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Merge branch 'main' into wip_new_uart_api

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This commit is contained in:
Eric Katzfey
2024-03-05 08:56:53 -08:00
parent ff133660c0 d1ae242a91
commit 635d4557f7
526 changed files with 20747 additions and 8647 deletions
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platforms/common/include/px4_platform_common/board_common.h
+79 -7
View File
@@ -269,6 +269,18 @@
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
#endif
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
typedef uint16_t hw_fmun_id_t;
typedef uint16_t hw_base_id_t;
// Original Signals GPIO_HW_REV_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the FMUM
// Original Signals GPIO_HW_VER_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the BASE
# define BOARD_HAS_VERSIONING 1
# define HW_FMUM_ID(rev) ((hw_fmun_id_t)(rev) & 0xffff)
# define HW_BASE_ID(ver) ((hw_base_id_t)(ver) & 0xffff)
# define GET_HW_FMUM_ID() (HW_FMUM_ID(board_get_hw_revision()))
# define GET_HW_BASE_ID() (HW_BASE_ID(board_get_hw_version()))
#endif
#define HW_INFO_REV_DIGITS 3
#define HW_INFO_VER_DIGITS 3
@@ -458,6 +470,15 @@ static inline bool board_rc_singlewire(const char *device) { return false; }
* A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
* as UART with RX/TX swapped.
*
* It can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE If the board is wired
* with TX to the input (Swapped) and the SoC does not support U[S]ART level
* HW swapping, then use onewire to do the swap if and only if:
*
* RC_SERIAL_SWAP_USING_SINGLEWIRE is defined
* RC_SERIAL_SWAP_RXTX is defined
* TIOCSSWAP is defined and retuns !OK
* TIOCSSINGLEWIRE is defined
*
* Input Parameters:
* device: serial device, e.g. "/dev/ttyS0"
*
@@ -659,20 +680,51 @@ bool board_booted_by_px4(void);
************************************************************************************/
typedef enum {
PX4_MFT_PX4IO = 0,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
PX4_MFT_PX4IO = 0,
PX4_MFT_USB = 1,
PX4_MFT_CAN2 = 2,
PX4_MFT_CAN3 = 3,
PX4_MFT_PM2 = 4,
PX4_MFT_ETHERNET = 5,
PX4_MFT_T1_ETH = 6,
PX4_MFT_T100_ETH = 7,
PX4_MFT_T1000_ETH = 8,
} px4_hw_mft_item_id_t;
typedef int (*system_query_func_t)(const char *sub, const char *val, void *out);
#define PX4_MFT_MFT_TYPES { \
PX4_MFT_PX4IO, \
PX4_MFT_USB, \
PX4_MFT_CAN2, \
PX4_MFT_CAN3, \
PX4_MFT_PM2, \
PX4_MFT_ETHERNET, \
PX4_MFT_T1_ETH, \
PX4_MFT_T100_ETH, \
PX4_MFT_T1000_ETH }
#define PX4_MFT_MFT_STR_TYPES { \
"MFT_PX4IO", \
"MFT_USB", \
"MFT_CAN2", \
"MFT_CAN3", \
"MFT_PM2", \
"MFT_ETHERNET", \
"MFT_T1_ETH", \
"MFT_T100_ETH", \
"MFT_T1000_ETH", \
"MFT_T1000_ETH"}
typedef enum {
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_unknown = 0,
px4_hw_con_onboard = 1,
px4_hw_con_connector = 3,
} px4_hw_connection_t;
typedef struct {
unsigned int id: 16; /* The id px4_hw_mft_item_id_t */
unsigned int present: 1; /* 1 if this board have this item */
unsigned int mandatory: 1; /* 1 if this item has to be present and working */
unsigned int connection: 2; /* See px4_hw_connection_t */
@@ -684,7 +736,7 @@ typedef const px4_hw_mft_item_t *px4_hw_mft_item;
#if defined(BOARD_HAS_VERSIONING)
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id);
__EXPORT int system_query_manifest(const char *sub, const char *val, void *out);
# define PX4_MFT_HW_SUPPORTED(ID) (board_query_manifest((ID))->present)
# define PX4_MFT_HW_REQUIRED(ID) (board_query_manifest((ID))->mandatory)
# define PX4_MFT_HW_IS_ONBOARD(ID) (board_query_manifest((ID))->connection == px4_hw_con_onboard)
@@ -757,6 +809,26 @@ __EXPORT const char *board_get_hw_type_name(void);
#define board_get_hw_type_name() ""
#endif
/************************************************************************************
* Name: board_get_hw_base_type_name
*
* Description:
* Optional returns a 0 terminated string defining the HW type.
*
* Input Parameters:
* None
*
* Returned Value:
* a 0 terminated string defining the HW type. This may be a 0 length string ""
*
************************************************************************************/
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
__EXPORT const char *board_get_hw_base_type_name(void);
#else
#define board_get_hw_base_type_name() ""
#endif
/************************************************************************************
* Name: board_get_hw_version
*
platforms/common/include/px4_platform_common/spi.h
+5 -1
View File
@@ -73,7 +73,11 @@ struct px4_spi_bus_t {
struct px4_spi_bus_all_hw_t {
px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
hw_fmun_id_t board_hw_fmun_id {USHRT_MAX};
#else
int board_hw_version_revision {-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
#endif
};
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1