mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Initial support for Tropic VMU
This commit is contained in:
Peter van der Perk
Daniel Agar
parent
c6e86fdea0
commit
5bec4d7aae
5
.vscode/cmake-variants.yaml
vendored
5
.vscode/cmake-variants.yaml
vendored
@ -356,6 +356,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_tropic_default:
|
||||
short: nxp_tropic_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_tropic_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
|
||||
44
boards/nxp/tropic/cmake/upload.cmake
Normal file
44
boards/nxp/tropic/cmake/upload.cmake
Normal file
@ -0,0 +1,44 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2024 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
|
||||
|
||||
add_custom_target(upload_teensy
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
|
||||
DEPENDS ${PX4_FW_NAME}
|
||||
COMMENT "uploading px4"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
)
|
||||
85
boards/nxp/tropic/default.px4board
Normal file
85
boards/nxp/tropic/default.px4board
Normal file
@ -0,0 +1,85 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ETHERNET=y
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_DPS310=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=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_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=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=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_NETMAN=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
13
boards/nxp/tropic/firmware.prototype
Normal file
13
boards/nxp/tropic/firmware.prototype
Normal file
@ -0,0 +1,13 @@
|
||||
{
|
||||
"board_id": 36,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the TROPIC board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "TROPIC",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
34
boards/nxp/tropic/init/rc.board_defaults
Normal file
34
boards/nxp/tropic/init/rc.board_defaults
Normal file
@ -0,0 +1,34 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Mavlink ethernet (CFG 1000)
|
||||
param set-default MAV_2_CONFIG 1000
|
||||
param set-default MAV_2_BROADCAST 1
|
||||
param set-default MAV_2_MODE 0
|
||||
param set-default MAV_2_RADIO_CTL 0
|
||||
param set-default MAV_2_RATE 100000
|
||||
param set-default MAV_2_REMOTE_PRT 14550
|
||||
param set-default MAV_2_UDP_PRT 14550
|
||||
|
||||
param set-default SENS_EN_INA238 0
|
||||
param set-default SENS_EN_INA228 0
|
||||
param set-default SENS_EN_INA226 0
|
||||
|
||||
param set-default BAT1_V_DIV 10.177939394
|
||||
param set-default BAT1_A_PER_V 15.391030303
|
||||
|
||||
|
||||
if [ -f "/fs/microsd/ipcfg-eth0" ]
|
||||
then
|
||||
else
|
||||
netman update -i eth0
|
||||
fi
|
||||
|
||||
safety_button start
|
||||
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
ifup can0
|
||||
fi
|
||||
4
boards/nxp/tropic/init/rc.board_mavlink
Normal file
4
boards/nxp/tropic/init/rc.board_mavlink
Normal file
@ -0,0 +1,4 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# NXP Tropic specific board MAVLink startup script.
|
||||
#------------------------------------------------------------------------------
|
||||
61
boards/nxp/tropic/init/rc.board_sensors
Normal file
61
boards/nxp/tropic/init/rc.board_sensors
Normal file
@ -0,0 +1,61 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# NXP Tropic specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# UART mapping on NXP Tropic
|
||||
#
|
||||
# LPUART5 /dev/ttyS0 DEBUG
|
||||
# LPUART3 /dev/ttyS2 TELEM
|
||||
# LPUART2 /dev/ttyS1 GPS
|
||||
# LPUART4 /dev/ttyS3 AUX
|
||||
# LPUART8 /dev/ttyS4 RC
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if param compare -s ADC_ADS1115_EN 1
|
||||
then
|
||||
ads1115 start -X
|
||||
else
|
||||
board_adc start
|
||||
fi
|
||||
|
||||
|
||||
if param compare SENS_EN_INA226 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina226 -X -b 1 -t 1 -k start
|
||||
fi
|
||||
|
||||
if param compare SENS_EN_INA228 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina228 -X -b 1 -t 1 -k start
|
||||
fi
|
||||
|
||||
if param compare SENS_EN_INA238 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina238 -X -b 1 -t 1 -k start
|
||||
fi
|
||||
|
||||
# Internal SPI bus ICM42688p
|
||||
icm42688p -R 2 -b 3 -s start
|
||||
|
||||
# Internal on IMU SPI BMI088
|
||||
bmi088 -A -R 2 -b 4 -s start
|
||||
bmi088 -G -R 2 -b 4 -s start
|
||||
|
||||
# Internal magnetometer on I2c
|
||||
bmm150 -I -b 4 -R 6 -a 18 start
|
||||
|
||||
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
|
||||
ist8310 -X -b 1 -R 10 start
|
||||
|
||||
# Possible internal Baro
|
||||
|
||||
# Disable startup of internal baros if param is set to false
|
||||
if param compare SENS_INT_BARO_EN 1
|
||||
then
|
||||
dps310 -I -b 4 start
|
||||
fi
|
||||
383
boards/nxp/tropic/nuttx-config/include/board.h
Normal file
383
boards/nxp/tropic/nuttx-config/include/board.h
Normal file
@ -0,0 +1,383 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/nxp_tropic/include/board.h
|
||||
*
|
||||
* Copyright (C) 2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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_NXP_TROPIC_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
|
||||
/* Set VDD_SOC to 1.25V */
|
||||
|
||||
#define IMXRT_VDD_SOC (0x12)
|
||||
|
||||
/* Set Arm PLL (PLL1) to fOut = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
|
||||
* 576Mhz = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
|
||||
* ARM_PLL_DIV_SELECT = 96
|
||||
* ARM_PODF_DIVISOR = 2
|
||||
* 576Mhz = (24Mhz * 96/2) / 2
|
||||
*
|
||||
* AHB_CLOCK_ROOT = PLL1fOut / IMXRT_AHB_PODF_DIVIDER
|
||||
* 1Hz to 600 Mhz = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER
|
||||
* IMXRT_ARM_CLOCK_DIVIDER = 1
|
||||
* 576Mhz = 576Mhz / 1
|
||||
*
|
||||
* PRE_PERIPH_CLK_SEL = PRE_PERIPH_CLK_SEL_PLL1
|
||||
* PERIPH_CLK_SEL = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1)
|
||||
* PERIPH_CLK = 576Mhz
|
||||
*
|
||||
* IPG_CLOCK_ROOT = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER
|
||||
* IMXRT_IPG_PODF_DIVIDER = 4
|
||||
* 144Mhz = 576Mhz / 4
|
||||
*
|
||||
* PRECLK_CLOCK_ROOT = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER
|
||||
* IMXRT_PERCLK_PODF_DIVIDER = 1
|
||||
* 16Mhz = 144Mhz / 9
|
||||
*
|
||||
* SEMC_CLK_ROOT = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2)
|
||||
* IMXRT_SEMC_PODF_DIVIDER = 8
|
||||
* 72Mhz = 576Mhz / 8
|
||||
*
|
||||
* Set Sys PLL (PLL2) to fOut = (24Mhz * (20+(2*(DIV_SELECT)))
|
||||
* 528Mhz = (24Mhz * (20+(2*(1)))
|
||||
*
|
||||
* Set USB1 PLL (PLL3) to fOut = (24Mhz * 20)
|
||||
* 480Mhz = (24Mhz * 20)
|
||||
*
|
||||
* Set LPSPI PLL3 PFD0 to fOut = (480Mhz / 12 * 18)
|
||||
* 720Mhz = (480Mhz / 12 * 18)
|
||||
* 90Mhz = (720Mhz / LSPI_PODF_DIVIDER)
|
||||
*
|
||||
* Set LPI2C PLL3 / 8 to fOut = (480Mhz / 8)
|
||||
* 60Mhz = (480Mhz / 8)
|
||||
* 12Mhz = (60Mhz / LSPI_PODF_DIVIDER)
|
||||
*
|
||||
* Set USDHC1 PLL2 PFD2 to fOut = (528Mhz / 24 * 18)
|
||||
* 396Mhz = (528Mhz / 24 * 18)
|
||||
* 198Mhz = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER)
|
||||
*/
|
||||
|
||||
#define BOARD_XTAL_FREQUENCY 24000000
|
||||
#define IMXRT_PRE_PERIPH_CLK_SEL CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1
|
||||
#define IMXRT_PERIPH_CLK_SEL CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH
|
||||
#define IMXRT_ARM_PLL_DIV_SELECT 96
|
||||
#define IMXRT_ARM_PODF_DIVIDER 2
|
||||
#define IMXRT_AHB_PODF_DIVIDER 1
|
||||
#define IMXRT_IPG_PODF_DIVIDER 4
|
||||
#define IMXRT_PERCLK_CLK_SEL CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT
|
||||
#define IMXRT_PERCLK_PODF_DIVIDER 9
|
||||
#define IMXRT_SEMC_PODF_DIVIDER 8
|
||||
#define IMXRT_CAN_CLK_SELECT CCM_CSCMR2_CAN_CLK_SEL_PLL3_SW_80
|
||||
#define IMXRT_CAN_PODF_DIVIDER 1
|
||||
|
||||
#define IMXRT_LPSPI_CLK_SELECT CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0
|
||||
#define IMXRT_LSPI_PODF_DIVIDER 8
|
||||
|
||||
#define IMXRT_LPI2C_CLK_SELECT CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
|
||||
#define IMXRT_LSI2C_PODF_DIVIDER 5
|
||||
|
||||
#define IMXRT_USDHC1_CLK_SELECT CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0
|
||||
#define IMXRT_USDHC1_PODF_DIVIDER 2
|
||||
|
||||
#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20
|
||||
|
||||
#define IMXRT_SYS_PLL_SELECT CCM_ANALOG_PLL_SYS_DIV_SELECT_22
|
||||
|
||||
#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20
|
||||
|
||||
#define BOARD_CPU_FREQUENCY \
|
||||
(BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER
|
||||
|
||||
#define BOARD_GPT_FREQUENCY \
|
||||
(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
|
||||
|
||||
/* Define this to enable tracing */
|
||||
#if CONFIG_USE_TRACE
|
||||
# define IMXRT_TRACE_PODF_DIVIDER 1
|
||||
# define IMXRT_TRACE_CLK_SELECT CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0
|
||||
#endif
|
||||
|
||||
/* SDIO *****************************************************************************/
|
||||
|
||||
/* Pin drive characteristics */
|
||||
|
||||
#define USDHC1_DATAX_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
#define USDHC1_CMD_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
#define USDHC1_CLK_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_SPEED_MAX)
|
||||
#define USDHC1_CD_IOMUX (IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
|
||||
#define PIN_USDHC1_D0 (GPIO_USDHC1_DATA0_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_02 */
|
||||
#define PIN_USDHC1_D1 (GPIO_USDHC1_DATA1_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_03 */
|
||||
#define PIN_USDHC1_D2 (GPIO_USDHC1_DATA2_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_04 */
|
||||
#define PIN_USDHC1_D3 (GPIO_USDHC1_DATA3_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_05 */
|
||||
#define PIN_USDHC1_DCLK (GPIO_USDHC1_CLK_1 | USDHC1_CLK_IOMUX) /* GPIO_SD_B0_01 */
|
||||
#define PIN_USDHC1_CMD (GPIO_USDHC1_CMD_1 | USDHC1_CMD_IOMUX) /* GPIO_SD_B0_00 */
|
||||
#define PIN_USDHC1_CD (PIN_USDHC1_D3)
|
||||
|
||||
/* Ideal 400Khz for initial inquiry.
|
||||
* Given input clock 198 Mhz.
|
||||
* 386.71875 KHz = 198 Mhz / (256 * 2)
|
||||
*/
|
||||
|
||||
#define BOARD_USDHC_IDMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV256
|
||||
#define BOARD_USDHC_IDMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(2)
|
||||
|
||||
/* Ideal 25 Mhz for other modes
|
||||
* Given input clock 198 Mhz.
|
||||
* 24.75 MHz = 198 Mhz / (8 * 1)
|
||||
*/
|
||||
|
||||
#define BOARD_USDHC_MMCMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_MMCMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
#define BOARD_USDHC_SD1MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_SD1MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
#define BOARD_USDHC_SD4MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_SD4MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
/* ETH Disambiguation *******************************************************/
|
||||
|
||||
/* Ethernet Interrupt: GPIO_B0_15
|
||||
*
|
||||
* This pin has a week pull-up within the PHY, is open-drain, and requires
|
||||
* an external 1k ohm pull-up resistor (present on the EVK). A falling
|
||||
* edge then indicates a change in state of the PHY.
|
||||
*/
|
||||
|
||||
#define GPIO_ENET_INT (IOMUX_ENET_INT_DEFAULT | \
|
||||
GPIO_PORT2 | GPIO_PIN15) /* B0_15 */
|
||||
#define GPIO_ENET_IRQ IMXRT_IRQ_GPIO2_15
|
||||
|
||||
/* Ethernet Reset: GPIO_B0_14
|
||||
*
|
||||
* The #RST uses inverted logic. The initial value of zero will put the
|
||||
* PHY into the reset state.
|
||||
*/
|
||||
|
||||
#define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
|
||||
GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
|
||||
|
||||
#define GPIO_ENET_TX_DATA00 (GPIO_ENET_TX_DATA00_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_07 */
|
||||
#define GPIO_ENET_TX_DATA01 (GPIO_ENET_TX_DATA01_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_08 */
|
||||
#define GPIO_ENET_RX_DATA00 (GPIO_ENET_RX_DATA00_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_04 */
|
||||
#define GPIO_ENET_RX_DATA01 (GPIO_ENET_RX_DATA01_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_05 */
|
||||
#define GPIO_ENET_MDIO (GPIO_ENET_MDIO_1|IOMUX_ENET_MDIO_DEFAULT) /* GPIO_B1_15 */
|
||||
#define GPIO_ENET_MDC (GPIO_ENET_MDC_1|IOMUX_ENET_MDC_DEFAULT) /* GPIO_B1_14 */
|
||||
#define GPIO_ENET_RX_EN (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_06 */
|
||||
#define GPIO_ENET_RX_ER (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */
|
||||
#define GPIO_ENET_TX_CLK (GPIO_ENET_REF_CLK_2|\
|
||||
IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_B1_10 */
|
||||
#define GPIO_ENET_TX_EN (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_09 */
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The nxp fmutr1062 board has numerous LEDs but only three, LED_GREEN a Green LED,
|
||||
* LED_BLUE a Blue LED and LED_RED a Red 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_LED3 2
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
#define BOARD_LED3_BIT (1 << BOARD_LED3)
|
||||
|
||||
/* 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.
|
||||
*/
|
||||
|
||||
/* PIO Disambiguation ***************************************************************/
|
||||
/* LPUARTs
|
||||
*/
|
||||
#define LPUART_IOMUX (IOMUX_PULL_UP_22K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW | IOMUX_SPEED_LOW | IOMUX_SCHMITT_TRIGGER)
|
||||
#define IOMUX_UART_CTS_DEFAULT (IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW)
|
||||
|
||||
/* Debug */
|
||||
|
||||
#define GPIO_LPUART5_RX (GPIO_LPUART5_RX_1 | LPUART_IOMUX) /* GPIO_B1_13 */
|
||||
#define GPIO_LPUART5_TX (GPIO_LPUART5_TX_1 | LPUART_IOMUX) /* GPIO_B1_12 */
|
||||
|
||||
/* AUX */
|
||||
|
||||
#define GPIO_LPUART4_RX (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
|
||||
#define GPIO_LPUART4_TX (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */
|
||||
|
||||
/* GPS 1 */
|
||||
|
||||
#define GPIO_LPUART2_RX (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_03 */
|
||||
#define GPIO_LPUART2_TX (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_02 */
|
||||
|
||||
/* Telem 1 */
|
||||
|
||||
#define HS_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K)
|
||||
#define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP)
|
||||
|
||||
#define GPIO_LPUART3_RX (GPIO_LPUART3_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_07 */
|
||||
#define GPIO_LPUART3_TX (GPIO_LPUART3_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_06 */
|
||||
#define GPIO_LPUART3_CTS (GPIO_LPUART3_CTS_1 | IOMUX_UART_CTS_DEFAULT | PADMUX_SION) /* GPIO_AD_B1_04 GPIO1_IO20 (GPIO only, no HW Flow control) */
|
||||
#define GPIO_LPUART3_RTS (GPIO_PORT1 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_AD_B1_05 GPIO1_IO21 (GPIO only, no HW Flow control) */
|
||||
//TODO check RT7 partial HW handshake
|
||||
|
||||
/* RC INPUT single wire mode on TX, RX is not used */
|
||||
|
||||
#define GPIO_LPUART8_RX (GPIO_LPUART8_RX_2 | LPUART_IOMUX) /* WRONG!! */
|
||||
#define GPIO_LPUART8_TX (GPIO_LPUART8_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_10 */
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to transceiver.
|
||||
* CAN2 is routed to transceiver.
|
||||
* CAN3 is routed to transceiver.
|
||||
*/
|
||||
#define FLEXCAN_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MEDIUM)
|
||||
|
||||
#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_37 */
|
||||
#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_36 */
|
||||
|
||||
/* LPSPI */
|
||||
#define LPSPI_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MAX)
|
||||
|
||||
|
||||
#define GPIO_LPSPI3_SCK (GPIO_LPSPI3_SCK_1 | LPSPI_IOMUX) /* GPIO_AD_B1_15 */
|
||||
#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDI_1 | LPSPI_IOMUX) /* GPIO_AD_B1_13 */
|
||||
#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDO_1 | LPSPI_IOMUX) /* GPIO_AD_B1_14 */
|
||||
|
||||
#define GPIO_LPSPI4_SCK (GPIO_LPSPI4_SCK_2 | LPSPI_IOMUX) /* GPIO_B0_03 */
|
||||
#define GPIO_LPSPI4_MISO (GPIO_LPSPI4_SDI_2 | LPSPI_IOMUX) /* GPIO_B0_01 */
|
||||
#define GPIO_LPSPI4_MOSI (GPIO_LPSPI4_SDO_2 | LPSPI_IOMUX) /* GPIO_B0_02 */
|
||||
|
||||
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
|
||||
|
||||
/* LPI2Cs */
|
||||
|
||||
#define LPI2C_IOMUX (IOMUX_SPEED_MEDIUM | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | GPIO_SION_ENABLE)
|
||||
#define LPI2C_IO_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | IOMUX_PULL_NONE)
|
||||
|
||||
#define GPIO_LPI2C1_SDA (GPIO_LPI2C1_SDA_2 | LPI2C_IOMUX) /* EVK J24-9 R276 */ /* GPIO_AD_B1_01 */
|
||||
#define GPIO_LPI2C1_SCL (GPIO_LPI2C1_SCL_2 | LPI2C_IOMUX) /* EVK J24-10 R277 */ /* GPIO_AD_B1_00 */
|
||||
|
||||
#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_01 GPIO1_IO17 */
|
||||
#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT1 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_00 GPIO1_IO16 */
|
||||
|
||||
#define GPIO_LPI2C4_SDA (GPIO_LPI2C4_SDA_1 | LPI2C_IOMUX) /* GPIO_AD_B0_13 */
|
||||
#define GPIO_LPI2C4_SCL (GPIO_LPI2C4_SCL_1 | LPI2C_IOMUX) /* GPIO_AD_B0_12 */
|
||||
|
||||
#define GPIO_LPI2C4_SDA_RESET (GPIO_PORT1 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_13 */
|
||||
#define GPIO_LPI2C4_SCL_RESET (GPIO_PORT1 | GPIO_PIN12 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_12 */
|
||||
|
||||
/* Board doesn't provide GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#define PROBE_INIT(mask)
|
||||
#define PROBE(n,s)
|
||||
#define PROBE_MARK(n)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H */
|
||||
235
boards/nxp/tropic/nuttx-config/nsh/defconfig
Normal file
235
boards/nxp/tropic/nuttx-config/nsh/defconfig
Normal file
@ -0,0 +1,235 @@
|
||||
#
|
||||
# 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_NSH_DISABLE_MB is not set
|
||||
# CONFIG_NSH_DISABLE_MH is not set
|
||||
# CONFIG_NSH_DISABLE_MW is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/tropic/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="imxrt"
|
||||
CONFIG_ARCH_CHIP_IMXRT=y
|
||||
CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=2048
|
||||
CONFIG_ARCH_RAMVECTORS=y
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_ITCM=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_LOOPSPERMSEC=114325
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_PRODUCTID=0x0024
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 TROPIC"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1FC9
|
||||
CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_ETH0_PHY_DP83825I=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FSUTILS_IPCFG=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=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=2048
|
||||
CONFIG_IMXRT_EDMA=y
|
||||
CONFIG_IMXRT_EDMA_EDBG=y
|
||||
CONFIG_IMXRT_EDMA_ELINK=y
|
||||
CONFIG_IMXRT_EDMA_NTCD=64
|
||||
CONFIG_IMXRT_ENET=y
|
||||
CONFIG_IMXRT_ENET_NTXBUFFERS=8
|
||||
CONFIG_IMXRT_ENET_PHYINIT=y
|
||||
CONFIG_IMXRT_FLEXCAN3=y
|
||||
CONFIG_IMXRT_FLEXCAN_TXMB=1
|
||||
CONFIG_IMXRT_GPIO1_0_15_IRQ=y
|
||||
CONFIG_IMXRT_GPIO1_16_31_IRQ=y
|
||||
CONFIG_IMXRT_GPIO2_0_15_IRQ=y
|
||||
CONFIG_IMXRT_GPIO2_16_31_IRQ=y
|
||||
CONFIG_IMXRT_GPIO_IRQ=y
|
||||
CONFIG_IMXRT_INIT_FLEXRAM=y
|
||||
CONFIG_IMXRT_ITCM=384
|
||||
CONFIG_IMXRT_LPI2C1=y
|
||||
CONFIG_IMXRT_LPI2C4=y
|
||||
CONFIG_IMXRT_LPI2C_DMA=y
|
||||
CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16
|
||||
CONFIG_IMXRT_LPI2C_DYNTIMEO=y
|
||||
CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_IMXRT_LPSPI3=y
|
||||
CONFIG_IMXRT_LPSPI3_DMA=y
|
||||
CONFIG_IMXRT_LPSPI4=y
|
||||
CONFIG_IMXRT_LPSPI4_DMA=y
|
||||
CONFIG_IMXRT_LPSPI_DMA=y
|
||||
CONFIG_IMXRT_LPUART2=y
|
||||
CONFIG_IMXRT_LPUART3=y
|
||||
CONFIG_IMXRT_LPUART4=y
|
||||
CONFIG_IMXRT_LPUART5=y
|
||||
CONFIG_IMXRT_LPUART8=y
|
||||
CONFIG_IMXRT_LPUART_INVERT=y
|
||||
CONFIG_IMXRT_LPUART_SINGLEWIRE=y
|
||||
CONFIG_IMXRT_SNVS_LPSRTC=y
|
||||
CONFIG_IMXRT_USBDEV=y
|
||||
CONFIG_IMXRT_USDHC1=y
|
||||
CONFIG_IMXRT_USDHC1_INVERT_CD=y
|
||||
CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INTELHEX_BINARY=y
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_IPCFG_BINARY=y
|
||||
CONFIG_IPCFG_PATH="/fs/microsd"
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LPI2C1_DMA=y
|
||||
CONFIG_LPI2C4_DMA=y
|
||||
CONFIG_LPUART2_RXDMA=y
|
||||
CONFIG_LPUART2_TXDMA=y
|
||||
CONFIG_LPUART3_BAUD=57600
|
||||
CONFIG_LPUART3_IFLOWCONTROL=y
|
||||
CONFIG_LPUART3_OFLOWCONTROL=y
|
||||
CONFIG_LPUART3_RXBUFSIZE=600
|
||||
CONFIG_LPUART3_RXDMA=y
|
||||
CONFIG_LPUART3_TXBUFSIZE=3000
|
||||
CONFIG_LPUART3_TXDMA=y
|
||||
CONFIG_LPUART5_BAUD=57600
|
||||
CONFIG_LPUART5_SERIAL_CONSOLE=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NET=y
|
||||
CONFIG_NETDB_DNSCLIENT=y
|
||||
CONFIG_NETDB_DNSSERVER_NOADDR=y
|
||||
CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
|
||||
CONFIG_NETDEV_CAN_FILTER_IOCTL=y
|
||||
CONFIG_NETDEV_IFINDEX=y
|
||||
CONFIG_NETDEV_LATEINIT=y
|
||||
CONFIG_NETDEV_PHY_IOCTL=y
|
||||
CONFIG_NETINIT_DHCPC=y
|
||||
CONFIG_NETINIT_DNS=y
|
||||
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_RETRY_MOUNTPATH=10
|
||||
CONFIG_NETINIT_THREAD=y
|
||||
CONFIG_NETINIT_THREAD_PRIORITY=49
|
||||
CONFIG_NETUTILS_TELNETD=y
|
||||
CONFIG_NET_ARP_IPIN=y
|
||||
CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_EXTID=y
|
||||
CONFIG_NET_CAN_NOTIFIER=y
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=20
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_STATISTICS=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
CONFIG_NET_TCP_DELAYED_ACK=y
|
||||
CONFIG_NET_TCP_WRITE_BUFFERS=y
|
||||
CONFIG_NET_TIMESTAMP=y
|
||||
CONFIG_NET_UDP=y
|
||||
CONFIG_NET_UDP_CHECKSUMS=y
|
||||
CONFIG_NET_UDP_WRITE_BUFFERS=y
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_READLINE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_TELNET_LOGIN=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=1048576
|
||||
CONFIG_RAM_START=0x20200000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1800
|
||||
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_SDIO_BLOCKSETUP=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_SPI=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_CLE=y
|
||||
CONFIG_SYSTEM_DHCPC_RENEW=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_SYSTEM_PING=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_DUALSPEED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
@ -0,0 +1,885 @@
|
||||
/* Static */
|
||||
*(.text.arm_ack_irq)
|
||||
*(.text.arm_doirq)
|
||||
*(.text.arm_svcall)
|
||||
*(.text.arm_switchcontext)
|
||||
*(.text.board_autoled_on)
|
||||
*(.text.clock_timer)
|
||||
*(.text.exception_common)
|
||||
*(.text.hrt_absolute_time)
|
||||
*(.text.hrt_tim_isr)
|
||||
*(.text.imxrt_configwaitints)
|
||||
*(.text.imxrt_dma_callback)
|
||||
*(.text.imxrt_dmach_interrupt)
|
||||
*(.text.imxrt_dmaterminate)
|
||||
*(.text.imxrt_edma_interrupt)
|
||||
*(.text.imxrt_endwait)
|
||||
*(.text.imxrt_gpio3_16_31_interrupt)
|
||||
*(.text.imxrt_interrupt)
|
||||
*(.text.imxrt_lpi2c_isr)
|
||||
*(.text.imxrt_recvdma)
|
||||
*(.text.imxrt_tcd_free)
|
||||
*(.text.imxrt_timerisr)
|
||||
*(.text.imxrt_usbinterrupt)
|
||||
*(.text.irq_dispatch)
|
||||
*(.text.memcpy)
|
||||
*(.text.nxsched_add_blocked)
|
||||
*(.text.nxsched_add_prioritized)
|
||||
*(.text.nxsched_add_readytorun)
|
||||
*(.text.nxsched_get_files)
|
||||
*(.text.nxsched_get_tcb)
|
||||
*(.text.nxsched_merge_pending)
|
||||
*(.text.nxsched_process_timer)
|
||||
*(.text.nxsched_remove_blocked)
|
||||
*(.text.nxsched_remove_readytorun)
|
||||
*(.text.nxsched_resume_scheduler)
|
||||
*(.text.nxsched_suspend_scheduler)
|
||||
*(.text.nxsem_add_holder)
|
||||
*(.text.nxsem_add_holder_tcb)
|
||||
*(.text.nxsem_clockwait)
|
||||
*(.text.nxsem_foreachholder)
|
||||
*(.text.nxsem_freecount0holder)
|
||||
*(.text.nxsem_freeholder)
|
||||
*(.text.nxsem_post)
|
||||
*(.text.nxsem_release_holder)
|
||||
*(.text.nxsem_restore_baseprio)
|
||||
*(.text.nxsem_tickwait)
|
||||
*(.text.nxsem_timeout)
|
||||
*(.text.nxsem_trywait)
|
||||
*(.text.nxsem_wait)
|
||||
*(.text.nxsem_wait_uninterruptible)
|
||||
*(.text.nxsig_timedwait)
|
||||
*(.text.sched_lock)
|
||||
*(.text.sched_note_resume)
|
||||
*(.text.sched_note_suspend)
|
||||
*(.text.sched_unlock)
|
||||
*(.text.sq_addafter)
|
||||
*(.text.sq_addlast)
|
||||
*(.text.sq_rem)
|
||||
*(.text.sq_remafter)
|
||||
*(.text.sq_remfirst)
|
||||
*(.text.uart_connected)
|
||||
*(.text.wd_timer)
|
||||
/* Tropic tune */
|
||||
*(.text.imxrt_enet_interrupt)
|
||||
*(.text.imxrt_enet_interrupt_work)
|
||||
*(.text.imxrt_txdone)
|
||||
*(.text.imxrt_txtimeout_work)
|
||||
*(.text.imxrt_txtimeout_expiry)
|
||||
*(.text.imxrt_txavail_work)
|
||||
*(.text.imxrt_txavail)
|
||||
*(.text.devif_poll)
|
||||
*(.text.devif_poll_tcp_connections)
|
||||
*(.text.tcp_poll)
|
||||
*(.text.devif_poll_udp_connections)
|
||||
*(.text.udp_nextconn)
|
||||
*(.text.udp_poll)
|
||||
*(.text.udp_ipv4_select)
|
||||
*(.text.udp_callback)
|
||||
*(.text.udp_datahandler)
|
||||
*(.text.udp_send)
|
||||
*(.text.udp_active)
|
||||
*(.text.udp_ipv4_active)
|
||||
*(.text.psock_udp_sendto)
|
||||
*(.text.sendto_eventhandler)
|
||||
*(.text.net_dataevent)
|
||||
*(.text.devif_conn_event)
|
||||
*(.text.devif_event_trigger)
|
||||
*(.text.devif_poll_icmp)
|
||||
*(.text.icmp_poll)
|
||||
*(.text.devif_packet_conversion)
|
||||
*(.text.imxrt_txpoll)
|
||||
*(.text.imxrt_txringfull)
|
||||
*(.text.arp_out)
|
||||
*(.text.arp_find)
|
||||
*(.text.arp_format)
|
||||
*(.text.net_ipv4addr_hdrcmp)
|
||||
*(.text.net_ipv4addr_copy)
|
||||
*(.text.net_ipv4addr_broadcast)
|
||||
*(.text.imxrt_transmit)
|
||||
*(.text.wd_start)
|
||||
*(.text.imxrt_dispatch)
|
||||
*(.text.arp_arpin)
|
||||
*(.text.ipv4_input)
|
||||
|
||||
|
||||
*(.text.work_thread)
|
||||
*(.text.work_queue)
|
||||
|
||||
/* Auto-generated */
|
||||
*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
|
||||
*(.text._ZN13MavlinkStream6updateERKy)
|
||||
*(.text._ZN7Mavlink16update_rate_multEv)
|
||||
*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
|
||||
*(.text._ZN13MavlinkStream12get_size_avgEv)
|
||||
*(.text._ZN16ControlAllocator3RunEv)
|
||||
*(.text._ZN22MulticopterRateControl3RunEv.part.0)
|
||||
*(.text._ZN7Mavlink9task_mainEiPPc)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
|
||||
*(.text.memset)
|
||||
*(.text._ZN4uORB12Subscription9subscribeEv.part.0)
|
||||
*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
|
||||
*(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
|
||||
*(.text.strcmp)
|
||||
*(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
|
||||
*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
|
||||
*(.text._Z12get_orb_meta6ORB_ID)
|
||||
*(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
|
||||
*(.text._ZN3px49WorkQueue3RunEv)
|
||||
*(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
|
||||
*(.text._ZN4EKF23RunEv)
|
||||
*(.text.imxrt_lpspi_exchange)
|
||||
*(.text.imxrt_dmach_xfrsetup)
|
||||
*(.text._ZN7sensors10VehicleIMU7PublishEv)
|
||||
*(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
|
||||
*(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
|
||||
*(.text._ZN9ICM42688P8FIFOReadERKyh)
|
||||
*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
|
||||
*(.text.up_block_task)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
|
||||
*(.text._ZN4uORB12Subscription10advertisedEv)
|
||||
*(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
|
||||
*(.text._ZN7sensors10VehicleIMU11UpdateAccelEv)
|
||||
*(.text.perf_set_elapsed.part.0)
|
||||
*(.text._ZN4uORB12Subscription6updateEPv)
|
||||
*(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
|
||||
*(.text._ZN7sensors10VehicleIMU3RunEv)
|
||||
*(.text.up_unblock_task)
|
||||
*(.text.__aeabi_l2f)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
|
||||
*(.text.pthread_mutex_timedlock)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
|
||||
*(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
|
||||
*(.text._ZN6device3SPI9_transferEPhS1_j)
|
||||
*(.text._ZN15OutputPredictor21calculateOutputStatesEyRKN6matrix7Vector3IfEEfS4_f)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate7imuPollER17sensor_combined_s)
|
||||
*(.text._Z9rotate_3i8RotationRsS0_S0_)
|
||||
*(.text.fs_getfilep)
|
||||
*(.text.MEM_DataCopy0_1)
|
||||
*(.text._ZN7sensors19VehicleAcceleration3RunEv)
|
||||
*(.text.uart_ioctl)
|
||||
*(.text._ZN26MulticopterPositionControl3RunEv.part.0)
|
||||
*(.text.pthread_mutex_take)
|
||||
*(.text._ZN14ImuDownSampler6updateERKN9estimator9imuSampleE)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation6mixYawEv)
|
||||
*(.text._ZN16ControlAllocator25publish_actuator_controlsEv.part.0)
|
||||
*(.text._ZN9ICM42688P7RunImplEv)
|
||||
*(.text._ZN4uORB12Subscription9subscribeEv)
|
||||
*(.text.param_get)
|
||||
*(.text._do_memcpy)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
|
||||
*(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
|
||||
*(.text.wd_start)
|
||||
*(.text.hrt_call_enter)
|
||||
*(.text._ZN4EKF220PublishLocalPositionERKy)
|
||||
*(.text._mav_finalize_message_chan_send)
|
||||
*(.text._ZN3Ekf19fixCovarianceErrorsEb)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
|
||||
*(.text.ioctl)
|
||||
*(.text._ZN6events12SendProtocol6updateERKy)
|
||||
*(.text._ZN6device3SPI8transferEPhS1_j)
|
||||
*(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
|
||||
*(.text.hrt_call_internal)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation18mixAirmodeDisabledEv)
|
||||
*(.text._ZN7Mavlink15get_free_tx_bufEv)
|
||||
*(.text.nx_poll)
|
||||
*(.text._ZN15MavlinkReceiver3runEv)
|
||||
*(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
|
||||
*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
|
||||
*(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
|
||||
*(.text._ZN3px46logger6Logger3runEv)
|
||||
*(.text._ZN4uORB20SubscriptionInterval7updatedEv)
|
||||
*(.text._ZN24MavlinkStreamCommandLong4sendEv)
|
||||
*(.text._ZN9Commander3runEv)
|
||||
*(.text._ZN3Ekf17predictCovarianceERKN9estimator9imuSampleE)
|
||||
*(.text.wd_cancel)
|
||||
*(.text._ZN7Sensors3RunEv)
|
||||
*(.text.perf_end)
|
||||
*(.text._ZN4uORB12Subscription7updatedEv)
|
||||
*(.text._ZN13land_detector12LandDetector3RunEv)
|
||||
*(.text.sched_idletask)
|
||||
*(.text.atanf)
|
||||
*(.text.uart_write)
|
||||
*(.text.pthread_mutex_unlock)
|
||||
*(.text.__ieee754_asinf)
|
||||
*(.text.MEM_DataCopy0_2)
|
||||
*(.text._ZN20MavlinkCommandSender13check_timeoutE17mavlink_channel_t)
|
||||
*(.text._ZN16ControlAllocator32publish_control_allocator_statusEi)
|
||||
*(.text.__ieee754_atan2f)
|
||||
*(.text._ZNK18DynamicSparseLayer3getEt)
|
||||
*(.text.__udivmoddi4)
|
||||
*(.text._ZN8Failsafe17checkStateAndModeERKyRKN12FailsafeBase5StateERK16failsafe_flags_s)
|
||||
*(.text._ZN29MavlinkStreamHygrometerSensor4sendEv)
|
||||
*(.text.pthread_mutex_give)
|
||||
*(.text._ZN3Ekf18controlFusionModesERKN9estimator9imuSampleE)
|
||||
*(.text._ZN4cdev4CDev11poll_notifyEm)
|
||||
*(.text.file_vioctl)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
|
||||
*(.text.nxsig_nanosleep)
|
||||
*(.text.imxrt_lpspi1select)
|
||||
*(.text.sem_wait)
|
||||
*(.text.perf_count_interval.part.0)
|
||||
*(.text._ZN16ControlAllocator37update_effectiveness_matrix_if_neededE25EffectivenessUpdateReason)
|
||||
*(.text.MEM_LongCopyJump)
|
||||
*(.text.px4_arch_adc_sample)
|
||||
*(.text._ZN31MulticopterHoverThrustEstimator3RunEv)
|
||||
*(.text._ZNK17ControlAllocation20clipActuatorSetpointERN6matrix6VectorIfLj16EEE)
|
||||
*(.text._ZN4uORB7Manager17get_device_masterEv)
|
||||
*(.text._ZN13DataValidator3putEyPKfmh)
|
||||
*(.text.cdcuart_ioctl)
|
||||
*(.text.cdcacm_sndpacket)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity16SensorBiasUpdateEb)
|
||||
*(.text._ZN13MavlinkStream11update_dataEv)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate21calcGyroInconsistencyEv)
|
||||
*(.text.param_set_used)
|
||||
*(.text._ZN18EstimatorInterface10setIMUDataERKN9estimator9imuSampleE)
|
||||
*(.text._ZN18DataValidatorGroup8get_bestEyPi)
|
||||
*(.text._ZN4EKF218PublishInnovationsERKy)
|
||||
*(.text._ZN21MavlinkMissionManager4sendEv)
|
||||
*(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
|
||||
*(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
|
||||
*(.text._ZN22MavlinkStreamCollision4sendEv)
|
||||
*(.text.imxrt_lpi2c_transfer)
|
||||
*(.text.uart_putxmitchar)
|
||||
*(.text.clock_nanosleep)
|
||||
*(.text.up_release_pending)
|
||||
*(.text.MEM_DataCopy0)
|
||||
*(.text._ZN22MavlinkStreamGPSRawInt4sendEv)
|
||||
*(.text.dq_rem)
|
||||
*(.text._ZN15GyroCalibration3RunEv.part.0)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate22calcAccelInconsistencyEv)
|
||||
*(.text._ZN24MavlinkStreamADSBVehicle4sendEv)
|
||||
*(.text.sinf)
|
||||
*(.text.hrt_call_after)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation8allocateEv)
|
||||
*(.text.up_invalidate_dcache)
|
||||
*(.text._ZN15PositionControl16_velocityControlEf)
|
||||
*(.text._ZN4EKF222PublishAidSourceStatusERKy)
|
||||
*(.text._ZN4ListIP13MavlinkStreamE8IteratorppEv)
|
||||
*(.text._ZN20MavlinkStreamESCInfo4sendEv)
|
||||
*(.text.sem_post)
|
||||
*(.text._ZN3px417ScheduledWorkItem15ScheduleDelayedEm)
|
||||
*(.text._ZN10FlightTaskC1Ev)
|
||||
*(.text.usleep)
|
||||
*(.text._ZN14FlightTaskAutoC1Ev)
|
||||
*(.text.sem_getvalue)
|
||||
*(.text._ZN23MavlinkStreamHighresIMU4sendEv)
|
||||
*(.text.imxrt_gpio_write)
|
||||
*(.text._ZN3Ekf6updateEv)
|
||||
*(.text.__ieee754_acosf)
|
||||
*(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
|
||||
*(.text._ZN9Commander13dataLinkCheckEv)
|
||||
*(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
|
||||
*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
|
||||
*(.text._ZN12PX4Gyroscope9set_scaleEf)
|
||||
*(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
|
||||
*(.text._ZN18MavlinkStreamDebug4sendEv)
|
||||
*(.text._ZN27MavlinkStreamServoOutputRawILi0EE4sendEv)
|
||||
*(.text.asinf)
|
||||
*(.text._ZN6matrix5EulerIfEC1ERKNS_3DcmIfEE)
|
||||
*(.text._ZN4EKF227PublishInnovationTestRatiosERKy)
|
||||
*(.text._ZN4EKF213PublishStatusERKy)
|
||||
*(.text._ZN4EKF226PublishInnovationVariancesERKy)
|
||||
*(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
|
||||
*(.text.imxrt_dmach_start)
|
||||
*(.text._ZN3ADC19update_system_powerEy)
|
||||
*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
|
||||
*(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
|
||||
*(.text.imxrt_gpio_read)
|
||||
*(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
|
||||
*(.text._ZN15ArchPX4IOSerial13_bus_exchangeEP8IOPacket)
|
||||
*(.text._ZN39MavlinkStreamGimbalDeviceAttitudeStatus4sendEv)
|
||||
*(.text._ZNK10ConstLayer3getEt)
|
||||
*(.text.__aeabi_uldivmod)
|
||||
*(.text.up_udelay)
|
||||
*(.text.up_idle)
|
||||
*(.text._ZN20MavlinkStreamGPS2Raw4sendEv)
|
||||
*(.text._ZN4EKF217UpdateCalibrationERKyRNS_19InFlightCalibrationERKN6matrix7Vector3IfEES8_fbb)
|
||||
*(.text._ZN28MavlinkStreamGpsGlobalOrigin4sendEv)
|
||||
*(.text._ZN11ControlMath15bodyzToAttitudeEN6matrix7Vector3IfEEfR27vehicle_attitude_setpoint_s)
|
||||
*(.text._ZN4EKF217UpdateRangeSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN3Ekf24controlOpticalFlowFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN19MavlinkStreamRawRpm4sendEv)
|
||||
*(.text._ZN13MavlinkStream10const_rateEv)
|
||||
*(.text._ZN4EKF215PublishOdometryERKyRKN9estimator9imuSampleE)
|
||||
*(.text._ZN15FailureDetector20updateAttitudeStatusERK16vehicle_status_s)
|
||||
*(.text._ZN7Mavlink19configure_sik_radioEv)
|
||||
*(.text._ZN13BatteryStatus8adc_pollEv)
|
||||
*(.text.getpid)
|
||||
*(.text._ZN13DataValidator10confidenceEy)
|
||||
*(.text._ZN22MavlinkStreamGPSStatus4sendEv)
|
||||
*(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN23MavlinkStreamStatustext4sendEv)
|
||||
*(.text._ZN3Ekf15constrainStatesEv)
|
||||
*(.text._ZN12PX4IO_serial4readEjPvj)
|
||||
*(.text.uart_poll)
|
||||
*(.text._ZN24MavlinkParametersManager4sendEv)
|
||||
*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
|
||||
*(.text.file_poll)
|
||||
*(.text.hrt_elapsed_time)
|
||||
*(.text._ZN7Mavlink11send_finishEv)
|
||||
*(.text._ZNK3Ekf36estimateInertialNavFallingLikelihoodEv)
|
||||
*(.text._ZN15PositionControl16_positionControlEv)
|
||||
*(.text._ZN28MavlinkStreamDebugFloatArray4sendEv)
|
||||
*(.text._ZN11ControlMath9limitTiltERN6matrix7Vector3IfEERKS2_f)
|
||||
*(.text.pthread_mutex_lock)
|
||||
*(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
|
||||
*(.text._ZN7Mavlink29check_requested_subscriptionsEv)
|
||||
*(.text.imxrt_lpspi_setmode)
|
||||
*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
|
||||
*(.text.perf_begin)
|
||||
*(.text.imxrt_lpspi_setfrequency)
|
||||
*(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
|
||||
*(.text._ZN22MulticopterRateControl3RunEv)
|
||||
*(.text.cosf)
|
||||
*(.text._ZN22MavlinkStreamESCStatus4sendEv)
|
||||
*(.text._ZN26MavlinkStreamCameraTrigger4sendEv)
|
||||
*(.text._ZN36MavlinkStreamPositionTargetGlobalInt4sendEv)
|
||||
*(.text._ZN4uORB12Subscription4copyEPv)
|
||||
*(.text._ZN7sensors19VehicleAcceleration21SensorSelectionUpdateEb)
|
||||
*(.text.crc_accumulate)
|
||||
*(.text._ZN3px46logger6Logger13update_paramsEv)
|
||||
*(.text._ZN11calibration14DeviceExternalEm)
|
||||
*(.text._ZN25MavlinkStreamHomePosition8get_sizeEv)
|
||||
*(.text.imxrt_lpspi_modifyreg32)
|
||||
*(.text._ZN7sensors19VehicleAcceleration16SensorBiasUpdateEb)
|
||||
*(.text.modifyreg32)
|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EEmlEf)
|
||||
*(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
|
||||
*(.text.imxrt_queuedtd)
|
||||
*(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
|
||||
*(.text._ZN3Ekf16fuseVelPosHeightEffi)
|
||||
*(.text._ZN3Ekf23controlBaroHeightFusionEv)
|
||||
*(.text._ZN16PX4Accelerometer9set_scaleEf)
|
||||
*(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
|
||||
*(.text._ZN22MavlinkStreamEfiStatus4sendEv)
|
||||
*(.text._ZN22MavlinkStreamDebugVect4sendEv)
|
||||
*(.text._ZN4EKF217PublishSensorBiasERKy)
|
||||
*(.text._ZN17FlightModeManager3RunEv)
|
||||
*(.text._ZN15PositionControl11_inputValidEv)
|
||||
*(.text._ZN7sensors14VehicleAirData3RunEv)
|
||||
*(.text.perf_count)
|
||||
*(.text._ZN3Ekf16controlMagFusionEv)
|
||||
*(.text.pthread_sem_give)
|
||||
*(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
|
||||
*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
|
||||
*(.text._ZN4uORB20SubscriptionInterval4copyEPv)
|
||||
*(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
|
||||
*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
|
||||
*(.text.imxrt_epcomplete.constprop.0)
|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
|
||||
*(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
|
||||
*(.text.perf_event_count)
|
||||
*(.text._ZN4EKF215PublishAttitudeERKy)
|
||||
*(.text._ZN19MavlinkStreamRawRpm8get_sizeEv)
|
||||
*(.text._ZNK3px46atomicIbE4loadEv)
|
||||
*(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
|
||||
*(.text.pthread_mutex_add)
|
||||
*(.text._ZN12HomePosition6updateEbb)
|
||||
*(.text._ZN5PX4IO3RunEv)
|
||||
*(.text.poll_fdsetup)
|
||||
*(.text._ZN15PositionControl20_accelerationControlEv)
|
||||
*(.text._ZN3Ekf19controlHeightFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN9Commander19control_status_ledsEbh)
|
||||
*(.text._ZN6device3I2C8transferEPKhjPhj)
|
||||
*(.text.orb_publish)
|
||||
*(.text._ZN7sensors19VehicleAcceleration16ParametersUpdateEb)
|
||||
*(.text._ZN22MavlinkStreamVibration8get_sizeEv)
|
||||
*(.text._ZN15MavlinkReceiver15CheckHeartbeatsERKyb)
|
||||
*(.text._ZNK6matrix7Vector3IfEmiES1_)
|
||||
*(.text.__aeabi_f2ulz)
|
||||
*(.text._ZN9ICM42688P26DataReadyInterruptCallbackEiPvS0_)
|
||||
*(.text._ZN13land_detector23MulticopterLandDetector23_get_maybe_landed_stateEv)
|
||||
*(.text.acosf)
|
||||
*(.text._ZN14ImuDownSampler5resetEv)
|
||||
*(.text._ZN3Ekf31checkVerticalAccelerationHealthERKN9estimator9imuSampleE)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
|
||||
*(.text.udp_pollsetup)
|
||||
*(.text._ZL14timer_callbackPv)
|
||||
*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
|
||||
*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
|
||||
*(.text.nxsem_wait_irq)
|
||||
*(.text._ZN20MavlinkCommandSender4lockEv)
|
||||
*(.text.MEM_LongCopyEnd)
|
||||
*(.text._ZThn24_N16ControlAllocator3RunEv)
|
||||
*(.text._ZN15TimestampedListIN20MavlinkCommandSender14command_item_sELi3EE8get_nextEv)
|
||||
*(.text._ZNK3Ekf21get_ekf_lpos_accuracyEPfS0_)
|
||||
*(.text._ZN17FlightModeManager17start_flight_taskEv)
|
||||
*(.text.MEM_DataCopyBytes)
|
||||
*(.text._ZN29MavlinkStreamLocalPositionNED8get_sizeEv)
|
||||
*(.text._ZN6SticksC1EP12ModuleParams)
|
||||
*(.text._ZN27MavlinkStreamServoOutputRawILi1EE4sendEv)
|
||||
*(.text._ZN3Ekf35updateHorizontalDeadReckoningstatusEv)
|
||||
*(.text._ZN3Ekf20controlAirDataFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN24FlightTaskManualAltitudeC1Ev)
|
||||
*(.text._ZN25MavlinkStreamHomePosition4sendEv)
|
||||
*(.text._ZN24MavlinkParametersManager8send_oneEv)
|
||||
*(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
|
||||
*(.text._ZN21HealthAndArmingChecks6updateEb)
|
||||
*(.text._ZThn24_N22MulticopterRateControl3RunEv)
|
||||
*(.text._ZN26MavlinkStreamManualControl4sendEv)
|
||||
*(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
|
||||
*(.text._ZN18mag_bias_estimator16MagBiasEstimator3RunEv)
|
||||
*(.text._ZN4uORB7Manager11orb_publishEPK12orb_metadataPvPKv)
|
||||
*(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
|
||||
*(.text._ZN10MavlinkFTP4sendEv)
|
||||
*(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
|
||||
*(.text._ZN3Ekf27controlExternalVisionFusionEv)
|
||||
*(.text.clock_gettime)
|
||||
*(.text._ZN3ADC17update_adc_reportEy)
|
||||
*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
|
||||
*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
|
||||
*(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
|
||||
*(.text._ZN9LockGuardD1Ev)
|
||||
*(.text._ZN4EKF213PublishStatesERKy)
|
||||
*(.text._ZN3ADC3RunEv)
|
||||
*(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
|
||||
*(.text._ZN3Ekf20controlFakePosFusionEv)
|
||||
*(.text._ZN11calibration9Gyroscope13set_device_idEm)
|
||||
*(.text._ZN24MavlinkStreamOrbitStatus8get_sizeEv)
|
||||
*(.text.imxrt_progressep)
|
||||
*(.text.imxrt_gpio_configinput)
|
||||
*(.text._ZN17FlightModeManager26generateTrajectorySetpointEfRK24vehicle_local_position_s)
|
||||
*(.text._ZN7Sensors14diff_pres_pollEv)
|
||||
*(.text._ZN21MavlinkStreamAttitude4sendEv)
|
||||
*(.text._ZN4EKF220UpdateMagCalibrationERKy)
|
||||
*(.text._ZN22MavlinkStreamEfiStatus8get_sizeEv)
|
||||
*(.text._ZN9ICM42688P9DataReadyEv)
|
||||
*(.text._ZN21MavlinkMissionManager20check_active_missionEv)
|
||||
*(.text._ZNK3Ekf20get_ekf_vel_accuracyEPfS0_)
|
||||
*(.text._ZN4EKF216UpdateBaroSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN4EKF223UpdateSystemFlagsSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZThn16_N7sensors22VehicleAngularVelocity3RunEv)
|
||||
*(.text._ZN29MavlinkStreamObstacleDistance4sendEv)
|
||||
*(.text._ZN24MavlinkStreamOrbitStatus4sendEv)
|
||||
*(.text._ZN16PreFlightChecker26preFlightCheckHeightFailedERK23estimator_innovations_sf)
|
||||
*(.text._ZN9Navigator3runEv)
|
||||
*(.text._ZN24MavlinkParametersManager11send_paramsEv)
|
||||
*(.text._ZN17MavlinkLogHandler4sendEv)
|
||||
*(.text._ZN7control10SuperBlock5setDtEf)
|
||||
*(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
|
||||
*(.text._ZN5PX4IO13io_get_statusEv)
|
||||
*(.text._ZN26MulticopterAttitudeControl3RunEv)
|
||||
*(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
|
||||
*(.text._ZN4EKF218PublishStatusFlagsERKy)
|
||||
*(.text._ZN11WeatherVaneC1EP12ModuleParams)
|
||||
*(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
|
||||
*(.text._ZN7Mavlink10send_startEi)
|
||||
*(.text.imxrt_lpspi_setbits)
|
||||
*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
|
||||
*(.text._ZN4EKF222UpdateAccelCalibrationERKy)
|
||||
*(.text._ZN7sensors19VehicleMagnetometer3RunEv)
|
||||
*(.text._ZN29MavlinkStreamMountOrientation4sendEv)
|
||||
*(.text._ZN13land_detector12LandDetector19UpdateVehicleAtRestEv)
|
||||
*(.text._ZN10FlightTask29_evaluateVehicleLocalPositionEv)
|
||||
*(.text.board_autoled_off)
|
||||
*(.text.__aeabi_f2lz)
|
||||
*(.text._ZN32MavlinkStreamCameraImageCaptured4sendEv)
|
||||
*(.text._ZN21MavlinkStreamOdometry8get_sizeEv)
|
||||
*(.text._ZN28MavlinkStreamNamedValueFloat4sendEv)
|
||||
*(.text.__aeabi_ul2f)
|
||||
*(.text.poll)
|
||||
*(.text._ZN14FlightTaskAutoD1Ev)
|
||||
*(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
|
||||
*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
|
||||
*(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
|
||||
*(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
|
||||
*(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
|
||||
*(.text._ZN22MavlinkStreamScaledIMU4sendEv)
|
||||
*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
|
||||
*(.text.imxrt_ioctl)
|
||||
*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
|
||||
*(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
|
||||
*(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
|
||||
*(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
|
||||
*(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
|
||||
*(.text.imxrt_epsubmit)
|
||||
*(.text._ZN15PositionControl6updateEf)
|
||||
*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
|
||||
*(.text._ZN23MavlinkStreamScaledIMU24sendEv)
|
||||
*(.text._ZN5PX4IO10io_reg_getEhhPtj)
|
||||
*(.text.imxrt_dma_send)
|
||||
*(.text._ZN20MavlinkStreamWindCov4sendEv)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate13checkFailoverERNS0_10SensorDataEPKcN6events3px45enums13sensor_type_tE)
|
||||
*(.text._ZN21MavlinkStreamOdometry4sendEv)
|
||||
*(.text.vsprintf_internal.constprop.0)
|
||||
*(.text.udp_pollteardown)
|
||||
*(.text._ZN12MixingOutput6updateEv)
|
||||
*(.text.clock_abstime2ticks)
|
||||
*(.text._ZN13BatteryStatus3RunEv)
|
||||
*(.text._ZN32MavlinkStreamGimbalManagerStatus8get_sizeEv)
|
||||
*(.text._ZN10FlightTask15_resetSetpointsEv)
|
||||
*(.text._ZN9systemlib10Hysteresis20set_state_and_updateEbRKy)
|
||||
*(.text.devif_callback_free.part.0)
|
||||
*(.text._ZN6Sticks25checkAndUpdateStickInputsEv)
|
||||
*(.text.atan2f)
|
||||
*(.text._ZN23MavlinkStreamRCChannels4sendEv)
|
||||
*(.text._ZN4EKF221UpdateExtVisionSampleER17ekf2_timestamps_s)
|
||||
*(.text.imxrt_dmach_stop)
|
||||
*(.text._ZN9Commander16handleAutoDisarmEv)
|
||||
*(.text._ZN9Commander11updateTunesEv)
|
||||
*(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN18DataValidatorGroup3putEjyPKfmh)
|
||||
*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
|
||||
*(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
|
||||
*(.text._ZN17FlightTaskDescendD1Ev)
|
||||
*(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
|
||||
*(.text._ZNK3px46logger9LogWriter10is_startedENS0_7LogTypeE)
|
||||
*(.text._ZN24FlightTaskManualAltitudeD1Ev)
|
||||
*(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
|
||||
*(.text.uart_pollnotify)
|
||||
*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
|
||||
*(.text._ZN4EKF215PublishBaroBiasERKy)
|
||||
*(.text._ZN4EKF221UpdateGyroCalibrationERKy)
|
||||
*(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
|
||||
*(.text._ZN4uORB22SubscriptionMultiArrayI16battery_status_sLh4EE16advertised_countEv)
|
||||
*(.text._ZN23MavlinkStreamScaledIMU34sendEv)
|
||||
*(.text.__aeabi_ldivmod)
|
||||
*(.text._ZN15PositionControl16setInputSetpointERK21trajectory_setpoint_s)
|
||||
*(.text.nxsig_pendingset)
|
||||
*(.text.psock_poll)
|
||||
*(.text._ZN15FailureInjector6updateEv)
|
||||
*(.text.imxrt_writedtd)
|
||||
*(.text.cdcacm_wrcomplete)
|
||||
*(.text.cdcuart_txint)
|
||||
*(.text._ZN3Ekf33updateVerticalDeadReckoningStatusEv)
|
||||
*(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
|
||||
*(.text.powf)
|
||||
*(.text._ZN4EKF217PublishEventFlagsERKy)
|
||||
*(.text._ZN17FlightTaskDescend6updateEv)
|
||||
*(.text.imxrt_iomux_configure)
|
||||
*(.text.hrt_store_absolute_time)
|
||||
*(.text.nxsem_set_protocol)
|
||||
*(.text.write)
|
||||
*(.text._ZN22MavlinkStreamSysStatus4sendEv)
|
||||
*(.text._ZN4EKF216UpdateFlowSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN4cdevL10cdev_ioctlEP4fileim)
|
||||
*(.text._ZN7Mavlink10send_bytesEPKhj)
|
||||
*(.text._ZNK8Failsafe17checkModeFallbackERK16failsafe_flags_sh)
|
||||
*(.text.clock_systime_timespec)
|
||||
*(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
|
||||
*(.text._ZThn16_N4EKF23RunEv)
|
||||
*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
|
||||
*(.text._ZN12ActuatorTest6updateEif)
|
||||
*(.text._ZN17VelocitySmoothingC1Efff)
|
||||
*(.text._ZN13AnalogBattery19get_voltage_channelEv)
|
||||
*(.text._ZN10FlightTask37_evaluateVehicleLocalPositionSetpointEv)
|
||||
*(.text._ZN4uORB12Subscription11unsubscribeEv)
|
||||
*(.text.net_lock)
|
||||
*(.text.clock_time2ticks)
|
||||
*(.text._ZN12FailsafeBase16updateStartDelayERKyb)
|
||||
*(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
|
||||
*(.text._ZN11calibration13Accelerometer13set_device_idEm)
|
||||
*(.text._ZN3px46logger6Logger18start_stop_loggingEv)
|
||||
*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
|
||||
*(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
|
||||
*(.text._ZN25MavlinkStreamMagCalReport4sendEv)
|
||||
*(.text._ZN16PreFlightChecker27preFlightCheckHeadingFailedERK23estimator_innovations_sf)
|
||||
*(.text.imxrt_config_gpio)
|
||||
*(.text.nxsig_timeout)
|
||||
*(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
|
||||
*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
|
||||
*(.text.dq_addlast)
|
||||
*(.text._ZN19MavlinkStreamVFRHUD4sendEv)
|
||||
*(.text.hrt_call_reschedule)
|
||||
*(.text.nxsem_boost_priority)
|
||||
*(.text._ZN4EKF215UpdateGpsSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN8StickYawC1EP12ModuleParams)
|
||||
*(.text._ZN7control12BlockLowPass6updateEf)
|
||||
*(.text._ZN15FailureDetector26updateImbalancedPropStatusEv)
|
||||
*(.text._ZN9systemlib10Hysteresis6updateERKy)
|
||||
*(.text.nxsem_tickwait_uninterruptible)
|
||||
*(.text._ZN12HomePosition31hasMovedFromCurrentHomeLocationEv)
|
||||
*(.text.devif_callback_alloc)
|
||||
*(.text._ZN28MavlinkStreamNamedValueFloat8get_sizeEv)
|
||||
*(.text._ZN24MavlinkStreamADSBVehicle8get_sizeEv)
|
||||
*(.text._ZN26MavlinkStreamBatteryStatus8get_sizeEv)
|
||||
*(.text._ZN26MulticopterPositionControl17parameters_updateEb)
|
||||
*(.text._ZN3px46logger6Logger29handle_vehicle_command_updateEv)
|
||||
*(.text.imxrt_lpspi_send)
|
||||
*(.text._ZN4uORB10DeviceNode23add_internal_subscriberEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EEaSERKS1_)
|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
|
||||
*(.text.mallinfo_handler)
|
||||
*(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
|
||||
*(.text._ZN24ManualVelocitySmoothingZC1Ev)
|
||||
*(.text._ZN3ADC6sampleEj)
|
||||
*(.text._ZNK3Ekf22isTerrainEstimateValidEv)
|
||||
*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
|
||||
*(.text._ZN11ControlMath11addIfNotNanERff)
|
||||
*(.text._ZN9Commander21checkForMissionUpdateEv)
|
||||
*(.text._Z8set_tunei)
|
||||
*(.text._ZN3Ekf13stopGpsFusionEv)
|
||||
*(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
|
||||
*(.text._ZN10FlightTask22_checkEkfResetCountersEv)
|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
|
||||
*(.text._ZN14FlightTaskAuto24_evaluateGlobalReferenceEv)
|
||||
*(.text._ZN6matrix9constrainIfLj2ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
|
||||
*(.text._ZN3px46logger6Logger23handle_file_write_errorEv)
|
||||
*(.text._ZN10FlightTask16updateInitializeEv)
|
||||
*(.text._ZN11calibration9Gyroscope10set_offsetERKN6matrix7Vector3IfEE)
|
||||
*(.text._ZNK6matrix6VectorIfLj3EE4normEv)
|
||||
*(.text._ZN14FlightTaskAuto16updateInitializeEv)
|
||||
*(.text.fabsf)
|
||||
*(.text._ZN27MavlinkStreamAttitudeTarget8get_sizeEv)
|
||||
*(.text.nxsem_get_value)
|
||||
*(.text._ZN13AnalogBattery8is_validEv)
|
||||
*(.text._ZN4uORB16SubscriptionDataI15home_position_sEC1EPK12orb_metadatah)
|
||||
*(.text._ZN22MavlinkStreamGPSStatus8get_sizeEv)
|
||||
*(.text.nxsem_destroyholder)
|
||||
*(.text.psock_udp_cansend)
|
||||
*(.text.MEM_DataCopy2_2)
|
||||
*(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
|
||||
*(.text.sock_file_poll)
|
||||
*(.text._ZN3Ekf20controlHaglRngFusionEv)
|
||||
*(.text._ZN10Ringbuffer9pop_frontEPhj)
|
||||
*(.text.nx_write)
|
||||
*(.text._ZN9Commander18manualControlCheckEv)
|
||||
*(.text._ZN31MavlinkStreamAttitudeQuaternion4sendEv)
|
||||
*(.text.nxsem_canceled)
|
||||
*(.text._ZN10FlightTask21getTrajectorySetpointEv)
|
||||
*(.text.imxrt_dmach_getcount)
|
||||
*(.text.sem_clockwait)
|
||||
*(.text.inet_poll)
|
||||
*(.text._ZN6BMP3887collectEv)
|
||||
*(.text._ZN15ArchPX4IOSerial19_do_rx_dma_callbackEbi)
|
||||
*(.text._ZN15ArchPX4IOSerial10_abort_dmaEv)
|
||||
*(.text._ZNK15PositionControl24getLocalPositionSetpointER33vehicle_local_position_setpoint_s)
|
||||
*(.text._ZN3Ekf16controlGpsFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN23MavlinkStreamRCChannels8get_sizeEv)
|
||||
*(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
|
||||
*(.text._ZNK6matrix6VectorIfLj2EE4normEv)
|
||||
*(.text._Z15arm_auth_updateyb)
|
||||
*(.text._ZN3LED5ioctlEP4fileim)
|
||||
*(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
|
||||
*(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
|
||||
*(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
|
||||
*(.text.imxrt_lpi2c_setclock)
|
||||
*(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
|
||||
*(.text._ZN13MapProjection13initReferenceEddy)
|
||||
*(.text._ZN11calibration13Accelerometer23SensorCorrectionsUpdateEb)
|
||||
*(.text._ZN31MavlinkStreamAttitudeQuaternion8get_sizeEv)
|
||||
*(.text._ZN30MavlinkStreamGlobalPositionInt4sendEv)
|
||||
*(.text._ZN6SticksD1Ev)
|
||||
*(.text._ZN13NavigatorMode3runEb)
|
||||
*(.text._ZL19param_find_internalPKcb)
|
||||
*(.text.uart_datasent)
|
||||
*(.text._ZN4EKF221PublishOpticalFlowVelERKy)
|
||||
*(.text.nxsem_destroy)
|
||||
*(.text.file_write)
|
||||
*(.text._ZN21MavlinkStreamAltitude4sendEv)
|
||||
*(.text._ZN7sensors14VehicleAirData12UpdateStatusEv)
|
||||
*(.text.imxrt_padmux_map)
|
||||
*(.text._ZN6BMP38815get_sensor_dataEhP9bmp3_data)
|
||||
*(.text._ZN18MavlinkRateLimiter5checkERKy)
|
||||
*(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
|
||||
*(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
|
||||
*(.text.imxrt_periphclk_configure)
|
||||
*(.text._ZN3Ekf8initHaglEv)
|
||||
*(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
|
||||
*(.text._ZN3RTL11on_inactiveEv)
|
||||
*(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
|
||||
*(.text._ZN4EKF216PublishEvPosBiasERKy)
|
||||
*(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
|
||||
*(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
|
||||
*(.text._ZN3Ekf24controlRangeHeightFusionEv)
|
||||
*(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
|
||||
*(.text._ZN12ModuleParamsD1Ev)
|
||||
*(.text._ZN3Ekf20controlFakeHgtFusionEv)
|
||||
*(.text.imxrt_reqcomplete)
|
||||
*(.text._ZNK6matrix7Vector3IfEmlEf)
|
||||
*(.text._ZN18ZeroVelocityUpdate6updateER3EkfRKN9estimator9imuSampleE)
|
||||
*(.text._ZN11ControlMath19addIfNotNanVector3fERN6matrix7Vector3IfEERKS2_)
|
||||
*(.text._ZN11ControlMath16thrustToAttitudeERKN6matrix7Vector3IfEEfR27vehicle_attitude_setpoint_s)
|
||||
*(.text.cos)
|
||||
*(.text.net_unlock)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate21setRelativeTimestampsER17sensor_combined_s)
|
||||
*(.text._ZN12FailsafeBase13ActionOptionsC1ENS_6ActionE)
|
||||
*(.text._ZN24FlightTaskManualAltitude16updateInitializeEv)
|
||||
*(.text._ZN26MulticopterPositionControl3RunEv)
|
||||
*(.text._ZN8Failsafe21fromQuadchuteActParamEi)
|
||||
*(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
|
||||
*(.text._ZN7control15BlockDerivative6updateEf)
|
||||
*(.text._ZN5PX4IO10io_reg_getEhh)
|
||||
*(.text._ZN9Commander18safetyButtonUpdateEv)
|
||||
*(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
|
||||
*(.text.uart_xmitchars_done)
|
||||
*(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
|
||||
*(.text.sin)
|
||||
*(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
|
||||
*(.text._ZN6Safety19safetyButtonHandlerEv)
|
||||
*(.text._ZN3Ekf19controlAuxVelFusionEv)
|
||||
*(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
|
||||
*(.text._ZThn24_N7Sensors3RunEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
|
||||
*(.text._ZN10FlightTask10reActivateEv)
|
||||
*(.text._ZN5PX4IO17io_publish_raw_rcEv)
|
||||
*(.text._ZNK15PositionControl19getAttitudeSetpointER27vehicle_attitude_setpoint_s)
|
||||
*(.text._ZN4cdev4CDev4pollEP4fileP6pollfdb)
|
||||
*(.text._ZN9Commander20offboardControlCheckEv)
|
||||
*(.text._ZN4EKF216PublishGpsStatusERKy)
|
||||
*(.text._ZN4uORB12SubscriptionaSEOS0_)
|
||||
*(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
|
||||
*(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
|
||||
*(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
|
||||
*(.text.imxrt_lpi2c_modifyreg)
|
||||
*(.text.up_flush_dcache)
|
||||
*(.text._ZN5PX4IO16io_handle_statusEt)
|
||||
*(.text._ZN15GyroCalibration3RunEv)
|
||||
*(.text.mavlink_start_uart_send)
|
||||
*(.text.MEM_DataCopy2)
|
||||
*(.text._ZNK9Commander14getPrearmStateEv)
|
||||
*(.text._ZN15EstimatorChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN28FlightTaskManualAccelerationD1Ev)
|
||||
*(.text._ZN11RateControl20getRateControlStatusER18rate_ctrl_status_s)
|
||||
*(.text._ZN4uORB10DeviceNode15poll_notify_oneEP6pollfdm)
|
||||
*(.text._ZN3GPS21handleInjectDataTopicEv.part.0)
|
||||
*(.text._ZN9Commander17systemPowerUpdateEv)
|
||||
*(.text._ZN4EKF221PublishGlobalPositionERKy)
|
||||
*(.text._ZNK12FailsafeBase17getSelectedActionERKNS_5StateERK16failsafe_flags_sbbRNS_19SelectedActionStateE)
|
||||
*(.text.imxrt_padctl_address)
|
||||
*(.text._ZNK6matrix6VectorIfLj2EE4unitEv)
|
||||
*(.text._ZN19RcCalibrationChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text.devif_conn_callback_free)
|
||||
*(.text._ZN13InnovationLpf6updateEfff.isra.0)
|
||||
*(.text._ZN9Commander18landDetectorUpdateEv)
|
||||
*(.text._ZN3Ekf18updateGroundEffectEv)
|
||||
*(.text.nxsem_init)
|
||||
*(.text._ZN9Commander16vtolStatusUpdateEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj4ELj1EEC1EPKf)
|
||||
*(.text._ZN11ControlMath20setZeroIfNanVector3fERN6matrix7Vector3IfEE)
|
||||
*(.text._ZThn8_N3ADC3RunEv)
|
||||
*(.text._ZN11StickTiltXYC1EP12ModuleParams)
|
||||
*(.text._ZN12SafetyButton3RunEv)
|
||||
*(.text._ZN6BMP38811set_op_modeEh)
|
||||
*(.text._ZN3GPS8callbackE15GPSCallbackTypePviS1_)
|
||||
*(.text._ZN13AnalogBattery19get_current_channelEv)
|
||||
*(.text._ZN15EstimatorChecks20checkEstimatorStatusERK7ContextR6ReportRK18estimator_status_s8NavModes)
|
||||
*(.text._ZN12FailsafeBase11updateDelayERKy)
|
||||
*(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
|
||||
*(.text._ZN4EKF218PublishGnssHgtBiasERKy)
|
||||
*(.text._ZN3Ekf21controlHaglFlowFusionEv)
|
||||
*(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
|
||||
*(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
|
||||
*(.text.__kernel_cos)
|
||||
*(.text._ZN12SafetyButton19CheckPairingRequestEb)
|
||||
*(.text.imxrt_dma_txavailable)
|
||||
*(.text.perf_set_elapsed)
|
||||
*(.text.pthread_sem_take)
|
||||
*(.text._ZN8StickYawD1Ev)
|
||||
*(.text._Z15blink_msg_statev)
|
||||
*(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN8Failsafe14fromGfActParamEi)
|
||||
*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
|
||||
*(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
|
||||
*(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
|
||||
*(.text._ZN17FlightTaskDescendC1Ev)
|
||||
*(.text._ZN26MavlinkStreamCameraTrigger8get_sizeEv)
|
||||
*(.text.iob_navail)
|
||||
*(.text._ZN12FailsafeBase25removeNonActivatedActionsEv)
|
||||
*(.text._ZN16PreFlightChecker28preFlightCheckHorizVelFailedERK23estimator_innovations_sf)
|
||||
*(.text._ZN15TakeoffHandling10updateRampEff)
|
||||
*(.text._Z7led_offi)
|
||||
*(.text._ZN16PreFlightChecker22selectHeadingTestLimitEv)
|
||||
*(.text.led_off)
|
||||
*(.text.udp_wrbuffer_test)
|
||||
*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
|
||||
*(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
|
||||
*(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
|
||||
*(.text._ZN12MixingOutput19updateSubscriptionsEb)
|
||||
*(.text._ZN10FlightTaskD1Ev)
|
||||
*(.text._ZThn24_N13land_detector12LandDetector3RunEv)
|
||||
*(.text._ZN18MavlinkStreamDebug8get_sizeEv)
|
||||
*(.text._ZN12GPSDriverUBX7receiveEj)
|
||||
*(.text._ZN13BatteryStatus21parameter_update_pollEb)
|
||||
*(.text._ZN3Ekf26checkYawAngleObservabilityEv)
|
||||
*(.text._ZN3RTL18updateDatamanCacheEv)
|
||||
*(.text.__ieee754_sqrtf)
|
||||
*(.text._ZThn24_N18mag_bias_estimator16MagBiasEstimator3RunEv)
|
||||
*(.text.__kernel_sin)
|
||||
*(.text._ZN11MissionBase17parameters_updateEv)
|
||||
*(.text.nx_start)
|
||||
*(.text._ZN3Ekf17controlDragFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZNK8Failsafe22modifyUserIntendedModeEN12FailsafeBase6ActionES1_h)
|
||||
*(.text._ZN3px417ScheduledWorkItem19schedule_trampolineEPv)
|
||||
*(.text.uart_xmitchars_dma)
|
||||
*(.text._ZN13land_detector23MulticopterLandDetector19_get_freefall_stateEv)
|
||||
*(.text._ZThn24_N31MulticopterHoverThrustEstimator3RunEv)
|
||||
*(.text._ZN11MissionBase11on_inactiveEv)
|
||||
*(.text._ZN21FailureDetectorChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
|
||||
*(.text.imxrt_padmux_address)
|
||||
*(.text._ZN3Ekf15setVelPosStatusEib)
|
||||
*(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
|
||||
*(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
|
||||
*(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN17ObstacleAvoidanceD1Ev)
|
||||
*(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
|
||||
*(.text.MEM_DataCopy2_1)
|
||||
*(.text._ZN6BMP3887measureEv)
|
||||
*(.text._ZN4EKF217PublishRngHgtBiasERKy)
|
||||
*(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
|
||||
*(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
|
||||
*(.text.up_clean_dcache)
|
||||
*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
|
||||
*(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN13ManualControl12processInputEy)
|
||||
*(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN10GyroChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN8Failsafe26fromImbalancedPropActParamEi)
|
||||
*(.text._ZThn24_N13BatteryStatus3RunEv)
|
||||
*(.text.mm_foreach)
|
||||
*(.text._ZN35MavlinkStreamPositionTargetLocalNed8get_sizeEv)
|
||||
*(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
|
||||
*(.text._ZN6matrix8wrap_2piIfEET_S1_)
|
||||
*(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
|
||||
*(.text._ZN10BMP388_I2C7get_regEh)
|
||||
*(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
|
||||
*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
|
||||
*(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
|
||||
*(.text._ZN3RTL17parameters_updateEv)
|
||||
*(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
|
||||
*(.text._ZN32MavlinkStreamOpenDroneIdLocation8get_sizeEv)
|
||||
*(.text._ZN21MavlinkStreamTimesync4sendEv)
|
||||
*(.text._ZN9Navigator23reset_position_setpointER19position_setpoint_s)
|
||||
*(.text._ZN19RcAndDataLinkChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text.imxrt_dma_txcallback)
|
||||
*(.text._ZN24MavlinkParametersManager11send_uavcanEv)
|
||||
*(.text._ZN4uORB10DeviceNode4readEP4filePcj)
|
||||
*(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
|
||||
*(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
|
||||
*(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
|
||||
*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
|
||||
*(.text._ZN8Geofence3runEv)
|
||||
*(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
|
||||
*(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
|
||||
*(.text._ZN6events9SendEvent3RunEv)
|
||||
*(.text._ZN30MavlinkStreamGlobalPositionInt8get_sizeEv)
|
||||
*(.text._ZN22MavlinkStreamESCStatus8get_sizeEv)
|
||||
*(.text._Z20px4_spi_bus_externalRK13px4_spi_bus_t)
|
||||
*(.text.read)
|
||||
*(.text._ZN4uORB15PublicationBaseD1Ev)
|
||||
*(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
|
||||
*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
|
||||
*(.text._ZN7Mission11on_inactiveEv)
|
||||
*(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
|
||||
*(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)
|
||||
*(.text._ZN4cdevL9cdev_readEP4filePcj)
|
||||
*(.text.sem_timedwait)
|
||||
*(.text.snprintf)
|
||||
*(.text._ZN27MavlinkStreamOpticalFlowRad8get_sizeEv)
|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE6copyToEPf)
|
||||
*(.text._ZN6Report13healthFailureIJhEEEv8NavModes20HealthComponentIndexmRKN6events9LogLevelsEPKcDpT_.isra.0.constprop.0)
|
||||
*(.text._ZN13BatteryChecks16rtlEstimateCheckERK7ContextR6Reportf)
|
||||
*(.text.sigemptyset)
|
||||
*(.text.nx_read)
|
||||
178
boards/nxp/tropic/nuttx-config/scripts/script.ld
Normal file
178
boards/nxp/tropic/nuttx-config/scripts/script.ld
Normal file
@ -0,0 +1,178 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/scripts/flash.ld
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* Specify the memory areas */
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x60000000, LENGTH = 7936K
|
||||
sram (rwx) : ORIGIN = 0x20200000, LENGTH = 512K
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 384K
|
||||
dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
EXTERN(g_flash_config)
|
||||
EXTERN(g_image_vector_table)
|
||||
EXTERN(g_boot_data)
|
||||
|
||||
ENTRY(_stext)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* Image Vector Table and Boot Data for booting from external flash */
|
||||
|
||||
.boot_hdr : ALIGN(4)
|
||||
{
|
||||
FILL(0xff)
|
||||
__boot_hdr_start__ = ABSOLUTE(.) ;
|
||||
KEEP(*(.boot_hdr.conf))
|
||||
. = 0x1000 ;
|
||||
KEEP(*(.boot_hdr.ivt))
|
||||
. = 0x1020 ;
|
||||
KEEP(*(.boot_hdr.boot_data))
|
||||
. = 0x1030 ;
|
||||
KEEP(*(.boot_hdr.dcd_data))
|
||||
__boot_hdr_end__ = ABSOLUTE(.) ;
|
||||
. = 0x2000 ;
|
||||
} >flash
|
||||
|
||||
.vectors :
|
||||
{
|
||||
KEEP(*(.vectors))
|
||||
*(.text .text.__start)
|
||||
} >flash
|
||||
|
||||
.itcmfunc :
|
||||
{
|
||||
. = ALIGN(8);
|
||||
_sitcmfuncs = ABSOLUTE(.);
|
||||
FILL(0xFF)
|
||||
. = 0x40 ;
|
||||
INCLUDE "itcm_functions_includes.ld"
|
||||
. = ALIGN(8);
|
||||
_eitcmfuncs = ABSOLUTE(.);
|
||||
} > itcm AT > flash
|
||||
|
||||
_fitcmfuncs = LOADADDR(.itcmfunc);
|
||||
|
||||
/* The RAM vector table (if present) should lie at the beginning of SRAM */
|
||||
|
||||
.ram_vectors (COPY) : {
|
||||
*(.ram_vectors)
|
||||
} > dtcm
|
||||
|
||||
|
||||
/* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
|
||||
which effectively puts it into a no-cache region */
|
||||
.dtcm : {
|
||||
*(.bss.g_desc_pool)
|
||||
} > dtcm
|
||||
|
||||
.text :
|
||||
{
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
. = ALIGN(4096);
|
||||
_etext = ABSOLUTE(.);
|
||||
_srodata = ABSOLUTE(.);
|
||||
*(.rodata .rodata.*)
|
||||
. = ALIGN(4096);
|
||||
_erodata = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.init_section :
|
||||
{
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP(*(.init_array .ctors))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
.ARM.exidx :
|
||||
{
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
*(.ARM.exidx*)
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data :
|
||||
{
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
. = ALIGN(4);
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.ramfunc ALIGN(4):
|
||||
{
|
||||
_sramfuncs = ABSOLUTE(.);
|
||||
*(.ramfunc .ramfunc.*)
|
||||
_eramfuncs = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
_framfuncs = LOADADDR(.ramfunc);
|
||||
|
||||
.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) }
|
||||
_sdtcm = ORIGIN(dtcm);
|
||||
_edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
|
||||
}
|
||||
51
boards/nxp/tropic/src/CMakeLists.txt
Normal file
51
boards/nxp/tropic/src/CMakeLists.txt
Normal file
@ -0,0 +1,51 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2024 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
autoleds.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
sdhc.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
imxrt_flexspi_nor_boot.c
|
||||
imxrt_flexspi_nor_flash.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
191
boards/nxp/tropic/src/autoleds.c
Normal file
191
boards/nxp/tropic/src/autoleds.c
Normal file
@ -0,0 +1,191 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/*
|
||||
* This module shall be used during board bring up of Nuttx.
|
||||
*
|
||||
* The NXP FMUK66-V3 has a separate Red, Green and Blue LEDs driven by the K66
|
||||
* as follows:
|
||||
*
|
||||
* LED K66
|
||||
* ------ -------------------------------------------------------
|
||||
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
|
||||
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
|
||||
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
|
||||
*
|
||||
* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
|
||||
* the NXP fmurt1062-v1. The following definitions describe how NuttX controls
|
||||
* the LEDs:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* RED GREEN BLUE
|
||||
* ------------------- ----------------------- -----------------
|
||||
* LED_STARTED NuttX has been started OFF OFF OFF
|
||||
* LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
|
||||
* LED_IRQSENABLED Interrupts enabled OFF OFF ON
|
||||
* LED_STACKCREATED Idle stack created OFF ON OFF
|
||||
* LED_INIRQ In an interrupt (no change)
|
||||
* LED_SIGNAL In a signal handler (no change)
|
||||
* LED_ASSERTION An assertion failed (no change)
|
||||
* LED_PANIC The system has crashed FLASH OFF OFF
|
||||
* LED_IDLE K66 is in sleep mode (Optional, not used)
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "imxrt_gpio.h"
|
||||
#include "board_config.h"
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
bool nuttx_owns_leds = true;
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_initialize
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_initialize(void)
|
||||
{
|
||||
led_init();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_on
|
||||
****************************************************************************/
|
||||
void phy_set_led(int l, bool s)
|
||||
{
|
||||
|
||||
}
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
if (!nuttx_owns_leds) {
|
||||
return;
|
||||
}
|
||||
|
||||
switch (led) {
|
||||
default:
|
||||
break;
|
||||
|
||||
case LED_HEAPALLOCATE:
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_STACKCREATED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_SIGNAL:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
break;
|
||||
|
||||
case LED_IDLE : /* IDLE */
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
void board_autoled_off(int led)
|
||||
{
|
||||
if (!nuttx_owns_leds) {
|
||||
return;
|
||||
}
|
||||
|
||||
switch (led) {
|
||||
default:
|
||||
break;
|
||||
|
||||
case LED_SIGNAL:
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
break;
|
||||
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
break;
|
||||
|
||||
case LED_IDLE : /* IDLE */
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CONFIG_ARCH_LEDS */
|
||||
314
boards/nxp/tropic/src/board_config.h
Normal file
314
boards/nxp/tropic/src/board_config.h
Normal file
@ -0,0 +1,314 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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
|
||||
*
|
||||
* NXP Tropic internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "imxrt_gpio.h"
|
||||
#include "imxrt_iomuxc.h"
|
||||
#include "hardware/imxrt_pinmux.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* FMURT1062 GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
/* An RGB LED is connected through GPIO as shown below:
|
||||
*/
|
||||
#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
|
||||
#define GPIO_nLED_RED /* GPIO_AD_B0_02 GPIO1_IO02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
|
||||
#define GPIO_nLED_GREEN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
|
||||
#define GPIO_nLED_BLUE /* GPIO_AD_B0_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
|
||||
#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
|
||||
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define _GPIO_LPSPI1_SCK /* GPIO_EMC_27 GPIO4_IO27 */ (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI1_MISO /* GPIO_EMC_29 GPIO4_IO29 */ (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI1_MOSI /* GPIO_EMC_28 GPIO4_IO28 */ (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(_GPIO_LPSPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
|
||||
|
||||
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
|
||||
|
||||
#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK)
|
||||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI)
|
||||
|
||||
/* Define the SPI4 Data Ready and Control signals */
|
||||
|
||||
#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
|
||||
|
||||
|
||||
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
#define ADC1_GPIO(n, p) (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* BATTERY1_VOLTAGE GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_GPIO(0, 27), \
|
||||
/* BATTERY1_CURRENT GPIO_AD_B1_11 GPIO1 Pin 24 */ ADC1_GPIO(0, 24)
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_CH(13)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* GPIO_AD_B1_11 GPIO1 Pin 12 */ ADC1_CH(0)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
||||
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 6
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
// Input Capture not supported on MVP
|
||||
|
||||
#define BOARD_HAS_NO_CAPTURE
|
||||
|
||||
//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver)
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
|
||||
|
||||
/* UI LEDs are driven by timer 4 the pins have no alternates
|
||||
*
|
||||
* nUI_LED_RED GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1
|
||||
* nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2
|
||||
* nUI_LED_BLUE GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3
|
||||
*/
|
||||
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
|
||||
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
|
||||
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
|
||||
|
||||
/* Tone alarm output */
|
||||
|
||||
//FIXME FlexPWM TONE DRIVER
|
||||
//#define TONE_ALARM_TIMER 2 /* GPT 2 */
|
||||
//#define TONE_ALARM_CHANNEL 3 /* GPIO_AD_B1_07 GPT2_COMPARE3 */
|
||||
|
||||
#define GPIO_BUZZER_1 /* GPIO_EMC_31 GPIO4_IO31 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM (GPIO_FLEXPWM3_PWMA01_1 | GENERAL_OUTPUT_IOMUX)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
|
||||
*/
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 1 /* use GPT1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
|
||||
#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
|
||||
#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
|
||||
|
||||
/* Safety Switch is HW version dependent on having an PX4IO
|
||||
* So we init to a benign state with the _INIT definition
|
||||
* and provide the the non _INIT one for the driver to make a run time
|
||||
* decision to use it.
|
||||
*/
|
||||
#define SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
#define SAFETY_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
|
||||
#define SAFETY_SW_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define GPIO_SAFETY_SWITCH_IN /* GPIO_B0_12 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | SAFETY_SW_IOMUX)
|
||||
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
|
||||
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
|
||||
//#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
|
||||
//#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
|
||||
|
||||
/* FMUv5 never powers odd the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
// FIXME LETS NOT RESET FOR NOW
|
||||
//#define BOARD_HAS_ON_RESET 1
|
||||
#define BOARD_HAS_TEENSY_BOOTLOADER
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_FLEXCAN3_TX, \
|
||||
GPIO_FLEXCAN3_RX, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_SAFETY_SWITCH_IN \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmurt1062_usdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int fmurt1062_usdhc_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: imxrt_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void imxrt_spidev_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI Buses.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int imxrt1062_spi_bus_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_usb_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int imxrt_usb_initialize(void);
|
||||
|
||||
extern void imxrt_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
extern void fmurt1062_timer_initialize(void);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
39
boards/nxp/tropic/src/i2c.cpp
Normal file
39
boards/nxp/tropic/src/i2c.cpp
Normal file
@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2024 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 <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(4),
|
||||
};
|
||||
56
boards/nxp/tropic/src/imxrt_flexspi_nor_boot.c
Normal file
56
boards/nxp/tropic/src/imxrt_flexspi_nor_boot.c
Normal file
@ -0,0 +1,56 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "imxrt_flexspi_nor_boot.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
locate_data(".boot_hdr.ivt")
|
||||
const struct ivt_s g_image_vector_table = {
|
||||
IVT_HEADER, /* IVT Header */
|
||||
IMAGE_ENTRY_ADDRESS, /* Image Entry Function */
|
||||
IVT_RSVD, /* Reserved = 0 */
|
||||
(uint32_t) DCD_ADDRESS, /* Address where DCD information is
|
||||
* stored */
|
||||
(uint32_t) BOOT_DATA_ADDRESS, /* Address where BOOT Data Structure
|
||||
* is stored */
|
||||
(uint32_t) IMAG_VECTOR_TABLE, /* Pointer to IVT Self (absolute
|
||||
* address */
|
||||
(uint32_t) CSF_ADDRESS, /* Address where CSF file is stored */
|
||||
IVT_RSVD /* Reserved = 0 */
|
||||
};
|
||||
|
||||
locate_data(".boot_hdr.boot_data")
|
||||
const struct boot_data_s g_boot_data = {
|
||||
IMAGE_DEST, /* boot start location */
|
||||
(IMAGE_DEST_END - IMAGE_DEST), /* size */
|
||||
PLUGIN_FLAG, /* Plugin flag */
|
||||
0xffffffff /* empty - extra data word */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
155
boards/nxp/tropic/src/imxrt_flexspi_nor_boot.h
Normal file
155
boards/nxp/tropic/src/imxrt_flexspi_nor_boot.h
Normal file
@ -0,0 +1,155 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
|
||||
#define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* IVT Data */
|
||||
|
||||
#define IVT_MAJOR_VERSION 0x4
|
||||
#define IVT_MAJOR_VERSION_SHIFT 0x4
|
||||
#define IVT_MAJOR_VERSION_MASK 0xf
|
||||
#define IVT_MINOR_VERSION 0x1
|
||||
#define IVT_MINOR_VERSION_SHIFT 0x0
|
||||
#define IVT_MINOR_VERSION_MASK 0xf
|
||||
|
||||
#define IVT_VERSION(major, minor) \
|
||||
((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) | \
|
||||
(((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT))
|
||||
|
||||
#define IVT_TAG_HEADER (0xd1) /* Image Vector Table */
|
||||
#define IVT_SIZE 0x2000
|
||||
#define IVT_PAR IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION)
|
||||
|
||||
#define IVT_HEADER (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24))
|
||||
#define IVT_RSVD (uint32_t)(0x00000000)
|
||||
|
||||
/* DCD Data */
|
||||
|
||||
#define DCD_TAG_HEADER (0xd2)
|
||||
#define DCD_TAG_HEADER_SHIFT (24)
|
||||
#define DCD_VERSION (0x41)
|
||||
#define DCD_ARRAY_SIZE 1
|
||||
|
||||
#define FLASH_BASE 0x60000000
|
||||
#define FLASH_END 0x7f7fffff
|
||||
|
||||
/* This needs to take into account the memory configuration at
|
||||
* boot bootloader
|
||||
*/
|
||||
|
||||
#define ROM_BOOTLOADER_OCRAM_RES 0x8000
|
||||
#define OCRAM_BASE (0x20200000 + ROM_BOOTLOADER_OCRAM_RES)
|
||||
#define OCRAM_END (OCRAM_BASE + (512 * 1024) + (256 * 1024) \
|
||||
- ROM_BOOTLOADER_OCRAM_RES)
|
||||
|
||||
#define SCLK 1
|
||||
#if defined(CONFIG_BOOT_RUNFROMFLASH)
|
||||
# define IMAGE_DEST FLASH_BASE
|
||||
# define IMAGE_DEST_END FLASH_END
|
||||
# define IMAGE_DEST_OFFSET 0
|
||||
#else
|
||||
# define IMAGE_DEST OCRAM_BASE
|
||||
# define IMAGE_DEST_END OCRAM_END
|
||||
# define IMAGE_DEST_OFFSET IVT_SIZE
|
||||
#endif
|
||||
|
||||
#define LOCATE_IN_DEST(x) (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST)
|
||||
#define LOCATE_IN_SRC(x) (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE)
|
||||
|
||||
#define DCD_ADDRESS 0
|
||||
#define BOOT_DATA_ADDRESS LOCATE_IN_DEST(&g_boot_data)
|
||||
#define CSF_ADDRESS 0
|
||||
#define PLUGIN_FLAG (uint32_t)0
|
||||
|
||||
/* Located in Destination Memory */
|
||||
|
||||
#define IMAGE_ENTRY_ADDRESS ((uint32_t)&_vectors)
|
||||
#define IMAG_VECTOR_TABLE LOCATE_IN_DEST(&g_image_vector_table)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* IVT Data */
|
||||
|
||||
struct ivt_s {
|
||||
/* Header with tag #HAB_TAG_IVT, length and HAB version fields */
|
||||
|
||||
uint32_t hdr;
|
||||
|
||||
/* Absolute address of the first instr. to execute from the image */
|
||||
|
||||
uint32_t entry;
|
||||
|
||||
/* Reserved in this version of HAB: should be NULL. */
|
||||
|
||||
uint32_t reserved1;
|
||||
|
||||
/* Absolute address of the image DCD: may be NULL. */
|
||||
|
||||
uint32_t dcd;
|
||||
|
||||
/* Absolute address of the Boot Data: may be NULL */
|
||||
|
||||
uint32_t boot_data;
|
||||
|
||||
/* Absolute address of the IVT. */
|
||||
|
||||
uint32_t self;
|
||||
|
||||
/* Absolute address of the image CSF. */
|
||||
|
||||
uint32_t csf;
|
||||
|
||||
/* Reserved in this version of HAB: should be zero. */
|
||||
|
||||
uint32_t reserved2;
|
||||
};
|
||||
|
||||
/* Boot Data */
|
||||
|
||||
struct boot_data_s {
|
||||
uint32_t start; /* boot start location */
|
||||
uint32_t size; /* size */
|
||||
uint32_t plugin; /* plugin flag - 1 if downloaded application is
|
||||
* plugin */
|
||||
uint32_t placeholder; /* placeholder to make even 0x10 size */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
extern const struct boot_data_s g_boot_data;
|
||||
extern const uint8_t g_dcd_data[];
|
||||
extern const uint32_t _vectors[];
|
||||
|
||||
#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */
|
||||
127
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.c
Normal file
127
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.c
Normal file
@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "imxrt_flexspi_nor_flash.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
locate_data(".boot_hdr.conf")
|
||||
const struct flexspi_nor_config_s g_flash_config = {
|
||||
.mem_config =
|
||||
{
|
||||
.tag = FLEXSPI_CFG_BLK_TAG,
|
||||
.version = FLEXSPI_CFG_BLK_VERSION,
|
||||
.read_sample_clksrc = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD,
|
||||
.cs_hold_time = 3u,
|
||||
.cs_setup_time = 3u,
|
||||
.column_address_width = 0u,
|
||||
.device_type = FLEXSPI_DEVICE_TYPE_SERIAL_NOR,
|
||||
.sflash_pad_type = SERIAL_FLASH_4PADS,
|
||||
.serial_clk_freq = FLEXSPI_SERIAL_CLKFREQ_133MHz,
|
||||
.sflash_a1size = 2u * 1024u * 1024u,
|
||||
.data_valid_time =
|
||||
{
|
||||
0u, 0u
|
||||
},
|
||||
.lookup_table =
|
||||
{
|
||||
/* LUTs */
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xeb,
|
||||
RADDR_SDR, FLEXSPI_4PAD, 0x18),
|
||||
FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06,
|
||||
READ_SDR, FLEXSPI_4PAD, 0x04),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05,
|
||||
READ_SDR, FLEXSPI_1PAD, 0x04),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x01, STOP, FLEXSPI_1PAD, 0x0),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x20,
|
||||
RADDR_SDR, FLEXSPI_1PAD, 0x18),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xd8,
|
||||
RADDR_SDR, FLEXSPI_1PAD, 0x18),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02,
|
||||
RADDR_SDR, FLEXSPI_1PAD, 0x18),
|
||||
FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x04,
|
||||
STOP, FLEXSPI_1PAD, 0x0),
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
0x00000000,
|
||||
|
||||
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x60, STOP, FLEXSPI_1PAD, 0x0),
|
||||
},
|
||||
},
|
||||
|
||||
.page_size = 256u,
|
||||
.sector_size = 4u * 1024u,
|
||||
.blocksize = 64u * 1024u,
|
||||
.is_uniform_blocksize = false,
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
354
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.h
Normal file
354
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.h
Normal file
@ -0,0 +1,354 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
|
||||
#define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* FLEXSPI memory config block related definitions */
|
||||
|
||||
#define FLEXSPI_CFG_BLK_TAG (0x42464346ul)
|
||||
#define FLEXSPI_CFG_BLK_VERSION (0x56010100ul)
|
||||
#define FLEXSPI_CFG_BLK_SIZE (512)
|
||||
|
||||
/* FLEXSPI Feature related definitions */
|
||||
|
||||
#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1
|
||||
|
||||
/* Lookup table related definitions */
|
||||
|
||||
#define CMD_INDEX_READ 0
|
||||
#define CMD_INDEX_READSTATUS 1
|
||||
#define CMD_INDEX_WRITEENABLE 2
|
||||
#define CMD_INDEX_WRITE 4
|
||||
|
||||
#define CMD_LUT_SEQ_IDX_READ 0
|
||||
#define CMD_LUT_SEQ_IDX_READSTATUS 1
|
||||
#define CMD_LUT_SEQ_IDX_WRITEENABLE 3
|
||||
#define CMD_LUT_SEQ_IDX_WRITE 9
|
||||
|
||||
#define CMD_SDR 0x01
|
||||
#define CMD_DDR 0x21
|
||||
#define RADDR_SDR 0x02
|
||||
#define RADDR_DDR 0x22
|
||||
#define CADDR_SDR 0x03
|
||||
#define CADDR_DDR 0x23
|
||||
#define MODE1_SDR 0x04
|
||||
#define MODE1_DDR 0x24
|
||||
#define MODE2_SDR 0x05
|
||||
#define MODE2_DDR 0x25
|
||||
#define MODE4_SDR 0x06
|
||||
#define MODE4_DDR 0x26
|
||||
#define MODE8_SDR 0x07
|
||||
#define MODE8_DDR 0x27
|
||||
#define WRITE_SDR 0x08
|
||||
#define WRITE_DDR 0x28
|
||||
#define READ_SDR 0x09
|
||||
#define READ_DDR 0x29
|
||||
#define LEARN_SDR 0x0a
|
||||
#define LEARN_DDR 0x2a
|
||||
#define DATSZ_SDR 0x0b
|
||||
#define DATSZ_DDR 0x2b
|
||||
#define DUMMY_SDR 0x0c
|
||||
#define DUMMY_DDR 0x2c
|
||||
#define DUMMY_RWDS_SDR 0x0d
|
||||
#define DUMMY_RWDS_DDR 0x2d
|
||||
#define JMP_ON_CS 0x1f
|
||||
#define STOP 0
|
||||
|
||||
#define FLEXSPI_1PAD 0
|
||||
#define FLEXSPI_2PAD 1
|
||||
#define FLEXSPI_4PAD 2
|
||||
#define FLEXSPI_8PAD 3
|
||||
|
||||
#define FLEXSPI_LUT_OPERAND0_MASK (0xffu)
|
||||
#define FLEXSPI_LUT_OPERAND0_SHIFT (0U)
|
||||
#define FLEXSPI_LUT_OPERAND0(x) (((uint32_t) \
|
||||
(((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \
|
||||
FLEXSPI_LUT_OPERAND0_MASK)
|
||||
#define FLEXSPI_LUT_NUM_PADS0_MASK (0x300u)
|
||||
#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u)
|
||||
#define FLEXSPI_LUT_NUM_PADS0(x) (((uint32_t) \
|
||||
(((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \
|
||||
FLEXSPI_LUT_NUM_PADS0_MASK)
|
||||
#define FLEXSPI_LUT_OPCODE0_MASK (0xfc00u)
|
||||
#define FLEXSPI_LUT_OPCODE0_SHIFT (10u)
|
||||
#define FLEXSPI_LUT_OPCODE0(x) (((uint32_t) \
|
||||
(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \
|
||||
FLEXSPI_LUT_OPCODE0_MASK)
|
||||
#define FLEXSPI_LUT_OPERAND1_MASK (0xff0000u)
|
||||
#define FLEXSPI_LUT_OPERAND1_SHIFT (16U)
|
||||
#define FLEXSPI_LUT_OPERAND1(x) (((uint32_t) \
|
||||
(((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \
|
||||
FLEXSPI_LUT_OPERAND1_MASK)
|
||||
#define FLEXSPI_LUT_NUM_PADS1_MASK (0x3000000u)
|
||||
#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u)
|
||||
#define FLEXSPI_LUT_NUM_PADS1(x) (((uint32_t) \
|
||||
(((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \
|
||||
FLEXSPI_LUT_NUM_PADS1_MASK)
|
||||
#define FLEXSPI_LUT_OPCODE1_MASK (0xfc000000u)
|
||||
#define FLEXSPI_LUT_OPCODE1_SHIFT (26u)
|
||||
#define FLEXSPI_LUT_OPCODE1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \
|
||||
FLEXSPI_LUT_OPCODE1_MASK)
|
||||
|
||||
#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1) \
|
||||
(FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \
|
||||
FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \
|
||||
FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1))
|
||||
|
||||
/* */
|
||||
|
||||
#define NOR_CMD_INDEX_READ CMD_INDEX_READ
|
||||
#define NOR_CMD_INDEX_READSTATUS CMD_INDEX_READSTATUS
|
||||
#define NOR_CMD_INDEX_WRITEENABLE CMD_INDEX_WRITEENABLE
|
||||
#define NOR_CMD_INDEX_ERASESECTOR 3
|
||||
#define NOR_CMD_INDEX_PAGEPROGRAM CMD_INDEX_WRITE
|
||||
#define NOR_CMD_INDEX_CHIPERASE 5
|
||||
#define NOR_CMD_INDEX_DUMMY 6
|
||||
#define NOR_CMD_INDEX_ERASEBLOCK 7
|
||||
|
||||
/* READ LUT sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_READ CMD_LUT_SEQ_IDX_READ
|
||||
|
||||
/* Read Status LUT sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS
|
||||
|
||||
/* 2 Read status DPI/QPI/OPI sequence id in LUT stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2
|
||||
|
||||
/* 3 Write Enable sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE
|
||||
|
||||
/* 4 Write Enable DPI/QPI/OPI sequence id in LUT stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4
|
||||
|
||||
/* 5 Erase Sector sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5
|
||||
|
||||
/* 8 Erase Block sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8
|
||||
|
||||
/* 9 Program sequence id in lookupTable stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE
|
||||
|
||||
/* 11 Chip Erase sequence in lookupTable id stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11
|
||||
|
||||
/* 13 Read SFDP sequence in lookupTable id stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13
|
||||
|
||||
/* 14 Restore 0-4-4/0-8-8 mode sequence id in LUT stored in config block */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14
|
||||
|
||||
/* 15 Exit 0-4-4/0-8-8 mode sequence id in LUT stored in config blobk */
|
||||
|
||||
#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* Definitions for FlexSPI Serial Clock Frequency */
|
||||
|
||||
enum flexspi_serial_clkfreq_e {
|
||||
FLEXSPI_SERIAL_CLKFREQ_30MHz = 1,
|
||||
FLEXSPI_SERIAL_CLKFREQ_50MHz = 2,
|
||||
FLEXSPI_SERIAL_CLKFREQ_60MHz = 3,
|
||||
FLEXSPI_SERIAL_CLKFREQ_75MHz = 4,
|
||||
FLEXSPI_SERIAL_CLKFREQ_80MHz = 5,
|
||||
FLEXSPI_SERIAL_CLKFREQ_100MHz = 6,
|
||||
FLEXSPI_SERIAL_CLKFREQ_133MHz = 7,
|
||||
FLEXSPI_SERIAL_CLKFREQ_166MHz = 8,
|
||||
FLEXSPI_SERIAL_CLKFREQ_200MHz = 9,
|
||||
};
|
||||
|
||||
/* FlexSPI clock configuration type */
|
||||
|
||||
enum flexspi_serial_clockmode_e {
|
||||
FLEXSPI_CLKMODE_SDR,
|
||||
FLEXSPI_CLKMODE_DDR,
|
||||
};
|
||||
|
||||
/* FlexSPI Read Sample Clock Source definition */
|
||||
|
||||
enum flash_read_sample_clk_e {
|
||||
FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0,
|
||||
FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1,
|
||||
FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2,
|
||||
FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD = 3,
|
||||
};
|
||||
|
||||
/* Misc feature bit definitions */
|
||||
|
||||
enum flash_misc_feature_e {
|
||||
FLEXSPIMISC_OFFSET_DIFFCLKEN = 0, /* Bit for Differential clock enable */
|
||||
FLEXSPIMISC_OFFSET_CK2EN = 1, /* Bit for CK2 enable */
|
||||
FLEXSPIMISC_OFFSET_PARALLELEN = 2, /* Bit for Parallel mode enable */
|
||||
|
||||
FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3, /* Bit for Word Addressable
|
||||
* enable */
|
||||
FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4, /* Bit for Safe Configuration
|
||||
* Frequency enable */
|
||||
|
||||
FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5, /* Bit for Pad setting
|
||||
* override enable */
|
||||
|
||||
FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6, /* Bit for DDR clock confiuration
|
||||
* indication. */
|
||||
};
|
||||
|
||||
/* Flash Type Definition */
|
||||
|
||||
enum flash_flash_type_e {
|
||||
FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1, /* Flash devices are Serial NOR */
|
||||
FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2, /* Flash devices are Serial
|
||||
* NAND */
|
||||
FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3, /* Flash devices are Serial
|
||||
* RAM/HyperFLASH */
|
||||
|
||||
FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12, /* Flash device is MCP device,
|
||||
* A1 is Serial NOR, A2 is
|
||||
* Serial NAND */
|
||||
FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13, /* Flash device is MCP device,
|
||||
* A1 is Serial NOR, A2 is
|
||||
* Serial RAMs */
|
||||
};
|
||||
|
||||
/* Flash Pad Definitions */
|
||||
|
||||
enum flash_flash_pad_e {
|
||||
SERIAL_FLASH_1PAD = 1,
|
||||
SERIAL_FLASH_2PADS = 2,
|
||||
SERIAL_FLASH_4PADS = 4,
|
||||
SERIAL_FLASH_8PADS = 8,
|
||||
};
|
||||
|
||||
/* Flash Configuration Command Type */
|
||||
|
||||
enum flash_config_cmd_e {
|
||||
DEVICE_CONFIG_CMD_TYPE_GENERIC, /* Generic command, for example:
|
||||
* configure dummy cycles, drive
|
||||
* strength, etc */
|
||||
DEVICE_CONFIG_CMD_TYPE_QUADENABLE, /* Quad Enable command */
|
||||
DEVICE_CONFIG_CMD_TYPE_SPI2XPI, /* Switch from SPI to DPI/QPI/OPI mode */
|
||||
DEVICE_CONFIG_CMD_TYPE_XPI2SPI, /* Switch from DPI/QPI/OPI to SPI mode */
|
||||
DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD, /* Switch to 0-4-4/0-8-8 mode */
|
||||
DEVICE_CONFIG_CMD_TYPE_RESET, /* Reset device command */
|
||||
};
|
||||
|
||||
/* FlexSPI LUT Sequence structure */
|
||||
|
||||
struct flexspi_lut_seq_s {
|
||||
uint8_t seq_num; /* Sequence Number, valid number: 1-16 */
|
||||
uint8_t seq_id; /* Sequence Index, valid number: 0-15 */
|
||||
uint16_t reserved;
|
||||
};
|
||||
|
||||
/* FlexSPI Memory Configuration Block */
|
||||
|
||||
struct flexspi_mem_config_s {
|
||||
uint32_t tag;
|
||||
uint32_t version;
|
||||
uint32_t reserved0;
|
||||
uint8_t read_sample_clksrc;
|
||||
uint8_t cs_hold_time;
|
||||
uint8_t cs_setup_time;
|
||||
uint8_t column_address_width; /* [0x00f-0x00f] Column Address with,
|
||||
* for HyperBus protocol, it is fixed
|
||||
* to 3, For Serial NAND, need to refer
|
||||
* to datasheet */
|
||||
uint8_t device_mode_cfg_enable;
|
||||
uint8_t device_mode_type;
|
||||
uint16_t wait_time_cfg_commands;
|
||||
struct flexspi_lut_seq_s device_mode_seq;
|
||||
uint32_t device_mode_arg;
|
||||
uint8_t config_cmd_enable;
|
||||
uint8_t config_mode_type[3];
|
||||
struct flexspi_lut_seq_s config_cmd_seqs[3];
|
||||
uint32_t reserved1;
|
||||
uint32_t config_cmd_args[3];
|
||||
uint32_t reserved2;
|
||||
uint32_t controller_misc_option;
|
||||
uint8_t device_type;
|
||||
uint8_t sflash_pad_type;
|
||||
uint8_t serial_clk_freq;
|
||||
uint8_t lut_custom_seq_enable;
|
||||
uint32_t reserved3[2];
|
||||
uint32_t sflash_a1size;
|
||||
uint32_t sflash_a2size;
|
||||
uint32_t sflash_b1size;
|
||||
uint32_t sflash_b2size;
|
||||
uint32_t cspad_setting_override;
|
||||
uint32_t sclkpad_setting_override;
|
||||
uint32_t datapad_setting_override;
|
||||
uint32_t dqspad_setting_override;
|
||||
uint32_t timeout_in_ms;
|
||||
uint32_t command_interval;
|
||||
uint16_t data_valid_time[2];
|
||||
uint16_t busy_offset;
|
||||
uint16_t busybit_polarity;
|
||||
uint32_t lookup_table[64];
|
||||
struct flexspi_lut_seq_s lut_customseq[12];
|
||||
uint32_t reserved4[4];
|
||||
};
|
||||
|
||||
/* Serial NOR configuration block */
|
||||
|
||||
struct flexspi_nor_config_s {
|
||||
struct flexspi_mem_config_s mem_config; /* Common memory configuration
|
||||
* info via FlexSPI */
|
||||
|
||||
uint32_t page_size; /* Page size of Serial NOR */
|
||||
uint32_t sector_size; /* Sector size of Serial NOR */
|
||||
uint8_t ipcmd_serial_clkfreq; /* Clock frequency for IP command */
|
||||
uint8_t is_uniform_blocksize; /* Sector/Block size is the same */
|
||||
uint8_t reserved0[2]; /* Reserved for future use */
|
||||
uint8_t serial_nor_type; /* Serial NOR Flash type: 0/1/2/3 */
|
||||
uint8_t need_exit_nocmdmode; /* Need to exit NoCmd mode before other
|
||||
* IP command */
|
||||
uint8_t halfclk_for_nonreadcmd; /* Half the Serial Clock for non-read
|
||||
* command: true/false */
|
||||
uint8_t need_restore_nocmdmode; /* Need to Restore NoCmd mode after IP
|
||||
* command execution */
|
||||
uint32_t blocksize; /* Block size */
|
||||
uint32_t reserve2[11]; /* Reserved for future use */
|
||||
};
|
||||
|
||||
#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
|
||||
385
boards/nxp/tropic/src/init.c
Normal file
385
boards/nxp/tropic/src/init.c
Normal file
@ -0,0 +1,385 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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
|
||||
*
|
||||
* NXP imxrt1062-v1 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 initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <barriers.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
|
||||
#include "arm_internal.h"
|
||||
#include "arm_internal.h"
|
||||
#include "imxrt_flexspi_nor_boot.h"
|
||||
#include "imxrt_iomuxc.h"
|
||||
#include "imxrt_flexcan.h"
|
||||
#include "imxrt_enet.h"
|
||||
#include <chip.h>
|
||||
#include "board_config.h"
|
||||
|
||||
#include <hardware/imxrt_lpuart.h>
|
||||
#undef FLEXSPI_LUT_COUNT
|
||||
#include <hardware/imxrt_flexspi.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/*
|
||||
* 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 uint32_t _srodata; /* Start of .rodata */
|
||||
extern uint32_t _erodata; /* End of .rodata */
|
||||
extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
|
||||
extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
|
||||
extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
|
||||
extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
|
||||
extern uint64_t _edtcm; /* Copy destination end address in DTCM */
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int 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_gpio_output(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
locate_code(".ramfunc")
|
||||
void imxrt_flash_setup_prefetch_partition(void)
|
||||
{
|
||||
//Prefetch tuning to be determined
|
||||
#if 0
|
||||
putreg32((uint32_t)&_srodata, IMXRT_FLEXSPI1_AHBBUFREGIONSTART0);
|
||||
putreg32((uint32_t)&_erodata, IMXRT_FLEXSPI1_AHBBUFREGIONEND0);
|
||||
/*putreg32((uint32_t)&_stext, IMXRT_FLEXSPI1_AHBBUFREGIONSTART1);
|
||||
putreg32((uint32_t)&_etext, IMXRT_FLEXSPI1_AHBBUFREGIONEND1);
|
||||
putreg32((uint32_t)&_stext, IMXRT_FLEXSPI1_AHBBUFREGIONSTART2);
|
||||
putreg32((uint32_t)&_etext, IMXRT_FLEXSPI1_AHBBUFREGIONEND2);
|
||||
putreg32((uint32_t)&_stext, IMXRT_FLEXSPI1_AHBBUFREGIONSTART3);
|
||||
putreg32((uint32_t)&_etext, IMXRT_FLEXSPI1_AHBBUFREGIONEND3);*/
|
||||
#endif
|
||||
#if 0
|
||||
struct flexspi_type_s *g_flexspi = (struct flexspi_type_s *)IMXRT_FLEXSPIC_BASE;
|
||||
/* RODATA */
|
||||
g_flexspi->AHBRXBUFCR0[0] = FLEXSPI_AHBRXBUFCR0_BUFSZ(48) |
|
||||
FLEXSPI_AHBRXBUFCR0_MSTRID(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) |
|
||||
FLEXSPI_AHBRXBUFCR0_REGIONEN(1);
|
||||
|
||||
|
||||
/* All Text */
|
||||
g_flexspi->AHBRXBUFCR0[1] = FLEXSPI_AHBRXBUFCR0_BUFSZ(80) |
|
||||
FLEXSPI_AHBRXBUFCR0_MSTRID(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) |
|
||||
FLEXSPI_AHBRXBUFCR0_REGIONEN(1);
|
||||
|
||||
/* Disable 2 */
|
||||
g_flexspi->AHBRXBUFCR0[2] = FLEXSPI_AHBRXBUFCR0_BUFSZ(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_MSTRID(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) |
|
||||
FLEXSPI_AHBRXBUFCR0_REGIONEN(0);
|
||||
|
||||
/* Disable 3 */
|
||||
g_flexspi->AHBRXBUFCR0[3] = FLEXSPI_AHBRXBUFCR0_BUFSZ(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_MSTRID(0) |
|
||||
FLEXSPI_AHBRXBUFCR0_PREFETCHEN(1) |
|
||||
FLEXSPI_AHBRXBUFCR0_REGIONEN(0);
|
||||
#endif
|
||||
|
||||
ARM_DSB();
|
||||
ARM_ISB();
|
||||
ARM_DMB();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: imxrt_ocram_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called off reset vector to reconfigure the flexRAM
|
||||
* and finish the FLASH to RAM Copy.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void imxrt_ocram_initialize(void)
|
||||
{
|
||||
uint32_t regval;
|
||||
register uint64_t *src;
|
||||
register uint64_t *dest;
|
||||
|
||||
/* FlexRAM Configuration
|
||||
* F = 64K ITCM
|
||||
* A = 64K DTCM
|
||||
* 5 = 64K OCRAM
|
||||
* So 0xFFFFFFAA is
|
||||
* 384K FlexRAM ITCM
|
||||
* 128K FlexRAM DTCM
|
||||
* */
|
||||
|
||||
putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
|
||||
regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
|
||||
putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
|
||||
|
||||
/* Copy any necessary code sections from FLASH to ITCM. The process is the
|
||||
* same as the code copying from FLASH to RAM above. */
|
||||
for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
|
||||
dest < (uint64_t *)&_eitcmfuncs;) {
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
|
||||
* certain that there are no issues with the state of global variables.
|
||||
*/
|
||||
|
||||
for (dest = &_sdtcm; dest < &_edtcm;) {
|
||||
*dest++ = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: imxrt_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All i.MX RT architectures must provide the following entry point. This
|
||||
* entry point is called early in the initialization -- after clocking and
|
||||
* memory have been configured but before caches have been enabled and
|
||||
* before any devices have been initialized.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void imxrt_boardinitialize(void)
|
||||
{
|
||||
imxrt_flash_setup_prefetch_partition();
|
||||
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
imxrt_spidev_initialize();
|
||||
|
||||
imxrt_usb_initialize();
|
||||
|
||||
fmurt1062_timer_initialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Function: imxrt_phy_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* Some boards require specialized initialization of the PHY before it can
|
||||
* be used. This may include such things as configuring GPIOs, resetting
|
||||
* the PHY, etc.
|
||||
* If CONFIG_IMXRT_ENET_PHYINIT is defined in the configuration then the
|
||||
* board specific logic must provide imxrt_phyinitialize();
|
||||
* The i.MX RT Ethernet driver will call this function one time before it
|
||||
* first uses the PHY.
|
||||
*
|
||||
* Input Parameters:
|
||||
* intf - Always zero for now.
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; Negated errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int imxrt_phy_boardinitialize(int intf)
|
||||
{
|
||||
#ifdef CONFIG_IMXRT_GPIO1_0_15_IRQ
|
||||
/* Configure the PHY interrupt pin */
|
||||
|
||||
printf("Configuring interrupt: %08x\n", GPIO_ENET_INT);
|
||||
imxrt_config_gpio(GPIO_ENET_INT);
|
||||
#endif
|
||||
|
||||
/* Configure the PHY reset pin.
|
||||
*
|
||||
* The #RST uses inverted logic. The initial value of zero will put the
|
||||
* PHY into the reset state.
|
||||
*/
|
||||
|
||||
printf("Configuring reset: %08x\n", GPIO_ENET_RST);
|
||||
imxrt_config_gpio(GPIO_ENET_RST);
|
||||
|
||||
/* Take the PHY out of reset. */
|
||||
|
||||
imxrt_gpio_write(GPIO_ENET_RST, true);
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* 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; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* 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)
|
||||
{
|
||||
|
||||
/* Power on Interfaces */
|
||||
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
#if defined(SERIAL_HAVE_RXDMA)
|
||||
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
|
||||
static struct hrt_call serial_dma_call;
|
||||
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL);
|
||||
#endif
|
||||
|
||||
int ret = OK;
|
||||
#if defined(CONFIG_IMXRT_USDHC)
|
||||
ret = fmurt1062_usdhc_initialize();
|
||||
#endif
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
ret = imxrt1062_spi_bus_initialize();
|
||||
|
||||
#ifdef CONFIG_IMXRT_ENET
|
||||
imxrt_netinitialize(0);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_IMXRT_FLEXCAN3
|
||||
imxrt_caninitialize(3);
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
}
|
||||
128
boards/nxp/tropic/src/sdhc.c
Normal file
128
boards/nxp/tropic/src/sdhc.c
Normal file
@ -0,0 +1,128 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/* A micro Secure Digital (SD) card slot is available on the board connected to
|
||||
* the SD Host Controller (USDHC1) signals of the MCU. This slot will accept
|
||||
* micro format SD memory cards.
|
||||
*
|
||||
* ------------ ------------- --------
|
||||
* SD Card Slot Board Signal IMXRT Pin
|
||||
* ------------ ------------- --------
|
||||
* DAT0 USDHC1_DATA0 GPIO_SD_B0_02
|
||||
* DAT1 USDHC1_DATA1 GPIO_SD_B0_03
|
||||
* DAT2 USDHC1_DATA2 GPIO_SD_B0_04
|
||||
* CD/DAT3 USDHC1_DATA3 GPIO_SD_B0_05
|
||||
* CMD USDHC1_CMD GPIO_SD_B0_00
|
||||
* CLK USDHC1_CLK GPIO_SD_B0_01
|
||||
* CD USDHC1_CD GPIO_B1_12
|
||||
* ------------ ------------- --------
|
||||
*
|
||||
* There are no Write Protect available to the IMXRT.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "imxrt_usdhc.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_IMXRT_USDHC
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmurt1062_usdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Inititialize the SDHC SD card slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int fmurt1062_usdhc_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
/* Mount the SDHC-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDHC interface */
|
||||
|
||||
struct sdio_dev_s *sdhc = imxrt_usdhc_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdhc) {
|
||||
PX4_ERR("ERROR: Failed to initialize SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDHC interface to the MMC/SD driver */
|
||||
|
||||
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdhc);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
syslog(LOG_INFO, "Successfully bound SDHC to the MMC/SD driver\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif /* CONFIG_IMXRT_USDHC */
|
||||
315
boards/nxp/tropic/src/spi.cpp
Normal file
315
boards/nxp/tropic/src/spi.cpp
Normal file
@ -0,0 +1,315 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <chip.h>
|
||||
#include "imxrt_lpspi.h"
|
||||
#include "imxrt_gpio.h"
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4)
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::LPSPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port1, GPIO::Pin28}), /* GPIO_AD_B1_12 GPIO1_IO28 */
|
||||
}),
|
||||
initSPIBus(SPI::Bus::LPSPI4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}), /* GPIO_B1_02 GPIO2_IO18 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin0}), /* GPIO_B0_00 GPIO2_IO00 */
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: fmurt1062_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void imxrt_spidev_initialize(void)
|
||||
{
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
static const px4_spi_bus_t *_spi_bus3;
|
||||
static const px4_spi_bus_t *_spi_bus4;
|
||||
|
||||
__EXPORT int imxrt1062_spi_bus_initialize(void)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
switch (px4_spi_buses[i].bus) {
|
||||
case 3: _spi_bus3 = &px4_spi_buses[i]; break;
|
||||
|
||||
case 4: _spi_bus4 = &px4_spi_buses[i]; break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
struct spi_dev_s *spi_icm = px4_spibus_initialize(3);
|
||||
|
||||
if (!spi_icm) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default bus 1 to 8MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_icm, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_icm, 8);
|
||||
SPI_SETMODE(spi_icm, SPIDEV_MODE3);
|
||||
|
||||
/* Get the SPI port for the BMI088 */
|
||||
|
||||
struct spi_dev_s *spi_bmi = px4_spibus_initialize(4);
|
||||
|
||||
if (!spi_bmi) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default ext bus to 8MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_bmi, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_bmi, 8);
|
||||
SPI_SETMODE(spi_bmi, SPIDEV_MODE3);
|
||||
|
||||
/* deselect all */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
SPI_SELECT(spi_bmi, px4_spi_buses[bus].devices[i].devid, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status
|
||||
*
|
||||
* Description:
|
||||
* The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status must be
|
||||
* provided by board-specific logic. They are implementations of the select
|
||||
* and status methods of the SPI interface defined by struct spi_ops_s (see
|
||||
* include/nuttx/spi/spi.h). All other methods (including imxrt_lpspibus_initialize())
|
||||
* are provided by common STM32 logic. To use this common SPI logic on your
|
||||
* board:
|
||||
*
|
||||
* 1. Provide logic in imxrt_boardinitialize() to configure SPI chip select
|
||||
* pins.
|
||||
* 2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() functions in your
|
||||
* board-specific logic. These functions will perform chip selection and
|
||||
* status operations using GPIOs in the way your board is configured.
|
||||
* 3. Add a calls to imxrt_lpspibus_initialize() in your low level application
|
||||
* initialization logic
|
||||
* 4. The handle returned by imxrt_lpspibus_initialize() may then be used to bind the
|
||||
* SPI driver to higher level logic (e.g., calling
|
||||
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
|
||||
* the SPI MMC/SD driver).
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (bus->devices[i].cs_gpio == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (devid == bus->devices[i].devid) {
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
imxrt_gpio_write(bus->devices[i].cs_gpio, !selected);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI3)
|
||||
__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
imxrt_spixselect(_spi_bus3, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI4)
|
||||
__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
imxrt_spixselect(_spi_bus4, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_spi_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms, int bus_mask)
|
||||
{
|
||||
#ifdef CONFIG_IMXRT_LPSPI1
|
||||
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio));
|
||||
}
|
||||
|
||||
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
|
||||
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_SPI1_SCK_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI1_MISO_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
|
||||
|
||||
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
|
||||
|
||||
/* set the sensor rail off */
|
||||
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
warnx("reset done, %d ms", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
|
||||
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
|
||||
imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_LPSPI1_SCK);
|
||||
imxrt_config_gpio(GPIO_LPSPI1_MISO);
|
||||
imxrt_config_gpio(GPIO_LPSPI1_MOSI);
|
||||
|
||||
imxrt_config_gpio(GPIO_LPSPI3_SCK);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MISO);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MOSI);
|
||||
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SDA);
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SCL);
|
||||
|
||||
#endif /* CONFIG_IMXRT_LPSPI1 */
|
||||
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IMXRT_LPSPI3 || CONFIG_IMXRT_LPSPI4 */
|
||||
150
boards/nxp/tropic/src/timer_config.cpp
Normal file
150
boards/nxp/tropic/src/timer_config.cpp
Normal file
@ -0,0 +1,150 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2024 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 <stdint.h>
|
||||
|
||||
#include <chip.h>
|
||||
#include "hardware/imxrt_tmr.h"
|
||||
#include "hardware/imxrt_flexpwm.h"
|
||||
#include "imxrt_gpio.h"
|
||||
#include "imxrt_iomuxc.h"
|
||||
#include "hardware/imxrt_pinmux.h"
|
||||
#include "imxrt_xbar.h"
|
||||
#include "imxrt_periphclks.h"
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
/* Register accessors */
|
||||
|
||||
#define _REG(_addr) (*(volatile uint16_t *)(_addr))
|
||||
|
||||
/* QTimer3 register accessors */
|
||||
|
||||
#define REG(_reg) _REG(IMXRT_QTIMER3_BASE + IMXRT_TMR_OFFSET(IMXRT_TMR_CH0,(_reg)))
|
||||
|
||||
#define rCOMP1 REG(IMXRT_TMR_COMP1_OFFSET)
|
||||
#define rCOMP2 REG(IMXRT_TMR_COMP2_OFFSET)
|
||||
#define rCAPT REG(IMXRT_TMR_CAPT_OFFSET)
|
||||
#define rLOAD REG(IMXRT_TMR_LOAD_OFFSET)
|
||||
#define rHOLD REG(IMXRT_TMR_HOLD_OFFSET)
|
||||
#define rCNTR REG(IMXRT_TMR_CNTR_OFFSET)
|
||||
#define rCTRL REG(IMXRT_TMR_CTRL_OFFSET)
|
||||
#define rSCTRL REG(IMXRT_TMR_SCTRL_OFFSET)
|
||||
#define rCMPLD1 REG(IMXRT_TMR_CMPLD1_OFFSET)
|
||||
#define rCMPLD2 REG(IMXRT_TMR_CMPLD2_OFFSET)
|
||||
#define rCSCTRL REG(IMXRT_TMR_CSCTRL_OFFSET)
|
||||
#define rFILT REG(IMXRT_TMR_FILT_OFFSET)
|
||||
#define rDMA REG(IMXRT_TMR_DMA_OFFSET)
|
||||
#define rENBL REG(IMXRT_TMR_ENBL_OFFSET)
|
||||
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule0), // PWM_1, PMW_5
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule1), // PWM_0
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule2), // PWM_4
|
||||
initIOPWM(PWM::FlexPWM4, PWM::Submodule2), // PWM_2, PWM_3
|
||||
};
|
||||
|
||||
/* Using PWM_4 and PWM_5 breaks PWM needs driver fixup */
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_06), /* RevA. PWM_1 RevB. PWM1 */
|
||||
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_07), /* RevA. PWM_5 RevB. PWM2 */
|
||||
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08), /* RevA. PWM_0 RevB. PWM3 */
|
||||
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_B0_11), /* RevA. PWM_4 RevB. PWM4 */
|
||||
initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04), /* RevA. PWM_3 RevB. PWM5 */
|
||||
initIOTimerChannel(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_05), /* RevA. PWM_2 RevB. PWM6 */
|
||||
};
|
||||
|
||||
|
||||
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] = {
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
};
|
||||
|
||||
#include <stdio.h>
|
||||
void fmurt1062_timer_initialize(void)
|
||||
{
|
||||
/* We must configure Qtimer 3 as the IPG divide by to yield 16 Mhz
|
||||
* and deliver that clock to the eFlexPWM234 via XBAR
|
||||
*
|
||||
* IPG = 144 Mhz
|
||||
* 16Mhz = 144 / 9
|
||||
* COMP 1 = 5, COMP2 = 4
|
||||
*
|
||||
* */
|
||||
|
||||
/* Enable Block Clocks for Qtimer and XBAR1 */
|
||||
|
||||
imxrt_clockall_timer3();
|
||||
imxrt_clockall_xbar1();
|
||||
|
||||
/* Disable Timer */
|
||||
|
||||
rCTRL = 0;
|
||||
rCOMP1 = 5 - 1; // N - 1
|
||||
rCOMP2 = 4 - 1;
|
||||
|
||||
rCAPT = 0;
|
||||
rLOAD = 0;
|
||||
rCNTR = 0;
|
||||
|
||||
rSCTRL = TMR_SCTRL_OEN;
|
||||
|
||||
rCMPLD1 = 0;
|
||||
rCMPLD2 = 0;
|
||||
rCSCTRL = 0;
|
||||
rFILT = 0;
|
||||
rDMA = 0;
|
||||
|
||||
/* Count rising edges of primary source,
|
||||
* Prescaler is /1
|
||||
* Count UP until compare, then re-initialize. a successful compare occurs when the counter reaches a COMP1 value.
|
||||
* Toggle OFLAG output using alternating compare registers
|
||||
*/
|
||||
rCTRL = (TMR_CTRL_CM_MODE1 | TMR_CTRL_PCS_DIV1 | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE_TOG_ALT);
|
||||
|
||||
/* QTIMER3_TIMER0 -> Flexpwm234ExtClk */
|
||||
|
||||
imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM234_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT);
|
||||
}
|
||||
129
boards/nxp/tropic/src/usb.c
Normal file
129
boards/nxp/tropic/src/usb.c
Normal file
@ -0,0 +1,129 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2024 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.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <chip.h>
|
||||
#include <hardware/imxrt_usb_analog.h>
|
||||
#include "board_config.h"
|
||||
#include "imxrt_periphclks.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int imxrt_usb_initialize(void)
|
||||
{
|
||||
imxrt_clockall_usboh3();
|
||||
return 0;
|
||||
}
|
||||
/************************************************************************************
|
||||
* Name: imxrt_usbpullup
|
||||
*
|
||||
* Description:
|
||||
* If USB is supported and the board supports a pullup via GPIO (for USB software
|
||||
* connect and disconnect), then the board software must provide imxrt_usbpullup.
|
||||
* See include/nuttx/usb/usbdev.h for additional description of this method.
|
||||
* Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
|
||||
* NULL.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT
|
||||
int imxrt_usbpullup(FAR struct usbdev_s *dev, bool enable)
|
||||
{
|
||||
usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the imxrt_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 imxrt_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
*
|
||||
* Description:
|
||||
* All boards must provide a way to read the state of VBUS, this my be simple
|
||||
* digital input on a GPIO. Or something more complicated like a Analong input
|
||||
* or reading a bit from a USB controller register.
|
||||
*
|
||||
* Returns - 0 if connected.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_read_VBUS_state(void)
|
||||
{
|
||||
|
||||
return (getreg32(IMXRT_USB_ANALOG_USB1_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_VALID) ? 0 : 1;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user