_CH(4) -#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8) - -#define ADC_CHANNELS \ - ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ - (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ - (1 << ADC_AIRSPEED_IN_CHANNEL) | \ - (1 << ADC_RSSI_IN_CHANNEL)) - - -/* Define Battery 1 Voltage Divider and A per V - */ - -#define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ -#define BOARD_BATTERY1_A_PER_V (40.0f) -#define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ - - -/* CAN Silence - * - * Silent mode control \ ESC Mux select - */ - -#define GPIO_CAN1_SILENT_S0 /* PD3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN3) - - -/* PWM - */ -#define DIRECT_PWM_OUTPUT_CHANNELS 12 -#define DIRECT_INPUT_TIMER_CHANNELS 12 - -#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - - -/* Spare GPIO */ - -// #define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) -// #define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) -// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15) - - -/* Tone alarm output */ - -#define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -#define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) - -// #define TONE_ALARM_TIMER 2 /* Timer 2 */ -// #define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1OUT_2 */ -// #define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -// #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 - - -/* USB OTG FS - * - * PE2 OTG_FS_VBUS VBUS sensing - */ - -#define GPIO_OTGFS_VBUS /* PE2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN2) - - -/* High-resolution timer */ -#define HRT_TIMER 2 /* use timer8 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */ - - -/* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS4" -#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT - -// #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) - - -/* SD Card */ -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - - -#define PX4_GPIO_INIT_LIST { \ - PX4_ADC_GPIO, \ - GPIO_CAN1_TX, \ - GPIO_CAN1_RX, \ - GPIO_CAN1_SILENT_S0, \ - GPIO_nLED_BLUE, \ - GPIO_nLED_GREEN, \ - GPIO_TONE_ALARM_IDLE, \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER - -#define BOARD_NUM_IO_TIMERS 4 - - -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void); - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/matek/h743-mini/src/bootloader_main.c b/boards/matek/h743-mini/src/bootloader_main.c deleted file mode 100644 index 5670308a29..0000000000 --- a/boards/matek/h743-mini/src/bootloader_main.c +++ /dev/null @@ -1,75 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 bootloader_main.c - * - * FMU-specific early startup code for bootloader -*/ - -#include "board_config.h" -#include "bl.h" - -#include -#include -#include -#include -#include -#include "arm_internal.h" -#include - -extern int sercon_main(int c, char **argv); - -__EXPORT void board_on_reset(int status) {} - -__EXPORT void stm32_boardinitialize(void) -{ - /* configure USB interfaces */ - stm32_usbinitialize(); -} - -__EXPORT int board_app_initialize(uintptr_t arg) -{ - return 0; -} - -void board_late_initialize(void) -{ - sercon_main(0, NULL); -} - -extern void sys_tick_handler(void); -void board_timerhook(void) -{ - sys_tick_handler(); -} diff --git a/boards/matek/h743-mini/src/hw_config.h b/boards/matek/h743-mini/src/hw_config.h deleted file mode 100644 index f289dc960d..0000000000 --- a/boards/matek/h743-mini/src/hw_config.h +++ /dev/null @@ -1,135 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#pragma once - -/**************************************************************************** - * 10-8--2016: - * To simplify the ripple effect on the tools, we will be using - * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore - * moving forward all Bootloaders must contain the prefix "PX4 BL " - * in the USBDEVICESTRING - * This Change will be made in an upcoming BL release - ****************************************************************************/ -/* - * Define usage to configure a bootloader - * - * - * Constant example Usage - * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed - * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request - * BOARD_FMUV2 - * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading - * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading - * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string - * USBPRODUCTID 0x0011 - PID Should match defconfig - * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom - * delay provided by an APP FW - * BOARD_TYPE 9 - Must match .prototype boad_id - * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection - * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector - * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector - * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. - * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted - * programmatically - * - * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. - * This is to allow sectors to be reserved for app fw usage. That will NOT be erased - * during a FW upgrade. - * The default is 0, and selects the first sector to be erased, as the 0th entry in the - * flash_sectors table. Which is the second physical sector of FLASH in the device. - * The first physical sector of FLASH is used by the bootloader, and is not defined - * in the table. - * - * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus - * BOOTLOADER_RESERVATION_SIZE will be deducted from - * BOARD_FLASH_SIZE to determine the size of the App FW - * and hence the address space of FLASH to erase and program. - * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) - * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL - * - * * Other defines are somewhat self explanatory. - */ - -/* Boot device selection list*/ -#define USB0_DEV 0x01 -#define SERIAL0_DEV 0x02 -#define SERIAL1_DEV 0x04 - -#define APP_LOAD_ADDRESS 0x08020000 -#define BOOTLOADER_DELAY 5000 -#define INTERFACE_USB 1 -#define INTERFACE_USB_CONFIG "/dev/ttyACM0" -#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) - -//#define USE_VBUS_PULL_DOWN -#define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600" -#define BOOT_DELAY_ADDRESS 0x000001a0 -#define BOARD_TYPE 139 -#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) -#define BOARD_FLASH_SECTORS (15) -#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) - -#define OSC_FREQ 8 - -#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE -#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN -#define BOARD_LED_ON 0 -#define BOARD_LED_OFF 1 - -#define SERIAL_BREAK_DETECT_DISABLED 1 - -#if !defined(ARCH_SN_MAX_LENGTH) -# define ARCH_SN_MAX_LENGTH 12 -#endif - -#if !defined(APP_RESERVATION_SIZE) -# define APP_RESERVATION_SIZE 0 -#endif - -#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) -# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 -#endif - -#if !defined(USB_DATA_ALIGN) -# define USB_DATA_ALIGN -#endif - -#ifndef BOOT_DEVICES_SELECTION -# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#ifndef BOOT_DEVICES_FILTER_ONUSB -# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif diff --git a/boards/matek/h743-mini/src/i2c.cpp b/boards/matek/h743-mini/src/i2c.cpp deleted file mode 100644 index 1444ea1172..0000000000 --- a/boards/matek/h743-mini/src/i2c.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusInternal(2), -}; diff --git a/boards/matek/h743-mini/src/init.c b/boards/matek/h743-mini/src/init.c deleted file mode 100644 index bb1c6f975c..0000000000 --- a/boards/matek/h743-mini/src/init.c +++ /dev/null @@ -1,182 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 init.c - * - * FMU-specific early startup code. This file implements the - * board_app_initialize() 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. - */ - -#include "board_config.h" - -#include - -#include -#include -#include -#include -#include -#include "arm_internal.h" - -#include -#include -#include -#include -#include -#include -#include - -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - UNUSED(ms); -} - -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); - } - - if (status >= 0) { - up_mdelay(6); - } -} - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ -__EXPORT void stm32_boardinitialize(void) -{ - /* Reset PWM first thing */ - board_on_reset(-1); - - /* configure LEDs */ - board_autoled_initialize(); - - /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure SPI interfaces */ - stm32_spiinitialize(); - - /* configure USB interfaces */ - stm32_usbinitialize(); - -} - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform application specific initialization. This function is never - * called directly from application code, but only indirectly via the - * (non-standard) boardctl() interface using the command BOARDIOC_INIT. - * - * Input Parameters: - * arg - The boardctl() argument is passed to the board_app_initialize() - * implementation without modification. The argument has no - * meaning to NuttX; - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ -__EXPORT int board_app_initialize(uintptr_t arg) -{ - /* Need hrt running before using the ADC */ - px4_platform_init(); - - /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - - /* initial LED state */ - drv_led_start(); - led_off(LED_RED); - led_off(LED_BLUE); - - if (board_hardfault_init(2, true) != 0) { - led_on(LED_BLUE); - } - -#ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); - - if (ret != OK) { - led_on(LED_BLUE); - return ret; - } - -#endif - - /* Configure the HW based on the manifest */ - px4_platform_configure(); - - return OK; -} diff --git a/boards/matek/h743-mini/src/led.c b/boards/matek/h743-mini/src/led.c deleted file mode 100644 index 2d60d89be9..0000000000 --- a/boards/matek/h743-mini/src/led.c +++ /dev/null @@ -1,112 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 led.c - * - * LED backend. - */ - -#include - -#include - -#include "chip.h" -#include "stm32_gpio.h" -#include "board_config.h" - -#include -#include - -/* - * Ideally we'd be able to get these from arm_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. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - -# define xlat(p) (p) -static uint32_t g_ledmap[] = { - GPIO_nLED_BLUE, // Indexed by LED_BLUE (defaulted to an output) - GPIO_nLED_GREEN -}; - -__EXPORT void led_init(void) -{ - /* Configure LED GPIOs for output */ - for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { - if (g_ledmap[l] != 0) { - stm32_configgpio(g_ledmap[l]); - } - } -} - -static void phy_set_led(int led, bool state) -{ - /* Drive Low to switch on */ - if (g_ledmap[led] != 0) { - stm32_gpiowrite(g_ledmap[led], !state); - } -} - -static bool phy_get_led(int led) -{ - /* If Low it is on */ - if (g_ledmap[led] != 0) { - return !stm32_gpioread(g_ledmap[led]); - } - - return false; -} - -__EXPORT void led_on(int led) -{ - phy_set_led(xlat(led), true); -} - -__EXPORT void led_off(int led) -{ - phy_set_led(xlat(led), false); -} - -__EXPORT void led_toggle(int led) -{ - phy_set_led(xlat(led), !phy_get_led(xlat(led))); -} diff --git a/boards/matek/h743-mini/src/sdio.c b/boards/matek/h743-mini/src/sdio.c deleted file mode 100644 index 869d757756..0000000000 --- a/boards/matek/h743-mini/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "board_config.h" -#include "stm32_gpio.h" -#include "stm32_sdmmc.h" - -#ifdef CONFIG_MMCSD - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* Card detections requires card support and a card detection GPIO */ - -#define HAVE_NCD 1 -#if !defined(GPIO_SDMMC1_NCD) -# undef HAVE_NCD -#endif - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -static FAR struct sdio_dev_s *sdio_dev; -#ifdef HAVE_NCD -static bool g_sd_inserted = 0xff; /* Impossible value */ -#endif - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_ncd_interrupt - * - * Description: - * Card detect interrupt handler. - * - ****************************************************************************/ - -#ifdef HAVE_NCD -static int stm32_ncd_interrupt(int irq, FAR void *context) -{ - bool present; - - present = !stm32_gpioread(GPIO_SDMMC1_NCD); - - if (sdio_dev && present != g_sd_inserted) { - sdio_mediachange(sdio_dev, present); - g_sd_inserted = present; - } - - return OK; -} -#endif - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void) -{ - int ret; - -#ifdef HAVE_NCD - /* Card detect */ - - bool cd_status; - - /* Configure the card detect GPIO */ - - stm32_configgpio(GPIO_SDMMC1_NCD); - - /* Register an interrupt handler for the card detect pin */ - - stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); -#endif - - /* Mount the SDIO-based MMC/SD block driver */ - /* First, get an instance of the SDIO interface */ - - finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); - - sdio_dev = sdio_initialize(SDIO_SLOTNO); - - if (!sdio_dev) { - syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); - return -ENODEV; - } - - /* Now bind the SDIO interface to the MMC/SD driver */ - - finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); - - ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); - - if (ret != OK) { - syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); - return ret; - } - - finfo("Successfully bound SDIO to the MMC/SD driver\n"); - -#ifdef HAVE_NCD - /* Use SD card detect pin to check if a card is g_sd_inserted */ - - cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); - finfo("Card detect : %d\n", cd_status); - - sdio_mediachange(sdio_dev, cd_status); -#else - /* Assume that the SD card is inserted. What choice do we have? */ - - sdio_mediachange(sdio_dev, true); -#endif - - return OK; -} - -#endif /* CONFIG_MMCSD */ diff --git a/boards/matek/h743-mini/src/spi.cpp b/boards/matek/h743-mini/src/spi.cpp deleted file mode 100644 index db673bedf0..0000000000 --- a/boards/matek/h743-mini/src/spi.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include -#include -#include - - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), - }), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), - }), - initSPIBusExternal(SPI::Bus::SPI3, { - initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin4}), - initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}), - }), - initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}), - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}), - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/matek/h743-mini/src/timer_config.cpp b/boards/matek/h743-mini/src/timer_config.cpp deleted file mode 100644 index e862bf2a7a..0000000000 --- a/boards/matek/h743-mini/src/timer_config.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include - -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}), - initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}), - initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}), - initIOTimer(Timer::Timer15), -}; - -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { - initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}), - 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::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), - initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}), - initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}), -}; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = - initIOTimerChannelMapping(io_timers, timer_io_channels); - - - -constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { - initIOTimer(Timer::Timer1), -}; - -// #define CCER_C1_NUM_BITS 4 -// #define POLARITY(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS)) -// #define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN|GPIO_PULLUP) - -// static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timers_t io_timers_conf[MAX_LED_TIMERS], -// Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity) -// { -// timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin); -// ret.gpio_out = DRIVE_TYPE(ret.gpio_out); -// ret.masks = POLARITY(ui_polarity); -// return ret; -// } - -// constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { -// initIOTimerChannelLED(led_pwm_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}, 1), -// }; diff --git a/boards/matek/h743-mini/src/usb.c b/boards/matek/h743-mini/src/usb.c deleted file mode 100644 index 4fdfafd250..0000000000 --- a/boards/matek/h743-mini/src/usb.c +++ /dev/null @@ -1,78 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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 usb.c - * - * Board-specific USB functions. - */ - -#include "board_config.h" -#include -#include -#include -#include - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32F7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#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. - * - ************************************************************************************/ -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - uinfo("resume: %d\n", resume); -} diff --git a/boards/matek/h743-slim/bootloader.px4board b/boards/matek/h743-slim/bootloader.px4board deleted file mode 100644 index 19b6e662be..0000000000 --- a/boards/matek/h743-slim/bootloader.px4board +++ /dev/null @@ -1,3 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board deleted file mode 100644 index 06c0cd20c3..0000000000 --- a/boards/matek/h743-slim/default.px4board +++ /dev/null @@ -1,88 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" -CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" -CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" -CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_DRIVERS_BAROMETER_DPS310=y -CONFIG_DRIVERS_CAMERA_CAPTURE=n -CONFIG_DRIVERS_CAMERA_TRIGGER=n -CONFIG_COMMON_DISTANCE_SENSOR=y -CONFIG_DRIVERS_DSHOT=y -CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y -CONFIG_COMMON_LIGHT=n -CONFIG_COMMON_MAGNETOMETER=y -CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_DRIVERS_OSD=y -CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_PWM_OUT_SIM=n -CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_RPM=n -CONFIG_COMMON_TELEMETRY=y -CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 -CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y -CONFIG_MODULES_BATTERY_STATUS=y -CONFIG_MODULES_COMMANDER=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y -CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_EKF2=y -CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_FLIGHT_MODE_MANAGER=y -CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_POS_CONTROL_L1=y -CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y -CONFIG_MODULES_LAND_DETECTOR=y -CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y -CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y -CONFIG_MODULES_LOGGER=y -CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y -CONFIG_MODULES_MANUAL_CONTROL=y -CONFIG_MODULES_MAVLINK=y -CONFIG_MODULES_MC_ATT_CONTROL=y -CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n -CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y -CONFIG_MODULES_MC_POS_CONTROL=y -CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_MICRODDS_CLIENT=y -CONFIG_MODULES_NAVIGATOR=y -CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_TEMPERATURE_COMPENSATION=n -CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_MODULES_GIMBAL=n -CONFIG_SYSTEMCMDS_BL_UPDATE=n -CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y -CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_DUMPFILE=n -CONFIG_SYSTEMCMDS_GPIO=y -CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_I2CDETECT=y -CONFIG_SYSTEMCMDS_LED_CONTROL=n -CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MOTOR_TEST=n -CONFIG_SYSTEMCMDS_MTD=n -CONFIG_SYSTEMCMDS_NSHTERM=y -CONFIG_SYSTEMCMDS_PARAM=y -CONFIG_SYSTEMCMDS_PERF=y -CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_SD_BENCH=n -CONFIG_SYSTEMCMDS_SD_STRESS=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n -CONFIG_SYSTEMCMDS_SYSTEM_TIME=y -CONFIG_SYSTEMCMDS_TOP=y -CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y -CONFIG_SYSTEMCMDS_TUNE_CONTROL=n -CONFIG_SYSTEMCMDS_UORB=y -CONFIG_SYSTEMCMDS_USB_CONNECTED=y -CONFIG_SYSTEMCMDS_VER=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=n diff --git a/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin b/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin deleted file mode 100755 index 8a09116735..0000000000 Binary files a/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin and /dev/null differ diff --git a/boards/matek/h743-slim/firmware.prototype b/boards/matek/h743-slim/firmware.prototype deleted file mode 100644 index a1a9b1f725..0000000000 --- a/boards/matek/h743-slim/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 1013, - "magic": "PX4FWv1", - "description": "Firmware for the MatekH743 board", - "image": "", - "build_time": 0, - "summary": "MatekH743", - "version": "0.1", - "image_size": 0, - "image_maxsize": 1966080, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/matek/h743-slim/init/rc.board_extras b/boards/matek/h743-slim/init/rc.board_extras deleted file mode 100644 index a39b81bdc2..0000000000 --- a/boards/matek/h743-slim/init/rc.board_extras +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/sh -# -# board specific extras init -#------------------------------------------------------------------------------ - -# if ! param compare OSD_ATXXXX_CFG 0 -# then -# atxxxx start -s -# fi - -atxxxx start -s - - -# DShot telemetry is always on UART7 -# dshot telemetry /dev/ttyS5 - diff --git a/boards/matek/h743-slim/init/rc.board_sensors b/boards/matek/h743-slim/init/rc.board_sensors deleted file mode 100644 index c37c3b3b58..0000000000 --- a/boards/matek/h743-slim/init/rc.board_sensors +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh -# -# board specific sensors init -#------------------------------------------------------------------------------ - -board_adc start - -# Internal SPI bus ICM-42605 -if ! icm42605 -R 14 -s start -then - # internal SPI bus ICM-20602 - icm20602 -R 12 -s start -fi - -# Internal SPI bus MPU-6000 -mpu6000 -R 12 -s start - -# Internal baro -dps310 -I start -a 118 - -# External mag -qmc5883l -X start -a 13 diff --git a/boards/matek/h743-slim/nuttx-config/Kconfig b/boards/matek/h743-slim/nuttx-config/Kconfig deleted file mode 100644 index bb33d3cfda..0000000000 --- a/boards/matek/h743-slim/nuttx-config/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig deleted file mode 100644 index 9be0611803..0000000000 --- a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig +++ /dev/null @@ -1,115 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_DEV_CONSOLE is not set -# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_DISABLE_PTHREAD is not set -# CONFIG_SPI_EXCHANGE is not set -# CONFIG_STM32H7_SYSCFG is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743VI=y -CONFIG_ARCH_CHIP_STM32H7=y -CONFIG_ARCH_INTERRUPTSTACK=512 -CONFIG_ARMV7M_BASEPRI_WAR=y -CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y -CONFIG_BOARD_INITTHREAD_PRIORITY=254 -CONFIG_BOARD_LATE_INITIALIZE=y -CONFIG_BOARD_LOOPSPERMSEC=22114 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_C99_BOOL8=y -CONFIG_CDCACM=y -CONFIG_CDCACM_IFLOWCONTROL=y -CONFIG_CDCACM_PRODUCTID=0x1013 -CONFIG_CDCACM_PRODUCTSTR="MatekH743" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1209 -CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set -CONFIG_DISABLE_MQUEUE=y -CONFIG_DISABLE_PTHREAD=y -CONFIG_EXPERIMENTAL=y -CONFIG_FDCLONE_DISABLE=y -CONFIG_FDCLONE_STDIO=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_FS_PROCFS_MAX_TASKS=8 -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_SDCLONE_DISABLE=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SPI=y -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=32 -CONFIG_STM32H7_BKPSRAM=y -CONFIG_STM32H7_DMA1=y -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_USART1=y -CONFIG_SYSTEMTICK_HOOK=y -CONFIG_SYSTEM_CDCACM=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_TTY_SIGINT=y -CONFIG_TTY_SIGINT_CHAR=0x03 -CONFIG_TTY_SIGTSTP=y -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_TXBUFSIZE=300 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="bootloader_main" diff --git a/boards/matek/h743-slim/nuttx-config/include/board.h b/boards/matek/h743-slim/nuttx-config/include/board.h deleted file mode 100644 index 4bf2b6e45e..0000000000 --- a/boards/matek/h743-slim/nuttx-config/include/board.h +++ /dev/null @@ -1,493 +0,0 @@ -/************************************************************************************ - * nuttx-configs/px4_fmu-v6u/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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 NuttX 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. - * - ************************************************************************************/ -#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include "board_dma_map.h" - -#include - -#ifndef __ASSEMBLY__ -# include -#endif - -#include "stm32_rcc.h" -#include "stm32_sdmmc.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ -/* The MatekH743-Slim board provides the following clock sources: - * - * X1: 8 MHz crystal for HSE - * - * So we have these clock source available within the STM32 - * - * HSI: 64 MHz RC factory-trimmed - * HSE: 8 MHz crystal for HSE - */ - -#define STM32_BOARD_XTAL 8000000ul - -#define STM32_HSI_FREQUENCY 16000000ul -#define STM32_LSI_FREQUENCY 32000 -#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 - -/* Main PLL Configuration. - * - * PLL source is HSE = 8,000,000 - * - * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN - * Subject to: - * - * 1 <= PLLM <= 63 - * 4 <= PLLN <= 512 - * 150 MHz <= PLL_VCOL <= 420MHz - * 192 MHz <= PLL_VCOH <= 836MHz - * - * SYSCLK = PLL_VCO / PLLP - * CPUCLK = SYSCLK / D1CPRE - * Subject to - * - * PLLP1 = {2, 4, 6, 8, ..., 128} - * PLLP2,3 = {2, 3, 4, ..., 128} - * CPUCLK <= 480 MHz - */ - -#define STM32_BOARD_USEHSE - -#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE - -/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR - * - * PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz - * - * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz - * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz - * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz - */ - -#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP1EN | \ - RCC_PLLCFGR_DIVQ1EN | \ - RCC_PLLCFGR_DIVR1EN) -#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) -#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120) -#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) -#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) -#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) - -#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120) -#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) -#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) -#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) - -/* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) -#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2) -#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) -#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) -#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) -#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) - -#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) -#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) -#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) -#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) - -/* PLL3 */ - -#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVQ3EN) -#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2) -#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) -#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) -#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) -#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) - -#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48) -#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) -#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) -#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) - -/* SYSCLK = PLL1P = 480MHz - * CPUCLK = SYSCLK / 1 = 480 MHz - */ - -#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) -#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) -#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) - -/* Configure Clock Assignments */ - -/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) - * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 - */ - -#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ -#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ -#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ -#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ - -/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ -#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ -#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ -#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ - -#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ -#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* Timer clock frequencies */ - -/* Timers driven from APB1 will be twice PCLK1 */ - -#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) - -/* Timers driven from APB2 will be twice PCLK2 */ - -#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) - -/* Kernel Clock Configuration - * - * Note: look at Table 54 in ST Manual - */ - -/* I2C123 clock source */ - -#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI - -/* I2C4 clock source */ - -#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI - -/* SPI123 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 - -/* SPI45 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 - -/* SPI6 clock source */ - -#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 - -/* USB 1 and 2 clock source */ - -#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 - -/* ADC 1 2 3 clock source */ - -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 - -/* FDCAN 1 clock source */ - -#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ - -#define STM32_FDCANCLK STM32_HSE_FREQUENCY - -/* FLASH wait states - * - * ------------ ---------- ----------- - * Vcore MAX ACLK WAIT STATES - * ------------ ---------- ----------- - * 1.15-1.26 V 70 MHz 0 - * (VOS1 level) 140 MHz 1 - * 210 MHz 2 - * 1.05-1.15 V 55 MHz 0 - * (VOS2 level) 110 MHz 1 - * 165 MHz 2 - * 220 MHz 3 - * 0.95-1.05 V 45 MHz 0 - * (VOS3 level) 90 MHz 1 - * 135 MHz 2 - * 180 MHz 3 - * 225 MHz 4 - * ------------ ---------- ----------- - */ - -#define BOARD_FLASH_WAITSTATES 2 - -/* SDMMC definitions ********************************************************/ - -/* Init 480kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ - -#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) - -/* 20 MHz Max for now - more reliable on some boards than 25 MHz - * 20 MHz = PLL1Q/(2*div), div = PLL1Q/(2*freq), div = 6 = 240 / 40 - */ - -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_MMCXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_SDXFR_CLKDIV (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif - -#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE - -/* LED definitions ******************************************************************/ -/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, - * that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_NLEDS 2 - -#define BOARD_LED_BLUE BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* Alternate function pin selections ************************************************/ - -#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */ -#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ - -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ - -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ - -#define GPIO_UART4_RX GPIO_UART4_RX_3 /* PB8 */ -#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PB9 */ - -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ - -#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ -#define GPIO_UART7_RTS GPIO_UART7_RTS_1 /* PE9 */ -#define GPIO_UART7_CTS GPIO_UART7_CTS_1 /* PE10 */ - -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ - - -/* CAN - * - * CAN1 is routed to transceiver. - */ - -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ - -/* SPI - * - * SPI1 is MPU6000 - * SPI2 is MAX7456 - * SPI3 is extern with PD4 and PE2 as CS - * SPI4 is ICM20602 - */ - -#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) - -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ - -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ -#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */ - -#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ -#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_4 /* PB5 */ -#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ - -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ -#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ - -/* 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_1 /* PB6 */ -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ - -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) - -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ - -#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) - -/* SDMMC1 - * - * SDMMC1_D0 PC8 - * SDMMC1_D1 PC9 - * SDMMC1_D2 PC10 - * SDMMC1_D3 PC11 - * SDMMC1_CK PC12 - * SDMMC1_CMD PD2 - */ - -// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */ -// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */ -// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */ -// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ -// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ -// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ - - -/* USB - * - * OTG_FS_DM PA11 - * OTG_FS_DP PA12 - * VBUS PA9 - */ - - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# include "stm32_gpio.h" -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ -# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ -# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ -# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ -# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ -# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ - if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - -#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h b/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h deleted file mode 100644 index 693132c389..0000000000 --- a/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h +++ /dev/null @@ -1,43 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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. - * - ****************************************************************************/ - -#pragma once - -// DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ - - -// DMAMUX2 -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ diff --git a/boards/matek/h743-slim/nuttx-config/nsh/defconfig b/boards/matek/h743-slim/nuttx-config/nsh/defconfig deleted file mode 100644 index 59efb97000..0000000000 --- a/boards/matek/h743-slim/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,251 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_DISABLE_ENVIRON is not set -# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_DISABLE_PTHREAD is not set -# CONFIG_MMCSD_HAVE_CARDDETECT is not set -# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set -# CONFIG_MMCSD_MMCSUPPORT is not set -# CONFIG_MMCSD_SPI is not set -# CONFIG_NSH_DISABLEBG is not set -# CONFIG_NSH_DISABLESCRIPT is not set -# CONFIG_NSH_DISABLE_DF is not set -# CONFIG_NSH_DISABLE_EXEC is not set -# CONFIG_NSH_DISABLE_EXIT is not set -# CONFIG_NSH_DISABLE_GET is not set -# CONFIG_NSH_DISABLE_ITEF is not set -# CONFIG_NSH_DISABLE_LOOPS is not set -# CONFIG_NSH_DISABLE_SEMICOLON is not set -# CONFIG_NSH_DISABLE_TIME is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743VI=y -CONFIG_ARCH_CHIP_STM32H7=y -CONFIG_ARCH_INTERRUPTSTACK=512 -CONFIG_ARCH_STACKDUMP=y -CONFIG_ARMV7M_BASEPRI_WAR=y -CONFIG_ARMV7M_DCACHE=y -CONFIG_ARMV7M_DTCM=y -CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_ARM_MPU_EARLY_RESET=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y -CONFIG_BOARD_CRASHDUMP=y -CONFIG_BOARD_LOOPSPERMSEC=95150 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_BUILTIN=y -CONFIG_C99_BOOL8=y -CONFIG_CDCACM=y -CONFIG_CDCACM_IFLOWCONTROL=y -CONFIG_CDCACM_PRODUCTID=0x1013 -CONFIG_CDCACM_PRODUCTSTR="MatekH743" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1209 -CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_EXPERIMENTAL=y -CONFIG_FAT_DMAMEMORY=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_MAX_TASKS=64 -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_MMCSD=y -CONFIG_MMCSD_SDIO=y -CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=4 -CONFIG_NAME_MAX=40 -CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARGCAT=y -CONFIG_NSH_BUILTIN_APPS=y -CONFIG_NSH_CMDPARMS=y -CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_LINELEN=128 -CONFIG_NSH_MAXARGUMENTS=15 -CONFIG_NSH_NESTDEPTH=8 -CONFIG_NSH_QUOTE=y -CONFIG_NSH_ROMFSETC=y -CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y -CONFIG_NSH_VARS=y -CONFIG_OTG_ID_GPIO_DISABLE=y -CONFIG_PIPES=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y -CONFIG_PTHREAD_MUTEX_ROBUST=y -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_READLINE_CMD_HISTORY=y -CONFIG_READLINE_TABCOMPLETION=y -CONFIG_RTC_DATETIME=y -CONFIG_LIBC_MAX_EXITFUNS=1 -CONFIG_SCHED_HPWORK=y -CONFIG_SCHED_HPWORKPRIORITY=249 -CONFIG_SCHED_HPWORKSTACKSIZE=1280 -CONFIG_SCHED_INSTRUMENTATION=y -CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y -CONFIG_SCHED_INSTRUMENTATION_SWITCH=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 -CONFIG_SCHED_WAITPID=y -CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_PULLUP=y -CONFIG_SEM_PREALLOCHOLDERS=32 -CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SIG_SIGWORK=4 -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=256 -CONFIG_STM32H7_ADC1=y -CONFIG_STM32H7_ADC3=y -CONFIG_STM32H7_BBSRAM=y -CONFIG_STM32H7_BBSRAM_FILES=5 -CONFIG_STM32H7_BDMA=y -CONFIG_STM32H7_BKPSRAM=y -CONFIG_STM32H7_DMA1=y -CONFIG_STM32H7_DMA2=y -CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_FLOWCONTROL_BROKEN=y -CONFIG_STM32H7_I2C1=y -CONFIG_STM32H7_I2C2=y -CONFIG_STM32H7_I2C_DYNTIMEO=y -CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_RTC=y -CONFIG_STM32H7_RTC_HSECLOCK=y -CONFIG_STM32H7_RTC_MAGIC_REG=1 -CONFIG_STM32H7_SAVE_CRASHDUMP=y -CONFIG_STM32H7_SDMMC1=y -CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_SPI1=y -CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=2048 -CONFIG_STM32H7_SPI2=y -CONFIG_STM32H7_SPI3=y -CONFIG_STM32H7_SPI4=y -CONFIG_STM32H7_SPI4_DMA=y -CONFIG_STM32H7_SPI4_DMA_BUFFER=2048 -CONFIG_STM32H7_SPI_DMA=y -CONFIG_STM32H7_SPI_DMATHRESHOLD=8 -CONFIG_STM32H7_TIM15=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_TIM2=y -CONFIG_STM32H7_TIM4=y -CONFIG_STM32H7_TIM5=y -CONFIG_STM32H7_TIM8=y -CONFIG_STM32H7_UART4=y -CONFIG_STM32H7_UART7=y -CONFIG_STM32H7_UART8=y -CONFIG_STM32H7_USART1=y -CONFIG_STM32H7_USART2=y -CONFIG_STM32H7_USART3=y -CONFIG_STM32H7_USART6=y -CONFIG_STM32H7_USART_BREAKS=y -CONFIG_STM32H7_USART_INVERT=y -CONFIG_STM32H7_USART_SINGLEWIRE=y -CONFIG_STM32H7_USART_SWAP=y -CONFIG_SYSTEM_CDCACM=y -CONFIG_SYSTEM_NSH=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_UART4_BAUD=57600 -CONFIG_UART4_RXBUFSIZE=600 -CONFIG_UART4_TXBUFSIZE=1500 -CONFIG_UART7_BAUD=57600 -CONFIG_UART7_IFLOWCONTROL=y -CONFIG_UART7_OFLOWCONTROL=y -CONFIG_UART7_RXBUFSIZE=600 -CONFIG_UART7_TXBUFSIZE=1500 -CONFIG_UART8_BAUD=57600 -CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 -CONFIG_USART1_BAUD=57600 -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_SERIAL_CONSOLE=y -CONFIG_USART1_TXBUFSIZE=1500 -CONFIG_USART2_BAUD=57600 -CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 -CONFIG_USART3_BAUD=57600 -CONFIG_USART3_RXBUFSIZE=600 -CONFIG_USART3_TXBUFSIZE=1500 -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_WATCHDOG=y diff --git a/boards/matek/h743-slim/nuttx-config/scripts/bootloader_script.ld b/boards/matek/h743-slim/nuttx-config/scripts/bootloader_script.ld deleted file mode 100644 index 511ef26242..0000000000 --- a/boards/matek/h743-slim/nuttx-config/scripts/bootloader_script.ld +++ /dev/null @@ -1,213 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. - * The flash memory is partitioned into a User Flash memory and a System - * Flash memory. Each of these memories has two banks: - * - * 1) User Flash memory: - * - * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each - * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each - * - * 2) System Flash memory: - * - * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector - * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector - * - * 3) User option bytes for user configuration, only in Bank 1. - * - * In the STM32H743II, two different boot spaces can be selected through - * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and - * BOOT_ADD1 option bytes: - * - * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. - * ST programmed value: Flash memory at 0x0800:0000 - * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. - * ST programmed value: System bootloader at 0x1FF0:0000 - * - * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, - * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is - * drepresed, then the boot will be from 0x1FF0:0000 - * - * The STM32H743ZI also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K - dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K - sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K - sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K - sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K - sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K - bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - - .ARM.extab : { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/matek/h743-slim/nuttx-config/scripts/script.ld b/boards/matek/h743-slim/nuttx-config/scripts/script.ld deleted file mode 100644 index c6a8ee1141..0000000000 --- a/boards/matek/h743-slim/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,228 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/* The board uses an STM32H743II and has 2048Kb of main FLASH memory. - * The flash memory is partitioned into a User Flash memory and a System - * Flash memory. Each of these memories has two banks: - * - * 1) User Flash memory: - * - * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each - * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each - * - * 2) System Flash memory: - * - * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector - * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector - * - * 3) User option bytes for user configuration, only in Bank 1. - * - * In the STM32H743II, two different boot spaces can be selected through - * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and - * BOOT_ADD1 option bytes: - * - * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. - * ST programmed value: Flash memory at 0x0800:0000 - * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. - * ST programmed value: System bootloader at 0x1FF0:0000 - * - * There's a switch on board, the BOOT0 pin is at ground so by default, - * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is - * drepresed, then the boot will be from 0x1FF0:0000 - * - * The STM32H743ZI also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K - - DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ - SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ - SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ - BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > FLASH - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > FLASH - - - .ARM.extab : { - *(.ARM.extab*) - } > FLASH - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > FLASH - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - - /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ - . = ALIGN(16); - FILL(0xffff) - . += 16; - } > AXI_SRAM AT > FLASH = 0xffff - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > AXI_SRAM - - /* Emit the the D3 power domain section for locating BDMA data */ - - .sram4_reserve (NOLOAD) : - { - *(.sram4) - . = ALIGN(4); - _sram4_heap_start = ABSOLUTE(.); - } > SRAM4 - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/matek/h743-slim/src/CMakeLists.txt b/boards/matek/h743-slim/src/CMakeLists.txt deleted file mode 100644 index c47215375d..0000000000 --- a/boards/matek/h743-slim/src/CMakeLists.txt +++ /dev/null @@ -1,68 +0,0 @@ -############################################################################ -# -# Copyright (c) 2021 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. -# -############################################################################ -if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") - add_library(drivers_board - bootloader_main.c - usb.c - ) - target_link_libraries(drivers_board - PRIVATE - nuttx_arch - nuttx_drivers - bootloader - ) - target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) - -else() - add_library(drivers_board - i2c.cpp - init.c - led.c - sdio.c - spi.cpp - timer_config.cpp - usb.c - ) - add_dependencies(drivers_board arch_board_hw_info) - - target_link_libraries(drivers_board - PRIVATE - arch_io_pins - arch_spi - arch_board_hw_info - drivers__led - nuttx_arch - nuttx_drivers - px4_layer - ) -endif() diff --git a/boards/matek/h743-slim/src/board_config.h b/boards/matek/h743-slim/src/board_config.h deleted file mode 100644 index f977a2e8dd..0000000000 --- a/boards/matek/h743-slim/src/board_config.h +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 board_config.h - * - * Board internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -// #define FLASH_BASED_PARAMS - - -/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ - -#define GPIO_nLED_BLUE /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -#define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) - -#define BOARD_HAS_CONTROL_STATUS_LEDS 1 -#define BOARD_ARMED_STATE_LED 1 // Green LED -#define BOARD_OVERLOAD_LED 0 // Blue LED - - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* ADC defines to be used in sensors.cpp to read from a particular channel */ -#define ADC1_CH(n) (n) - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ -#define PX4_ADC_GPIO \ - /* PC0 */ GPIO_ADC123_INP10, \ - /* PC1 */ GPIO_ADC123_INP11, \ - /* PA4 */ GPIO_ADC12_INP18, \ - /* PA7 */ GPIO_ADC12_INP7, \ - /* PC4 */ GPIO_ADC12_INP4, \ - /* PC5 */ GPIO_ADC12_INP8 - -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10) -#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11) -#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA4 */ ADC1_CH(18) -#define ADC_BATTERY2_CURRENT_CHANNEL /* PA7 */ ADC1_CH(7) -#define ADC_AIRSPEED_IN_CHANNEL /* PC4 */ ADC1_CH(4) -#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8) - -#define ADC_CHANNELS \ - ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ - (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ - (1 << ADC_AIRSPEED_IN_CHANNEL) | \ - (1 << ADC_RSSI_IN_CHANNEL)) - -/* CAN Silence - * - * Silent mode control \ ESC Mux select - */ - -#define GPIO_CAN1_SILENT_S0 /* PD3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN3) - - -/* PWM - */ -#define DIRECT_PWM_OUTPUT_CHANNELS 12 -#define DIRECT_INPUT_TIMER_CHANNELS 12 - -#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - - -/* Spare GPIO */ - -#define GPIO_VIDEO_PWR /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10) -#define GPIO_VIDEO_CAM /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11) -// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15) - - -/* Tone alarm output */ - -#define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -#define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) - -// #define TONE_ALARM_TIMER 2 /* Timer 2 */ -// #define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1OUT_2 */ -// #define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -// #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 - - -/* USB OTG FS - * - * PE2 OTG_FS_VBUS VBUS sensing - */ - -#define GPIO_OTGFS_VBUS /* PE2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN2) - - -/* High-resolution timer */ -#define HRT_TIMER 2 /* use timer8 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */ - - -/* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS4" -#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT - -// #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) - - -/* SD Card */ -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - - -#define PX4_GPIO_INIT_LIST { \ - PX4_ADC_GPIO, \ - GPIO_CAN1_TX, \ - GPIO_CAN1_RX, \ - GPIO_CAN1_SILENT_S0, \ - GPIO_nLED_BLUE, \ - GPIO_nLED_GREEN, \ - GPIO_TONE_ALARM_IDLE, \ - GPIO_VIDEO_PWR, \ - GPIO_VIDEO_CAM, \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER - -#define BOARD_NUM_IO_TIMERS 4 - - -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void); - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/matek/h743-slim/src/bootloader_main.c b/boards/matek/h743-slim/src/bootloader_main.c deleted file mode 100644 index 5670308a29..0000000000 --- a/boards/matek/h743-slim/src/bootloader_main.c +++ /dev/null @@ -1,75 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 bootloader_main.c - * - * FMU-specific early startup code for bootloader -*/ - -#include "board_config.h" -#include "bl.h" - -#include -#include -#include -#include -#include -#include "arm_internal.h" -#include - -extern int sercon_main(int c, char **argv); - -__EXPORT void board_on_reset(int status) {} - -__EXPORT void stm32_boardinitialize(void) -{ - /* configure USB interfaces */ - stm32_usbinitialize(); -} - -__EXPORT int board_app_initialize(uintptr_t arg) -{ - return 0; -} - -void board_late_initialize(void) -{ - sercon_main(0, NULL); -} - -extern void sys_tick_handler(void); -void board_timerhook(void) -{ - sys_tick_handler(); -} diff --git a/boards/matek/h743-slim/src/hw_config.h b/boards/matek/h743-slim/src/hw_config.h deleted file mode 100644 index 3256b9c63d..0000000000 --- a/boards/matek/h743-slim/src/hw_config.h +++ /dev/null @@ -1,135 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#pragma once - -/**************************************************************************** - * 10-8--2016: - * To simplify the ripple effect on the tools, we will be using - * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore - * moving forward all Bootloaders must contain the prefix "PX4 BL " - * in the USBDEVICESTRING - * This Change will be made in an upcoming BL release - ****************************************************************************/ -/* - * Define usage to configure a bootloader - * - * - * Constant example Usage - * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed - * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request - * BOARD_FMUV2 - * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading - * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading - * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string - * USBPRODUCTID 0x0011 - PID Should match defconfig - * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom - * delay provided by an APP FW - * BOARD_TYPE 9 - Must match .prototype boad_id - * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection - * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector - * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector - * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. - * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted - * programmatically - * - * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. - * This is to allow sectors to be reserved for app fw usage. That will NOT be erased - * during a FW upgrade. - * The default is 0, and selects the first sector to be erased, as the 0th entry in the - * flash_sectors table. Which is the second physical sector of FLASH in the device. - * The first physical sector of FLASH is used by the bootloader, and is not defined - * in the table. - * - * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus - * BOOTLOADER_RESERVATION_SIZE will be deducted from - * BOARD_FLASH_SIZE to determine the size of the App FW - * and hence the address space of FLASH to erase and program. - * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) - * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL - * - * * Other defines are somewhat self explanatory. - */ - -/* Boot device selection list*/ -#define USB0_DEV 0x01 -#define SERIAL0_DEV 0x02 -#define SERIAL1_DEV 0x04 - -#define APP_LOAD_ADDRESS 0x08020000 -#define BOOTLOADER_DELAY 5000 -#define INTERFACE_USB 1 -#define INTERFACE_USB_CONFIG "/dev/ttyACM0" -#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) - -//#define USE_VBUS_PULL_DOWN -#define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600" -#define BOOT_DELAY_ADDRESS 0x000001a0 -#define BOARD_TYPE 1013 -#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) -#define BOARD_FLASH_SECTORS (15) -#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) - -#define OSC_FREQ 8 - -#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE -#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN -#define BOARD_LED_ON 0 -#define BOARD_LED_OFF 1 - -#define SERIAL_BREAK_DETECT_DISABLED 1 - -#if !defined(ARCH_SN_MAX_LENGTH) -# define ARCH_SN_MAX_LENGTH 12 -#endif - -#if !defined(APP_RESERVATION_SIZE) -# define APP_RESERVATION_SIZE 0 -#endif - -#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) -# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 -#endif - -#if !defined(USB_DATA_ALIGN) -# define USB_DATA_ALIGN -#endif - -#ifndef BOOT_DEVICES_SELECTION -# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#ifndef BOOT_DEVICES_FILTER_ONUSB -# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif diff --git a/boards/matek/h743-slim/src/i2c.cpp b/boards/matek/h743-slim/src/i2c.cpp deleted file mode 100644 index 1444ea1172..0000000000 --- a/boards/matek/h743-slim/src/i2c.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusInternal(2), -}; diff --git a/boards/matek/h743-slim/src/init.c b/boards/matek/h743-slim/src/init.c deleted file mode 100644 index f78e570c5a..0000000000 --- a/boards/matek/h743-slim/src/init.c +++ /dev/null @@ -1,204 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 init.c - * - * FMU-specific early startup code. This file implements the - * board_app_initialize() 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. - */ - -#include "board_config.h" - -#include - -#include -#include -#include -#include -#include -#include "arm_internal.h" - -#include -#include -#include -#include -#include -#include -#include - -// # if defined(FLASH_BASED_PARAMS) -// # include -// #endif - -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - UNUSED(ms); -} - -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); - } - - if (status >= 0) { - up_mdelay(6); - } -} - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ -__EXPORT void stm32_boardinitialize(void) -{ - /* Reset PWM first thing */ - board_on_reset(-1); - - /* configure LEDs */ - board_autoled_initialize(); - - /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure SPI interfaces */ - stm32_spiinitialize(); - - /* configure USB interfaces */ - stm32_usbinitialize(); - -} - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform application specific initialization. This function is never - * called directly from application code, but only indirectly via the - * (non-standard) boardctl() interface using the command BOARDIOC_INIT. - * - * Input Parameters: - * arg - The boardctl() argument is passed to the board_app_initialize() - * implementation without modification. The argument has no - * meaning to NuttX; - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ -__EXPORT int board_app_initialize(uintptr_t arg) -{ - /* Need hrt running before using the ADC */ - px4_platform_init(); - - /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - - /* initial LED state */ - drv_led_start(); - led_off(LED_RED); - led_off(LED_BLUE); - - if (board_hardfault_init(2, true) != 0) { - led_on(LED_BLUE); - } - -#ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); - - if (ret != OK) { - led_on(LED_BLUE); - } - -#endif - - -// #if defined(FLASH_BASED_PARAMS) -// static sector_descriptor_t params_sector_map[] = { -// {6, 128 * 1024, 0x081C0000}, -// {7, 128 * 1024, 0x081E0000}, -// {0, 0, 0}, -// }; - -// /* Initialize the flashfs layer to use heap allocated memory */ -// int result = parameter_flashfs_init(params_sector_map, NULL, 0); - -// if (result != OK) { -// syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); -// led_on(LED_BLUE); -// return -ENODEV; -// } - -// #endif - - /* Configure the HW based on the manifest */ - px4_platform_configure(); - - return OK; -} diff --git a/boards/matek/h743-slim/src/led.c b/boards/matek/h743-slim/src/led.c deleted file mode 100644 index 2d60d89be9..0000000000 --- a/boards/matek/h743-slim/src/led.c +++ /dev/null @@ -1,112 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 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 led.c - * - * LED backend. - */ - -#include - -#include - -#include "chip.h" -#include "stm32_gpio.h" -#include "board_config.h" - -#include -#include - -/* - * Ideally we'd be able to get these from arm_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. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - -# define xlat(p) (p) -static uint32_t g_ledmap[] = { - GPIO_nLED_BLUE, // Indexed by LED_BLUE (defaulted to an output) - GPIO_nLED_GREEN -}; - -__EXPORT void led_init(void) -{ - /* Configure LED GPIOs for output */ - for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { - if (g_ledmap[l] != 0) { - stm32_configgpio(g_ledmap[l]); - } - } -} - -static void phy_set_led(int led, bool state) -{ - /* Drive Low to switch on */ - if (g_ledmap[led] != 0) { - stm32_gpiowrite(g_ledmap[led], !state); - } -} - -static bool phy_get_led(int led) -{ - /* If Low it is on */ - if (g_ledmap[led] != 0) { - return !stm32_gpioread(g_ledmap[led]); - } - - return false; -} - -__EXPORT void led_on(int led) -{ - phy_set_led(xlat(led), true); -} - -__EXPORT void led_off(int led) -{ - phy_set_led(xlat(led), false); -} - -__EXPORT void led_toggle(int led) -{ - phy_set_led(xlat(led), !phy_get_led(xlat(led))); -} diff --git a/boards/matek/h743-slim/src/sdio.c b/boards/matek/h743-slim/src/sdio.c deleted file mode 100644 index 869d757756..0000000000 --- a/boards/matek/h743-slim/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 NuttX 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "board_config.h" -#include "stm32_gpio.h" -#include "stm32_sdmmc.h" - -#ifdef CONFIG_MMCSD - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* Card detections requires card support and a card detection GPIO */ - -#define HAVE_NCD 1 -#if !defined(GPIO_SDMMC1_NCD) -# undef HAVE_NCD -#endif - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -static FAR struct sdio_dev_s *sdio_dev; -#ifdef HAVE_NCD -static bool g_sd_inserted = 0xff; /* Impossible value */ -#endif - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_ncd_interrupt - * - * Description: - * Card detect interrupt handler. - * - ****************************************************************************/ - -#ifdef HAVE_NCD -static int stm32_ncd_interrupt(int irq, FAR void *context) -{ - bool present; - - present = !stm32_gpioread(GPIO_SDMMC1_NCD); - - if (sdio_dev && present != g_sd_inserted) { - sdio_mediachange(sdio_dev, present); - g_sd_inserted = present; - } - - return OK; -} -#endif - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void) -{ - int ret; - -#ifdef HAVE_NCD - /* Card detect */ - - bool cd_status; - - /* Configure the card detect GPIO */ - - stm32_configgpio(GPIO_SDMMC1_NCD); - - /* Register an interrupt handler for the card detect pin */ - - stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); -#endif - - /* Mount the SDIO-based MMC/SD block driver */ - /* First, get an instance of the SDIO interface */ - - finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); - - sdio_dev = sdio_initialize(SDIO_SLOTNO); - - if (!sdio_dev) { - syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); - return -ENODEV; - } - - /* Now bind the SDIO interface to the MMC/SD driver */ - - finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); - - ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); - - if (ret != OK) { - syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); - return ret; - } - - finfo("Successfully bound SDIO to the MMC/SD driver\n"); - -#ifdef HAVE_NCD - /* Use SD card detect pin to check if a card is g_sd_inserted */ - - cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); - finfo("Card detect : %d\n", cd_status); - - sdio_mediachange(sdio_dev, cd_status); -#else - /* Assume that the SD card is inserted. What choice do we have? */ - - sdio_mediachange(sdio_dev, true); -#endif - - return OK; -} - -#endif /* CONFIG_MMCSD */ diff --git a/boards/matek/h743-slim/src/spi.cpp b/boards/matek/h743-slim/src/spi.cpp deleted file mode 100644 index db673bedf0..0000000000 --- a/boards/matek/h743-slim/src/spi.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include -#include -#include - - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), - }), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), - }), - initSPIBusExternal(SPI::Bus::SPI3, { - initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin4}), - initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}), - }), - initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}), - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}), - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/matek/h743-slim/src/timer_config.cpp b/boards/matek/h743-slim/src/timer_config.cpp deleted file mode 100644 index e862bf2a7a..0000000000 --- a/boards/matek/h743-slim/src/timer_config.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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. - * - ****************************************************************************/ - -#include - -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}), - initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}), - initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}), - initIOTimer(Timer::Timer15), -}; - -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { - initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}), - 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::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), - initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}), - initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}), -}; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = - initIOTimerChannelMapping(io_timers, timer_io_channels); - - - -constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { - initIOTimer(Timer::Timer1), -}; - -// #define CCER_C1_NUM_BITS 4 -// #define POLARITY(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS)) -// #define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN|GPIO_PULLUP) - -// static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timers_t io_timers_conf[MAX_LED_TIMERS], -// Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity) -// { -// timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin); -// ret.gpio_out = DRIVE_TYPE(ret.gpio_out); -// ret.masks = POLARITY(ui_polarity); -// return ret; -// } - -// constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { -// initIOTimerChannelLED(led_pwm_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}, 1), -// }; diff --git a/boards/matek/h743-slim/src/usb.c b/boards/matek/h743-slim/src/usb.c deleted file mode 100644 index 4fdfafd250..0000000000 --- a/boards/matek/h743-slim/src/usb.c +++ /dev/null @@ -1,78 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2021 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 usb.c - * - * Board-specific USB functions. - */ - -#include "board_config.h" -#include -#include -#include -#include - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32F7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#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. - * - ************************************************************************************/ -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - uinfo("resume: %d\n", resume); -} diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index 0e3b91b463..ee9ee7d89e 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -7,23 +7,17 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y -CONFIG_DRIVERS_CAMERA_CAPTURE=n -CONFIG_DRIVERS_CAMERA_TRIGGER=n CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y -CONFIG_COMMON_LIGHT=n +CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_DRIVERS_OSD=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_PWM_OUT_SIM=n CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_RPM=n CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y @@ -49,7 +43,6 @@ CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MC_ATT_CONTROL=y -CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y @@ -57,33 +50,20 @@ CONFIG_MODULES_MICRODDS_CLIENT=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_MODULES_GIMBAL=n -CONFIG_SYSTEMCMDS_BL_UPDATE=n CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_DUMPFILE=n CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y -CONFIG_SYSTEMCMDS_LED_CONTROL=n -CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MOTOR_TEST=n -CONFIG_SYSTEMCMDS_MTD=n CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_SD_BENCH=n -CONFIG_SYSTEMCMDS_SD_STRESS=n -CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y -CONFIG_SYSTEMCMDS_TUNE_CONTROL=n CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=n diff --git a/boards/matek/h743/extras/matek_h743_bootloader.bin b/boards/matek/h743/extras/matek_h743_bootloader.bin index 8dd5ed219b..00559156fa 100755 Binary files a/boards/matek/h743/extras/matek_h743_bootloader.bin and b/boards/matek/h743/extras/matek_h743_bootloader.bin differ diff --git a/boards/matek/h743/firmware.prototype b/boards/matek/h743/firmware.prototype index a9177f689b..a1a9b1f725 100644 --- a/boards/matek/h743/firmware.prototype +++ b/boards/matek/h743/firmware.prototype @@ -1,7 +1,7 @@ { "board_id": 1013, "magic": "PX4FWv1", - "description": "Firmware for the MatekH743 boards", + "description": "Firmware for the MatekH743 board", "image": "", "build_time": 0, "summary": "MatekH743", diff --git a/boards/matek/h743-slim/init/rc.board_defaults b/boards/matek/h743/init/rc.board_defaults similarity index 100% rename from boards/matek/h743-slim/init/rc.board_defaults rename to boards/matek/h743/init/rc.board_defaults diff --git a/boards/matek/h743/nuttx-config/Kconfig b/boards/matek/h743/nuttx-config/Kconfig deleted file mode 100644 index bb33d3cfda..0000000000 --- a/boards/matek/h743/nuttx-config/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/matek/h743/nuttx-config/bootloader/defconfig b/boards/matek/h743/nuttx-config/bootloader/defconfig index 54259fc2b5..65f888fe8c 100644 --- a/boards/matek/h743/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743/nuttx-config/bootloader/defconfig @@ -7,7 +7,6 @@ # # CONFIG_DEV_CONSOLE is not set # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_DISABLE_PTHREAD is not set # CONFIG_SPI_EXCHANGE is not set # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" @@ -23,52 +22,32 @@ CONFIG_ARMV7M_BASEPRI_WAR=y CONFIG_ARMV7M_ICACHE=y CONFIG_ARMV7M_MEMCPY=y CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_BOARDCTL_RESET=y CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 CONFIG_BOARD_INITTHREAD_PRIORITY=254 CONFIG_BOARD_LATE_INITIALIZE=y CONFIG_BOARD_LOOPSPERMSEC=22114 CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 -CONFIG_C99_BOOL8=y CONFIG_CDCACM=y -CONFIG_CDCACM_PRODUCTID=0x004b -CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim" +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1013 +CONFIG_CDCACM_PRODUCTSTR="MatekH743" CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x3162 +CONFIG_CDCACM_VENDORID=0x1209 CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set -CONFIG_DISABLE_MQUEUE=y -CONFIG_DISABLE_PTHREAD=y CONFIG_EXPERIMENTAL=y CONFIG_FDCLONE_DISABLE=y CONFIG_FDCLONE_STDIO=y CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=2944 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y @@ -79,7 +58,6 @@ CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 CONFIG_RAW_BINARY=y -CONFIG_SDCLONE_DISABLE=y CONFIG_SERIAL_TERMIOS=y CONFIG_SIG_DEFAULT=y CONFIG_SIG_SIGALRM_ACTION=y @@ -109,5 +87,3 @@ CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="bootloader_main" diff --git a/boards/matek/h743/nuttx-config/include/board.h b/boards/matek/h743/nuttx-config/include/board.h index 4bf2b6e45e..878fbdb3a4 100644 --- a/boards/matek/h743/nuttx-config/include/board.h +++ b/boards/matek/h743/nuttx-config/include/board.h @@ -32,8 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ -#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H +#pragma once /************************************************************************************ * Included Files @@ -55,7 +54,7 @@ ************************************************************************************/ /* Clocking *************************************************************************/ -/* The MatekH743-Slim board provides the following clock sources: +/* The board provides the following clock sources: * * X1: 8 MHz crystal for HSE * @@ -186,19 +185,16 @@ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ - #define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ #define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ - #define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ #define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timer clock frequencies */ /* Timers driven from APB1 will be twice PCLK1 */ - #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) @@ -210,7 +206,6 @@ #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* Timers driven from APB2 will be twice PCLK2 */ - #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) @@ -223,35 +218,27 @@ */ /* I2C123 clock source */ - #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C4 clock source */ - #define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* SPI123 clock source */ - #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI45 clock source */ - #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI6 clock source */ - #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* USB 1 and 2 clock source */ - #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* ADC 1 2 3 clock source */ - #define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 clock source */ - #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY @@ -319,29 +306,9 @@ #define BOARD_LED_GREEN BOARD_LED2 /* LED bits for use with board_userled_all() */ - #define BOARD_LED1_BIT (1 << BOARD_LED1) #define BOARD_LED2_BIT (1 << BOARD_LED2) -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - /* Thus if the Green LED is statically on, NuttX has successfully booted and * is, apparently, running normally. If the Red LED is flashing at * approximately 2Hz, then a fatal error has been detected and the system @@ -374,22 +341,12 @@ #define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ -/* CAN - * - * CAN1 is routed to transceiver. - */ - +/* CAN */ #define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ -/* SPI - * - * SPI1 is MPU6000 - * SPI2 is MAX7456 - * SPI3 is extern with PD4 and PE2 as CS - * SPI4 is ICM20602 - */ +/* SPI */ #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ @@ -408,26 +365,13 @@ #define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ #define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ -/* 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. - * - */ - +/* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) - #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ -#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) - /* SDMMC1 * * SDMMC1_D0 PC8 @@ -444,50 +388,3 @@ // #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ // #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ // #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ - - -/* USB - * - * OTG_FS_DM PA11 - * OTG_FS_DP PA12 - * VBUS PA9 - */ - - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# include "stm32_gpio.h" -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ -# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ -# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ -# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ -# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ -# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ - if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - -#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/matek/h743/nuttx-config/nsh/defconfig b/boards/matek/h743/nuttx-config/nsh/defconfig index c30335c612..86936d55c5 100644 --- a/boards/matek/h743/nuttx-config/nsh/defconfig +++ b/boards/matek/h743/nuttx-config/nsh/defconfig @@ -15,13 +15,30 @@ # CONFIG_NSH_DISABLEBG is not set # CONFIG_NSH_DISABLESCRIPT is not set # CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set # CONFIG_NSH_DISABLE_EXEC is not set # CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set # CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set # CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set # CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PRINTF is not set +# CONFIG_NSH_DISABLE_PWD is not set # CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set # CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743/nuttx-config" @@ -40,45 +57,24 @@ CONFIG_ARMV7M_MEMCPY=y CONFIG_ARMV7M_USEBASEPRI=y CONFIG_ARM_MPU_EARLY_RESET=y CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 CONFIG_BOARD_CRASHDUMP=y CONFIG_BOARD_LOOPSPERMSEC=95150 CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BOARD_ASSERT_RESET_VALUE=0 CONFIG_BUILTIN=y -CONFIG_C99_BOOL8=y CONFIG_CDCACM=y -CONFIG_CDCACM_PRODUCTID=0x0036 +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1013 CONFIG_CDCACM_PRODUCTSTR="MatekH743" CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1B8C +CONFIG_CDCACM_VENDORID=0x1209 CONFIG_CDCACM_VENDORSTR="Matek" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_MEMFAULT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 @@ -104,8 +100,11 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=2944 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y @@ -136,8 +135,9 @@ CONFIG_PTHREAD_STACK_MIN=512 CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y CONFIG_RTC_DATETIME=y -CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=249 CONFIG_SCHED_HPWORKSTACKSIZE=1280 @@ -148,7 +148,6 @@ CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SDCLONE_DISABLE=y CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_PREALLOCHOLDERS=32 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -193,7 +192,6 @@ CONFIG_STM32H7_SPI3=y CONFIG_STM32H7_SPI4=y CONFIG_STM32H7_SPI4_DMA=y CONFIG_STM32H7_SPI4_DMA_BUFFER=2048 -CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_SPI_DMATHRESHOLD=8 CONFIG_STM32H7_TIM15=y CONFIG_STM32H7_TIM1=y @@ -243,6 +241,4 @@ CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="nsh_main" CONFIG_WATCHDOG=y diff --git a/boards/matek/h743/src/board_config.h b/boards/matek/h743/src/board_config.h index 151d6b59c5..f977a2e8dd 100644 --- a/boards/matek/h743/src/board_config.h +++ b/boards/matek/h743/src/board_config.h @@ -101,15 +101,6 @@ (1 << ADC_AIRSPEED_IN_CHANNEL) | \ (1 << ADC_RSSI_IN_CHANNEL)) - -/* Define Battery 1 Voltage Divider and A per V - */ - -#define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ -#define BOARD_BATTERY1_A_PER_V (40.0f) -#define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ - - /* CAN Silence * * Silent mode control \ ESC Mux select @@ -128,9 +119,9 @@ /* Spare GPIO */ -// #define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) -// #define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) -// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15) +#define GPIO_VIDEO_PWR /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10) +#define GPIO_VIDEO_CAM /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11) +// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15) /* Tone alarm output */ @@ -183,6 +174,8 @@ GPIO_nLED_BLUE, \ GPIO_nLED_GREEN, \ GPIO_TONE_ALARM_IDLE, \ + GPIO_VIDEO_PWR, \ + GPIO_VIDEO_CAM, \ } #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/matek/h743/src/hw_config.h b/boards/matek/h743/src/hw_config.h index f289dc960d..3256b9c63d 100644 --- a/boards/matek/h743/src/hw_config.h +++ b/boards/matek/h743/src/hw_config.h @@ -96,7 +96,7 @@ #define INTERFACE_USART 1 #define INTERFACE_USART_CONFIG "/dev/ttyS0,57600" #define BOOT_DELAY_ADDRESS 0x000001a0 -#define BOARD_TYPE 139 +#define BOARD_TYPE 1013 #define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) #define BOARD_FLASH_SECTORS (15) #define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) diff --git a/boards/matek/h743/src/init.c b/boards/matek/h743/src/init.c index a2a531882c..f78e570c5a 100644 --- a/boards/matek/h743/src/init.c +++ b/boards/matek/h743/src/init.c @@ -60,6 +60,10 @@ #include #include +// # if defined(FLASH_BASED_PARAMS) +// # include +// #endif + __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -174,6 +178,25 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif + +// #if defined(FLASH_BASED_PARAMS) +// static sector_descriptor_t params_sector_map[] = { +// {6, 128 * 1024, 0x081C0000}, +// {7, 128 * 1024, 0x081E0000}, +// {0, 0, 0}, +// }; + +// /* Initialize the flashfs layer to use heap allocated memory */ +// int result = parameter_flashfs_init(params_sector_map, NULL, 0); + +// if (result != OK) { +// syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); +// led_on(LED_BLUE); +// return -ENODEV; +// } + +// #endif + /* Configure the HW based on the manifest */ px4_platform_configure();