From 77ac41f1237415b24443347e1747ef61a96df0d5 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 7 Jan 2022 21:13:56 -0500 Subject: [PATCH] boards: stm32h7 enable SPI and serial DMA everywhere - try to keep board support packages in sync --- boards/cuav/nora/default.px4board | 6 +- .../nora/nuttx-config/include/board_dma_map.h | 36 +- boards/cuav/nora/nuttx-config/nsh/defconfig | 15 +- boards/cuav/nora/src/board_config.h | 2 +- boards/cuav/nora/src/hw_config.h | 2 +- boards/cuav/nora/src/init.c | 23 +- boards/cuav/x7pro/default.px4board | 5 +- boards/cuav/x7pro/init/rc.board_defaults | 1 - .../cuav/x7pro/nuttx-config/include/board.h | 4 + .../nuttx-config/include/board_dma_map.h | 36 +- boards/cuav/x7pro/nuttx-config/nsh/defconfig | 12 +- boards/cuav/x7pro/src/board_config.h | 10 +- boards/cuav/x7pro/src/hw_config.h | 2 +- boards/cuav/x7pro/src/init.c | 23 +- .../nuttx-config/include/board_dma_map.h | 25 +- .../cubeorange/nuttx-config/nsh/defconfig | 14 +- .../cubeorange/nuttx-config/test/defconfig | 11 +- boards/cubepilot/cubeorange/src/init.c | 14 +- boards/cubepilot/cubeorange/src/usb.c | 1 - .../nuttx-config/include/board_dma_map.h | 31 +- .../durandal-v1/nuttx-config/nsh/defconfig | 11 + boards/holybro/durandal-v1/src/init.c | 72 +--- boards/matek/h743-slim/default.px4board | 6 +- boards/matek/h743-slim/nuttx-config/Kconfig | 17 - .../nuttx-config/bootloader/defconfig | 1 - .../h743-slim/nuttx-config/include/board.h | 243 ++------------ .../nuttx-config/include/board_dma_map.h | 14 +- boards/matek/h743-slim/src/CMakeLists.txt | 2 - boards/matek/h743-slim/src/board_config.h | 153 +++------ boards/matek/h743-slim/src/init.c | 36 +- boards/matek/h743-slim/src/sdio.c | 177 ---------- boards/matek/h743-slim/src/spi.cpp | 1 - boards/matek/h743-slim/src/timer_config.cpp | 6 +- boards/matek/h743-slim/src/usb.c | 19 -- boards/modalai/fc-v2/default.px4board | 4 +- .../nuttx-config/include/board_dma_map.h | 32 +- .../modalai/fc-v2/nuttx-config/nsh/defconfig | 18 +- boards/modalai/fc-v2/src/board_config.h | 20 -- boards/modalai/fc-v2/src/init.c | 59 +--- .../nuttx-config/include/board.h | 4 + .../nuttx-config/include/board_dma_map.h | 26 +- .../nuttx-config/nsh/defconfig | 18 +- .../mro/ctrl-zero-h7-oem/src/board_config.h | 26 +- boards/mro/ctrl-zero-h7-oem/src/init.c | 13 +- boards/mro/ctrl-zero-h7-oem/src/spi.cpp | 3 + .../mro/ctrl-zero-h7-oem/src/timer_config.cpp | 2 +- .../ctrl-zero-h7/nuttx-config/include/board.h | 4 + .../nuttx-config/include/board_dma_map.h | 26 +- .../ctrl-zero-h7/nuttx-config/nsh/defconfig | 19 +- boards/mro/ctrl-zero-h7/src/board_config.h | 26 +- boards/mro/ctrl-zero-h7/src/init.c | 13 +- boards/mro/ctrl-zero-h7/src/spi.cpp | 3 + boards/mro/ctrl-zero-h7/src/timer_config.cpp | 2 +- boards/mro/pixracerpro/default.px4board | 4 +- .../nuttx-config/include/board_dma_map.h | 29 +- .../pixracerpro/nuttx-config/nsh/defconfig | 12 +- .../nuttx-config/scripts/script.ld | 1 + boards/mro/pixracerpro/src/board_config.h | 7 +- boards/mro/pixracerpro/src/init.c | 16 +- boards/mro/pixracerpro/src/timer_config.cpp | 2 +- boards/px4/fmu-v6u/default.px4board | 4 +- .../nuttx-config/include/board_dma_map.h | 33 +- boards/px4/fmu-v6u/nuttx-config/nsh/defconfig | 13 +- boards/px4/fmu-v6u/src/init.c | 67 +--- boards/px4/fmu-v6x/default.px4board | 4 +- .../nuttx-config/include/board_dma_map.h | 34 +- boards/px4/fmu-v6x/nuttx-config/nsh/defconfig | 13 +- boards/px4/fmu-v6x/src/board_config.h | 10 +- boards/px4/fmu-v6x/src/hw_config.h | 39 ++- boards/px4/fmu-v6x/src/init.c | 69 +--- boards/raspberrypi/pico/src/board_config.h | 3 - boards/spracing/h7extreme/default.px4board | 2 +- .../spracing/h7extreme/init/rc.board_sensors | 5 +- .../h7extreme/nuttx-config/include/board.h | 311 +++--------------- boards/spracing/h7extreme/src/CMakeLists.txt | 1 - boards/spracing/h7extreme/src/board_config.h | 111 ++----- boards/spracing/h7extreme/src/init.c | 85 ++--- boards/spracing/h7extreme/src/led.c | 113 +------ boards/spracing/h7extreme/src/sdio.c | 177 ---------- boards/spracing/h7extreme/src/spi.cpp | 1 - .../spracing/h7extreme/src/timer_config.cpp | 2 +- boards/spracing/h7extreme/src/usb.c | 54 +-- 82 files changed, 753 insertions(+), 1818 deletions(-) delete mode 100644 boards/matek/h743-slim/nuttx-config/Kconfig delete mode 100644 boards/matek/h743-slim/src/sdio.c delete mode 100644 boards/spracing/h7extreme/src/sdio.c diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 1ce75a9f08..bac42176aa 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -46,6 +46,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_ESC_BATTERY=y @@ -69,7 +70,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -78,8 +78,8 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y @@ -95,6 +95,8 @@ CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_PWM=y CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/cuav/nora/nuttx-config/include/board_dma_map.h b/boards/cuav/nora/nuttx-config/include/board_dma_map.h index 428ef3f0f9..22446df425 100644 --- a/boards/cuav/nora/nuttx-config/include/board_dma_map.h +++ b/boards/cuav/nora/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,17 +33,29 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ - -#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */ -#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */ - -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 9,10,11,12 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6, 7, 8 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 (RX only) +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 1, 2, 3, 4 -// DMAMUX2 (BDMA) -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ +// DMAMUX2 +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */ // TELEM1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // TELEM2 RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // TELEM2 TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // CONSOLE (RX only) +#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA2:81 */ // RC (RX only) +#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ +#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ + + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/cuav/nora/nuttx-config/nsh/defconfig b/boards/cuav/nora/nuttx-config/nsh/defconfig index 202c77ee81..218203b67e 100644 --- a/boards/cuav/nora/nuttx-config/nsh/defconfig +++ b/boards/cuav/nora/nuttx-config/nsh/defconfig @@ -53,7 +53,6 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x3163 CONFIG_CDCACM_VENDORSTR="CUAV" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y @@ -61,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXAMPLES_CALIB_UDELAY=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -83,7 +83,6 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y @@ -103,9 +102,6 @@ CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_IFCONFIG=y -CONFIG_NSH_DISABLE_IFUPDOWN=y -CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -181,6 +177,8 @@ CONFIG_STM32H7_SPI1=y CONFIG_STM32H7_SPI1_DMA=y CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=1024 CONFIG_STM32H7_SPI4=y CONFIG_STM32H7_SPI4_DMA=y CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 @@ -216,24 +214,31 @@ CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_RXDMA=y CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_RXDMA=y CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_IFLOWCONTROL=y CONFIG_USART6_OFLOWCONTROL=y CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/cuav/nora/src/board_config.h b/boards/cuav/nora/src/board_config.h index 30b971f975..4e7fa23476 100644 --- a/boards/cuav/nora/src/board_config.h +++ b/boards/cuav/nora/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 diff --git a/boards/cuav/nora/src/hw_config.h b/boards/cuav/nora/src/hw_config.h index 4a1fca5447..94aa6a301d 100644 --- a/boards/cuav/nora/src/hw_config.h +++ b/boards/cuav/nora/src/hw_config.h @@ -94,7 +94,7 @@ //#define USE_VBUS_PULL_DOWN #define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS4,57600" +#define INTERFACE_USART_CONFIG "/dev/ttyS4,115200" #define BOOT_DELAY_ADDRESS 0x000001a0 #define BOARD_TYPE 1009 #define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) diff --git a/boards/cuav/nora/src/init.c b/boards/cuav/nora/src/init.c index d4c262b76a..cd0fe76e00 100644 --- a/boards/cuav/nora/src/init.c +++ b/boards/cuav/nora/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,11 +34,11 @@ /** * @file init.c * - * FMU-specific early startup code. This file implements the + * board-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -78,7 +76,6 @@ __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); bool last = READ_SPEKTRUM_POWER(); /* Keep Spektum on to discharge rail*/ @@ -92,7 +89,6 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ SPEKTRUM_POWER(last); - board_control_spi_sensors_power(true, 0xffff); VDD_5V_PERIPH_EN(true); } @@ -132,14 +128,14 @@ __EXPORT void stm32_boardinitialize(void) /* Reset PWM first thing */ board_on_reset(-1); - /* configure LEDs */ - board_autoled_initialize(); - /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); board_control_spi_sensors_power_configgpio(); + + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -179,6 +175,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif + /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -212,7 +214,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index f5e3989c27..2f5fe7d87c 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -47,6 +47,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_ESC_BATTERY=y @@ -70,7 +71,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -79,8 +79,8 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y @@ -98,6 +98,7 @@ CONFIG_SYSTEMCMDS_PWM=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SD_STRESS=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y CONFIG_SYSTEMCMDS_TUNE_CONTROL=y diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults index 1c199a4a72..2451fa34bc 100644 --- a/boards/cuav/x7pro/init/rc.board_defaults +++ b/boards/cuav/x7pro/init/rc.board_defaults @@ -20,6 +20,5 @@ param set-default SENS_TEMP_ID 6946850 # Set Camera trigger pins to 13/14 param set-default TRIG_PINS_EX 12288 - rgbled_pwm start safety_button start diff --git a/boards/cuav/x7pro/nuttx-config/include/board.h b/boards/cuav/x7pro/nuttx-config/include/board.h index ad4b16fbd5..01e0f258aa 100644 --- a/boards/cuav/x7pro/nuttx-config/include/board.h +++ b/boards/cuav/x7pro/nuttx-config/include/board.h @@ -220,6 +220,7 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + /* UART/USART */ #define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ #define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ @@ -243,12 +244,14 @@ #define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ #define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ + /* CAN */ #define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ #define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + /* SPI */ #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) @@ -272,6 +275,7 @@ #define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ #define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ + /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ diff --git a/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h b/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h index 428ef3f0f9..22446df425 100644 --- a/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h +++ b/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,17 +33,29 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ - -#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */ -#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */ - -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 9,10,11,12 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6, 7, 8 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 (RX only) +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 1, 2, 3, 4 -// DMAMUX2 (BDMA) -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ +// DMAMUX2 +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */ // TELEM1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // TELEM2 RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // TELEM2 TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // CONSOLE (RX only) +#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA2:81 */ // RC (RX only) +#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ +#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ + + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig index 720cfbf338..c1812091b0 100644 --- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig +++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig @@ -102,9 +102,6 @@ CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_IFCONFIG=y -CONFIG_NSH_DISABLE_IFUPDOWN=y -CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -180,6 +177,8 @@ CONFIG_STM32H7_SPI1=y CONFIG_STM32H7_SPI1_DMA=y CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=1024 CONFIG_STM32H7_SPI4=y CONFIG_STM32H7_SPI4_DMA=y CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 @@ -215,24 +214,31 @@ CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_RXDMA=y CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_RXDMA=y CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_IFLOWCONTROL=y CONFIG_USART6_OFLOWCONTROL=y CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/cuav/x7pro/src/board_config.h b/boards/cuav/x7pro/src/board_config.h index f8a1824ebc..52b88b09e1 100644 --- a/boards/cuav/x7pro/src/board_config.h +++ b/boards/cuav/x7pro/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -109,7 +109,6 @@ /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 14 -#define BOARD_NUM_IO_TIMERS 4 /* Power supply control and monitoring GPIOs */ #define BOARD_NUMBER_BRICKS 2 @@ -192,14 +191,9 @@ #define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC)) #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC)) - -/* This board provides a DMA pool and APIs */ +#define BOARD_NUM_IO_TIMERS 4 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ #define BOARD_HAS_ON_RESET 1 - - #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ diff --git a/boards/cuav/x7pro/src/hw_config.h b/boards/cuav/x7pro/src/hw_config.h index ced086d448..5cdeb43b71 100644 --- a/boards/cuav/x7pro/src/hw_config.h +++ b/boards/cuav/x7pro/src/hw_config.h @@ -94,7 +94,7 @@ //#define USE_VBUS_PULL_DOWN #define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS4,57600" +#define INTERFACE_USART_CONFIG "/dev/ttyS4,115200" #define BOOT_DELAY_ADDRESS 0x000001a0 #define BOARD_TYPE 1010 #define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) diff --git a/boards/cuav/x7pro/src/init.c b/boards/cuav/x7pro/src/init.c index d4c262b76a..cd0fe76e00 100644 --- a/boards/cuav/x7pro/src/init.c +++ b/boards/cuav/x7pro/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,11 +34,11 @@ /** * @file init.c * - * FMU-specific early startup code. This file implements the + * board-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -78,7 +76,6 @@ __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); bool last = READ_SPEKTRUM_POWER(); /* Keep Spektum on to discharge rail*/ @@ -92,7 +89,6 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ SPEKTRUM_POWER(last); - board_control_spi_sensors_power(true, 0xffff); VDD_5V_PERIPH_EN(true); } @@ -132,14 +128,14 @@ __EXPORT void stm32_boardinitialize(void) /* Reset PWM first thing */ board_on_reset(-1); - /* configure LEDs */ - board_autoled_initialize(); - /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); board_control_spi_sensors_power_configgpio(); + + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -179,6 +175,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif + /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -212,7 +214,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/cubepilot/cubeorange/nuttx-config/include/board_dma_map.h b/boards/cubepilot/cubeorange/nuttx-config/include/board_dma_map.h index 050ae597d9..fb8831ea8d 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/include/board_dma_map.h +++ b/boards/cubepilot/cubeorange/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,12 +33,23 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 1, 2, 3, 4 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */ // TELEM1 TX +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */ // TELEM2 RX +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */ // TELEM2 TX -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */ +// DMAMUX2 +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA2:63 */ // GPS1 RX +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA2:64 */ // GPS1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // PX4IO RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // PX4IO TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // console (RX only) +#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ +#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ diff --git a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig index 4e0386b66f..cc8bf1ce1b 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig @@ -54,7 +54,6 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x2DAE CONFIG_CDCACM_VENDORSTR="CubePilot" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y @@ -62,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXAMPLES_CALIB_UDELAY=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -84,7 +84,6 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y @@ -204,9 +203,12 @@ CONFIG_TTY_SIGINT_CHAR=0x03 CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 @@ -215,15 +217,21 @@ CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig index 6470c318c1..d31e9ddf1d 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig @@ -201,9 +201,12 @@ CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 @@ -213,15 +216,21 @@ CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/cubepilot/cubeorange/src/init.c b/boards/cubepilot/cubeorange/src/init.c index f7e1b3ca77..35153035ec 100644 --- a/boards/cubepilot/cubeorange/src/init.c +++ b/boards/cubepilot/cubeorange/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -38,7 +38,7 @@ * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -126,6 +124,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); + board_control_spi_sensors_power_configgpio(); /* configure LEDs */ @@ -166,6 +165,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif + /* initial LED state */ drv_led_start(); led_off(LED_AMBER); @@ -192,7 +197,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/cubepilot/cubeorange/src/usb.c b/boards/cubepilot/cubeorange/src/usb.c index fae2e76255..3d86aca280 100644 --- a/boards/cubepilot/cubeorange/src/usb.c +++ b/boards/cubepilot/cubeorange/src/usb.c @@ -42,7 +42,6 @@ #include #include #include -#include /************************************************************************************ * Name: stm32_usbsuspend diff --git a/boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h b/boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h index c93b7fe49c..8c81cfdefd 100644 --- a/boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h +++ b/boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,13 +33,28 @@ #pragma once -// DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ -#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */ -#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */ +// DMAMUX1 +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 1, 2, 3, 4 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 RX +#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */ // GPS2 RX +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */ // TELEM1 TX + // DMAMUX2 -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */ // TELEM2 RX +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */ // TELEM2 TX +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA2:63 */ // TELEM4 RX +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA2:64 */ // TELEM4 TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // console (RX only) +#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA2:81 */ // PX4IO RX +#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_1 /* DMA2:82 */ // PX4IO TX + + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig index a934d55097..21d7602c96 100644 --- a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig +++ b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig @@ -209,27 +209,38 @@ CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_RXDMA=y CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_UART8_TXDMA=y CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART1_TXDMA=y CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_RXDMA=y CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 CONFIG_USART6_TXBUFSIZE=1500 diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c index 527a8680ae..d1d6b123dc 100644 --- a/boards/holybro/durandal-v1/src/init.c +++ b/boards/holybro/durandal-v1/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2022 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 @@ -34,35 +34,21 @@ /** * @file init.c * - * PX4FMU-specific early startup code. This file implements the + * board-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ -/**************************************************************************** - * Included Files - ****************************************************************************/ - #include "board_config.h" -#include -#include -#include -#include -#include #include #include #include -#include #include #include -#include -#include -#include -#include #include #include "arm_internal.h" @@ -75,28 +61,12 @@ #include #include -#include - -/**************************************************************************** - * 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); __END_DECLS - /************************************************************************************ * Name: board_peripheral_reset * @@ -106,9 +76,7 @@ __END_DECLS __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); /* Keep Spektum on to discharge rail*/ @@ -122,9 +90,7 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); VDD_5V_PERIPH_EN(true); - } /************************************************************************************ @@ -158,27 +124,22 @@ __EXPORT void board_on_reset(int status) * and mapped but before any devices have been initialized. * ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) +__EXPORT void stm32_boardinitialize(void) { - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); + /* Reset PWM first thing */ + board_on_reset(-1); /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); board_control_spi_sensors_power_configgpio(); /* configure USB interfaces */ - stm32_usbinitialize(); + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -192,21 +153,13 @@ stm32_boardinitialize(void) * 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. + * meaning to NuttX; * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on * any failure to indicate the nature of the failure. * ****************************************************************************/ - - __EXPORT int board_app_initialize(uintptr_t arg) { /* Power on Interfaces */ @@ -216,10 +169,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) VDD_3V3_SPEKTRUM_POWER_EN(true); /* Need hrt running before using the ADC */ - px4_platform_init(); - if (OK == board_determine_hw_info()) { syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), board_get_hw_type_name()); @@ -229,11 +180,9 @@ __EXPORT int board_app_initialize(uintptr_t arg) } /* configure SPI interfaces (after we determined the HW version) */ - stm32_spiinitialize(); /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } @@ -254,12 +203,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_RED); } +#ifdef CONFIG_MMCSD // Ensure Power is off for > 10 mS usleep(15 * 1000); VDD_3V3_SD_CARD_EN(true); usleep(500 * 1000); -#ifdef CONFIG_MMCSD int ret = stm32_sdio_initialize(); if (ret != OK) { @@ -269,7 +218,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 7a671b7c00..6cf7969946 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -12,8 +12,8 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y @@ -28,6 +28,7 @@ CONFIG_DRIVERS_UAVCAN=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y CONFIG_MODULES_EVENTS=y @@ -47,14 +48,13 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y diff --git a/boards/matek/h743-slim/nuttx-config/Kconfig b/boards/matek/h743-slim/nuttx-config/Kconfig deleted file mode 100644 index bb33d3cfda..0000000000 --- a/boards/matek/h743-slim/nuttx-config/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig index 2bb3fd8f67..4e2ac3df52 100644 --- a/boards/matek/h743-slim/nuttx-config/bootloader/defconfig +++ b/boards/matek/h743-slim/nuttx-config/bootloader/defconfig @@ -52,7 +52,6 @@ CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y CONFIG_LIB_BOARDCTL=y -CONFIG_FS_PROCFS_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_PREALLOC_TIMERS=50 diff --git a/boards/matek/h743-slim/nuttx-config/include/board.h b/boards/matek/h743-slim/nuttx-config/include/board.h index f322c3cbe9..d5bc2fd019 100644 --- a/boards/matek/h743-slim/nuttx-config/include/board.h +++ b/boards/matek/h743-slim/nuttx-config/include/board.h @@ -1,7 +1,7 @@ /************************************************************************************ - * nuttx-configs/px4_fmu-v6u/include/board.h + * nuttx-config/include/board.h * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Copyright (C) 2020 Gregory Nutt. All rights reserved. * Authors: David Sidrane * * Redistribution and use in source and binary forms, with or without @@ -32,12 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ -#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ +#pragma once #include "board_dma_map.h" @@ -50,12 +45,8 @@ #include "stm32_rcc.h" #include "stm32_sdmmc.h" -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - /* Clocking *************************************************************************/ -/* The MatekH743-Slim board provides the following clock sources: +/* The board provides the following clock sources: * * X1: 8 MHz crystal for HSE * @@ -64,13 +55,12 @@ * HSI: 64 MHz RC factory-trimmed * HSE: 8 MHz crystal for HSE */ - #define STM32_BOARD_XTAL 8000000ul #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 +#define STM32_LSE_FREQUENCY 0 /* Main PLL Configuration. * @@ -105,12 +95,7 @@ * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz */ - -#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP1EN | \ - RCC_PLLCFGR_DIVQ1EN | \ - RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN) #define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) #define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120) #define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) @@ -123,12 +108,7 @@ #define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) /* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN) #define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2) #define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) #define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) @@ -141,10 +121,7 @@ #define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) /* PLL3 */ - -#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN) #define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2) #define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) #define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) @@ -159,7 +136,6 @@ /* SYSCLK = PLL1P = 480MHz * CPUCLK = SYSCLK / 1 = 480 MHz */ - #define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) #define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) #define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) @@ -169,36 +145,30 @@ /* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 */ - #define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ #define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ #define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ #define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ /* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ - #define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ #define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ - #define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ - #define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ #define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ - #define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ #define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timer clock frequencies */ /* Timers driven from APB1 will be twice PCLK1 */ - #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) @@ -210,7 +180,6 @@ #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* Timers driven from APB2 will be twice PCLK2 */ - #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) @@ -218,76 +187,29 @@ #define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) /* Kernel Clock Configuration - * - * Note: look at Table 54 in ST Manual + * Note: look at Table 54 in ST Manual */ - -/* I2C123 clock source */ - -#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI - -/* I2C4 clock source */ - -#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI - -/* SPI123 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 - -/* SPI45 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 - -/* SPI6 clock source */ - -#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 - -/* USB 1 and 2 clock source */ - -#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 - -/* ADC 1 2 3 clock source */ - -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 - -/* FDCAN 1 clock source */ - +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */ +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY -/* FLASH wait states - * - * ------------ ---------- ----------- - * Vcore MAX ACLK WAIT STATES - * ------------ ---------- ----------- - * 1.15-1.26 V 70 MHz 0 - * (VOS1 level) 140 MHz 1 - * 210 MHz 2 - * 1.05-1.15 V 55 MHz 0 - * (VOS2 level) 110 MHz 1 - * 165 MHz 2 - * 220 MHz 3 - * 0.95-1.05 V 45 MHz 0 - * (VOS3 level) 90 MHz 1 - * 135 MHz 2 - * 180 MHz 3 - * 225 MHz 4 - * ------------ ---------- ----------- - */ - +/* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 /* SDMMC definitions ********************************************************/ - /* Init 480kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ - #define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) /* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s */ - #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) # define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #else @@ -301,55 +223,8 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE -/* LED definitions ******************************************************************/ -/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED, - * that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_NLEDS 2 - -#define BOARD_LED_BLUE BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* Alternate function pin selections ************************************************/ +/* UART/USART */ #define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */ #define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */ @@ -374,59 +249,38 @@ #define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ -/* CAN - * - * CAN1 is routed to transceiver. - */ - +/* CAN */ #define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ -/* SPI - * - * SPI1 is MPU6000 - * SPI2 is MAX7456 - * SPI3 is extern with PD4 and PE2 as CS - * SPI4 is ICM20602 - */ +/* SPI */ #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */ #define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ #define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ -#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ #define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ #define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_4 /* PB5 */ -#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ #define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ #define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ -#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ -/* I2C - * - * The optional _GPIO configurations allow the I2C driver to manually - * reset the bus to clear stuck slaves. They match the pin configuration, - * but are normally-high GPIOs. - * - */ +/* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */ -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) - #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */ #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */ -#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10) -#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11) /* SDMMC1 * @@ -444,50 +298,3 @@ // #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */ // #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */ // #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */ - - -/* USB - * - * OTG_FS_DM PA11 - * OTG_FS_DP PA12 - * VBUS PA9 - */ - - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# include "stm32_gpio.h" -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */ -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */ -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */ -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */ -# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ -# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */ -# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */ -# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */ -# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */ - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ - if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - -#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */ diff --git a/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h b/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h index 693132c389..4fde67621d 100644 --- a/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h +++ b/boards/matek/h743-slim/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -33,11 +33,15 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM3UP DMAMAP_DMA12_TIM3UP_0 /* DMA1:27 */ // DSHOT 1, 2 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 7, 8 +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 3, 4, 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ // DMAMUX2 -#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ -#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ +#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */ +#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */ diff --git a/boards/matek/h743-slim/src/CMakeLists.txt b/boards/matek/h743-slim/src/CMakeLists.txt index f677ccf9e0..f356192df4 100644 --- a/boards/matek/h743-slim/src/CMakeLists.txt +++ b/boards/matek/h743-slim/src/CMakeLists.txt @@ -48,7 +48,6 @@ else() i2c.cpp init.c led.c - sdio.c spi.cpp timer_config.cpp usb.c @@ -58,7 +57,6 @@ else() target_link_libraries(drivers_board PRIVATE arch_spi - arch_board_hw_info drivers__led nuttx_arch nuttx_drivers diff --git a/boards/matek/h743-slim/src/board_config.h b/boards/matek/h743-slim/src/board_config.h index 17a9705404..311c324a61 100644 --- a/boards/matek/h743-slim/src/board_config.h +++ b/boards/matek/h743-slim/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -39,25 +39,15 @@ #pragma once -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - #include #include #include - #include -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - // #define FLASH_BASED_PARAMS - +/* LEDs */ /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ - #define GPIO_nLED_BLUE /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) #define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) @@ -65,57 +55,39 @@ #define BOARD_ARMED_STATE_LED 1 // Green LED #define BOARD_OVERLOAD_LED 0 // Blue LED - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* ADC defines to be used in sensors.cpp to read from a particular channel */ -#define ADC1_CH(n) (n) - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ +/* ADC channels */ #define PX4_ADC_GPIO \ /* PC0 */ GPIO_ADC123_INP10, \ /* PC1 */ GPIO_ADC123_INP11, \ - /* PA4 */ GPIO_ADC12_INP18, \ - /* PA7 */ GPIO_ADC12_INP7, \ - /* PC4 */ GPIO_ADC12_INP4, \ + /* PA4 */ GPIO_ADC12_INP18, \ + /* PA7 */ GPIO_ADC12_INP7, \ + /* PC4 */ GPIO_ADC12_INP4, \ /* PC5 */ GPIO_ADC12_INP8 -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10) -#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11) -#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA4 */ ADC1_CH(18) -#define ADC_BATTERY2_CURRENT_CHANNEL /* PA7 */ ADC1_CH(7) -#define ADC_AIRSPEED_IN_CHANNEL /* PC4 */ ADC1_CH(4) -#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8) +/* Define Channel numbers must match above GPIO pins */ +#define ADC_BATTERY1_VOLTAGE_CHANNEL 10 /* PC0 */ +#define ADC_BATTERY1_CURRENT_CHANNEL 11 /* PC1 */ +#define ADC_BATTERY2_VOLTAGE_CHANNEL 18 /* PA4 */ +#define ADC_BATTERY2_CURRENT_CHANNEL 7 /* PA7 */ +#define ADC_AIRSPEED_IN_CHANNEL 4 /* PC4 */ +#define ADC_RSSI_IN_CHANNEL 8 /* PC5 */ #define ADC_CHANNELS \ - ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ - (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ + ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \ + (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ + (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ (1 << ADC_AIRSPEED_IN_CHANNEL) | \ (1 << ADC_RSSI_IN_CHANNEL)) -/* CAN Silence - * - * Silent mode control \ ESC Mux select - */ - +/* CAN Silence Silent mode control */ #define GPIO_CAN1_SILENT_S0 /* PD3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN3) - -/* PWM - */ +/* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 -#define DIRECT_INPUT_TIMER_CHANNELS 8 - -#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS +/* Power supply control and monitoring GPIOs */ +#define BOARD_NUMBER_BRICKS 2 /* Spare GPIO */ @@ -125,7 +97,6 @@ /* Tone alarm output */ - #define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) #define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) @@ -136,13 +107,10 @@ /* USB OTG FS - * * PE2 OTG_FS_VBUS VBUS sensing */ - #define GPIO_OTGFS_VBUS /* PE2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN2) - /* High-resolution timer */ #define HRT_TIMER 2 /* use timer8 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */ @@ -154,75 +122,36 @@ // #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) - -/* SD Card */ -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - - -#define PX4_GPIO_INIT_LIST { \ - PX4_ADC_GPIO, \ - GPIO_CAN1_TX, \ - GPIO_CAN1_RX, \ - GPIO_CAN1_SILENT_S0, \ - GPIO_nLED_BLUE, \ - GPIO_nLED_GREEN, \ - GPIO_TONE_ALARM_IDLE, \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER +#define BOARD_ADC_BRICK1_VALID (1) +#define BOARD_ADC_BRICK2_VALID (1) #define BOARD_NUM_IO_TIMERS 4 +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 +#define BOARD_HAS_ON_RESET 1 +#define BOARD_ENABLE_CONSOLE_BUFFER +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN1_SILENT_S0, \ + GPIO_nLED_BLUE, \ + GPIO_nLED_GREEN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ + GPIO_TONE_ALARM_IDLE, \ + GPIO_OTGFS_VBUS, \ + } __BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - #ifndef __ASSEMBLY__ -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void); - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the board. - * - ****************************************************************************************************/ - extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - extern void board_peripheral_reset(int ms); #include - #endif /* __ASSEMBLY__ */ - __END_DECLS diff --git a/boards/matek/h743-slim/src/init.c b/boards/matek/h743-slim/src/init.c index a2a531882c..b5f7736883 100644 --- a/boards/matek/h743-slim/src/init.c +++ b/boards/matek/h743-slim/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -34,11 +34,11 @@ /** * @file init.c * - * FMU-specific early startup code. This file implements the + * board-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -113,9 +113,6 @@ __EXPORT void stm32_boardinitialize(void) /* Reset PWM first thing */ board_on_reset(-1); - /* configure LEDs */ - board_autoled_initialize(); - /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); @@ -123,9 +120,8 @@ __EXPORT void stm32_boardinitialize(void) /* configure SPI interfaces */ stm32_spiinitialize(); - /* configure USB interfaces */ - stm32_usbinitialize(); - + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -156,6 +152,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif + /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -166,13 +168,21 @@ __EXPORT int board_app_initialize(uintptr_t arg) } #ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot - if (ret != OK) { - led_on(LED_BLUE); + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0); } -#endif + if (mmcsd_slotinitialize(0, sdio_dev) != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n"); + } + + /* Assume that the SD card is inserted. What choice do we have? */ + sdio_mediachange(sdio_dev, true); +#endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ px4_platform_configure(); diff --git a/boards/matek/h743-slim/src/sdio.c b/boards/matek/h743-slim/src/sdio.c deleted file mode 100644 index 869d757756..0000000000 --- a/boards/matek/h743-slim/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "board_config.h" -#include "stm32_gpio.h" -#include "stm32_sdmmc.h" - -#ifdef CONFIG_MMCSD - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* Card detections requires card support and a card detection GPIO */ - -#define HAVE_NCD 1 -#if !defined(GPIO_SDMMC1_NCD) -# undef HAVE_NCD -#endif - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -static FAR struct sdio_dev_s *sdio_dev; -#ifdef HAVE_NCD -static bool g_sd_inserted = 0xff; /* Impossible value */ -#endif - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_ncd_interrupt - * - * Description: - * Card detect interrupt handler. - * - ****************************************************************************/ - -#ifdef HAVE_NCD -static int stm32_ncd_interrupt(int irq, FAR void *context) -{ - bool present; - - present = !stm32_gpioread(GPIO_SDMMC1_NCD); - - if (sdio_dev && present != g_sd_inserted) { - sdio_mediachange(sdio_dev, present); - g_sd_inserted = present; - } - - return OK; -} -#endif - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void) -{ - int ret; - -#ifdef HAVE_NCD - /* Card detect */ - - bool cd_status; - - /* Configure the card detect GPIO */ - - stm32_configgpio(GPIO_SDMMC1_NCD); - - /* Register an interrupt handler for the card detect pin */ - - stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); -#endif - - /* Mount the SDIO-based MMC/SD block driver */ - /* First, get an instance of the SDIO interface */ - - finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); - - sdio_dev = sdio_initialize(SDIO_SLOTNO); - - if (!sdio_dev) { - syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); - return -ENODEV; - } - - /* Now bind the SDIO interface to the MMC/SD driver */ - - finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); - - ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); - - if (ret != OK) { - syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); - return ret; - } - - finfo("Successfully bound SDIO to the MMC/SD driver\n"); - -#ifdef HAVE_NCD - /* Use SD card detect pin to check if a card is g_sd_inserted */ - - cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); - finfo("Card detect : %d\n", cd_status); - - sdio_mediachange(sdio_dev, cd_status); -#else - /* Assume that the SD card is inserted. What choice do we have? */ - - sdio_mediachange(sdio_dev, true); -#endif - - return OK; -} - -#endif /* CONFIG_MMCSD */ diff --git a/boards/matek/h743-slim/src/spi.cpp b/boards/matek/h743-slim/src/spi.cpp index 5135cbcc3b..a23b91bc4e 100644 --- a/boards/matek/h743-slim/src/spi.cpp +++ b/boards/matek/h743-slim/src/spi.cpp @@ -35,7 +35,6 @@ #include #include - constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), diff --git a/boards/matek/h743-slim/src/timer_config.cpp b/boards/matek/h743-slim/src/timer_config.cpp index bcdc7de7cf..09e14251a1 100644 --- a/boards/matek/h743-slim/src/timer_config.cpp +++ b/boards/matek/h743-slim/src/timer_config.cpp @@ -34,9 +34,9 @@ #include constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}), - initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}), - initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}), + initIOTimer(Timer::Timer3, DMA{DMA::Index1}), + initIOTimer(Timer::Timer5, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), // initIOTimer(Timer::Timer15), }; diff --git a/boards/matek/h743-slim/src/usb.c b/boards/matek/h743-slim/src/usb.c index 4fdfafd250..166891d4d3 100644 --- a/boards/matek/h743-slim/src/usb.c +++ b/boards/matek/h743-slim/src/usb.c @@ -43,25 +43,6 @@ #include #include -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32F7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} - /************************************************************************************ * Name: stm32_usbsuspend * diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 1919acaf63..304bd58499 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -40,6 +40,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_ESC_BATTERY=y @@ -63,7 +64,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -72,8 +72,8 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/modalai/fc-v2/nuttx-config/include/board_dma_map.h b/boards/modalai/fc-v2/nuttx-config/include/board_dma_map.h index 7685974474..4862d9c76e 100644 --- a/boards/modalai/fc-v2/nuttx-config/include/board_dma_map.h +++ b/boards/modalai/fc-v2/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,19 +33,27 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 RX +#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */ // GPS1 TX +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 1, 2, 3, 4 -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ - -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* DMA1:72 */ // DMAMUX2 -#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */ -#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* DMA2:65 */ // TELEM2 RX +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* DMA2:66 */ // TELEM2 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // RC RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // RC TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // TELEM1 RX +#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* DMA2:80 */ // TELEM1 TX -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig index 8fb5ab7319..cc7e16a16c 100644 --- a/boards/modalai/fc-v2/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v2/nuttx-config/nsh/defconfig @@ -53,7 +53,6 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x0483 CONFIG_CDCACM_VENDORSTR="ModalAI" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_MEMFAULT=y @@ -62,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXAMPLES_CALIB_UDELAY=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -86,7 +86,6 @@ CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_NCHAINS=24 -CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y CONFIG_MEMSET_64BIT=y @@ -181,13 +180,15 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y CONFIG_STM32H7_SPI1=y CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI1_DMA_BUFFER=4096 CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI2_DMA=y CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 CONFIG_STM32H7_SPI4=y CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_TIM12=y CONFIG_STM32H7_TIM1=y @@ -211,19 +212,28 @@ CONFIG_TASK_NAME_SIZE=24 CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_BAUD=57600 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_RXDMA=y +CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y CONFIG_UART7_OFLOWCONTROL=y CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_UART7_TXDMA=y CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART1_TXDMA=y CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y @@ -235,7 +245,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y CONFIG_USART3_TXBUFSIZE=1500 CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/modalai/fc-v2/src/board_config.h b/boards/modalai/fc-v2/src/board_config.h index caadee90b7..71f6ce97fc 100644 --- a/boards/modalai/fc-v2/src/board_config.h +++ b/boards/modalai/fc-v2/src/board_config.h @@ -53,26 +53,6 @@ * Definitions ****************************************************************************************************/ -/* PX4IO connection configuration */ - -#define BOARD_USES_PX4IO_VERSION 2 -#define PX4IO_SERIAL_DEVICE "/dev/ttyS5" -#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX -#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX -#define PX4IO_SERIAL_BASE STM32_USART6_BASE -#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 -#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX -#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX -#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR -#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN -#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY -#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ - -/* Configuration ************************************************************************************/ - - -/* PX4FMU GPIOs ***********************************************************************************/ - /* Trace Clock and D0-D3 are available on the trace connector * * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 diff --git a/boards/modalai/fc-v2/src/init.c b/boards/modalai/fc-v2/src/init.c index dbc6ec4637..659b382308 100644 --- a/boards/modalai/fc-v2/src/init.c +++ b/boards/modalai/fc-v2/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -34,35 +34,21 @@ /** * @file init.c * - * PX4FMU-specific early startup code. This file implements the + * board-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 -#include -#include -#include -#include #include #include #include -#include #include #include -#include -#include -#include -#include #include #include "arm_internal.h" @@ -75,26 +61,12 @@ #include #include -/**************************************************************************** - * 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); __END_DECLS - /************************************************************************************ * Name: board_peripheral_reset * @@ -103,9 +75,6 @@ __END_DECLS ************************************************************************************/ __EXPORT void board_peripheral_reset(int ms) { - /* set the peripheral rails off */ - board_control_spi_sensors_power(false, 0xffff); - bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); /* Keep Spektum on to discharge rail*/ VDD_3V3_SPEKTRUM_POWER_EN(false); @@ -118,8 +87,6 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); - } /************************************************************************************ @@ -153,15 +120,11 @@ __EXPORT void board_on_reset(int status) * and mapped but before any devices have been initialized. * ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) +__EXPORT void stm32_boardinitialize(void) { board_on_reset(-1); /* Reset PWM first thing */ - /* configure LEDs */ - board_autoled_initialize(); /* configure pins */ @@ -174,10 +137,11 @@ stm32_boardinitialize(void) stm32_spiinitialize(); + /* configure LEDs */ + board_autoled_initialize(); + /* configure USB interfaces */ - stm32_usbinitialize(); - } /**************************************************************************** @@ -191,13 +155,7 @@ stm32_boardinitialize(void) * 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. + * meaning to NuttX; * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on @@ -213,10 +171,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) VDD_3V3_SPEKTRUM_POWER_EN(true); /* Need hrt running before using the ADC */ - px4_platform_init(); - if (OK == board_determine_hw_info()) { syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), board_get_hw_type_name()); @@ -226,7 +182,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) } /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h index 9b1ae6342d..5b133c8e48 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h @@ -268,6 +268,10 @@ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ #define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ + /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h index 10011ed371..92ec5c99f2 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -34,11 +34,23 @@ #pragma once // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 1, 2, 3, 4 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */ // TELEM1 TX +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */ // TELEM2 RX +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */ // TELEM2 TX -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ +// DMAMUX2 +// DMAMAP_TIM8UP DMAMAP_DMA12_TIM8UP_1 /* DMA2:61 */ // DSHOT 7, 8 +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA2:63 */ // GPS1 RX +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA2:64 */ // GPS1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // RC (RX only) +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_1 /* DMA2:85 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_1 /* DMA2:86 */ -#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */ -#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */ +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig index 5785698b27..5146d9f699 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig @@ -56,13 +56,11 @@ CONFIG_CDCACM_VENDORSTR="mRo" CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -185,6 +183,9 @@ CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI5_DMA=y CONFIG_STM32H7_SPI5_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_TIM1=y CONFIG_STM32H7_TIM2=y @@ -208,30 +209,37 @@ CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_SERIAL_CONSOLE=y CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_RXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 CONFIG_USERMAIN_STACKSIZE=2944 CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/mro/ctrl-zero-h7-oem/src/board_config.h b/boards/mro/ctrl-zero-h7-oem/src/board_config.h index 7978f97427..21a29e3a8d 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/board_config.h +++ b/boards/mro/ctrl-zero-h7-oem/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -97,17 +97,17 @@ #define TONE_ALARM_TIMER 2 /* timer 2 */ #define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ -#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 /* USB OTG FS */ -#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 @@ -146,19 +146,10 @@ #define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - -#define BOARD_HAS_STATIC_MANIFEST 1 - - #define BOARD_NUM_IO_TIMERS 3 - #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; - +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 +#define BOARD_HAS_ON_RESET 1 #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ @@ -170,6 +161,11 @@ GPIO_CAN1_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c index daaace48fb..e0ee1339cd 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/init.c +++ b/boards/mro/ctrl-zero-h7-oem/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -38,7 +38,7 @@ * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); + board_control_spi_sensors_power_configgpio(); /* configure LEDs */ @@ -168,6 +167,11 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif /* initial LED state */ drv_led_start(); @@ -197,7 +201,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/mro/ctrl-zero-h7-oem/src/spi.cpp b/boards/mro/ctrl-zero-h7-oem/src/spi.cpp index 4a4c3502bb..276d1073dc 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/spi.cpp +++ b/boards/mro/ctrl-zero-h7-oem/src/spi.cpp @@ -48,6 +48,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}), initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}), + }), }; static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/mro/ctrl-zero-h7-oem/src/timer_config.cpp b/boards/mro/ctrl-zero-h7-oem/src/timer_config.cpp index e238804914..0179851c05 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/timer_config.cpp +++ b/boards/mro/ctrl-zero-h7-oem/src/timer_config.cpp @@ -36,7 +36,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}), - initIOTimer(Timer::Timer8, DMA{DMA::Index1}), + initIOTimer(Timer::Timer8, DMA{DMA::Index2}), }; constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h index 78a0048760..e65473dee3 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h @@ -264,6 +264,10 @@ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ #define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ + /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h b/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h index 10011ed371..92ec5c99f2 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h +++ b/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -34,11 +34,23 @@ #pragma once // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 1, 2, 3, 4 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */ // TELEM1 TX +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */ // TELEM2 RX +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */ // TELEM2 TX -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ +// DMAMUX2 +// DMAMAP_TIM8UP DMAMAP_DMA12_TIM8UP_1 /* DMA2:61 */ // DSHOT 7, 8 +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA2:63 */ // GPS1 RX +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA2:64 */ // GPS1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // RC (RX only) +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_1 /* DMA2:85 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_1 /* DMA2:86 */ -#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */ -#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */ +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig index b7a87538ea..27d667f91b 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig @@ -56,13 +56,11 @@ CONFIG_CDCACM_VENDORSTR="mRo" CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -158,6 +156,7 @@ CONFIG_STM32H7_ADC1=y CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y @@ -182,6 +181,9 @@ CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI5_DMA=y CONFIG_STM32H7_SPI5_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_TIM1=y CONFIG_STM32H7_TIM2=y @@ -205,30 +207,37 @@ CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_SERIAL_CONSOLE=y CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_RXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 CONFIG_USERMAIN_STACKSIZE=2944 CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/mro/ctrl-zero-h7/src/board_config.h b/boards/mro/ctrl-zero-h7/src/board_config.h index 15e6183d1a..cbaab255f9 100644 --- a/boards/mro/ctrl-zero-h7/src/board_config.h +++ b/boards/mro/ctrl-zero-h7/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -97,17 +97,17 @@ #define TONE_ALARM_TIMER 2 /* timer 2 */ #define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ -#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 /* USB OTG FS */ -#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 @@ -146,19 +146,10 @@ #define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - -#define BOARD_HAS_STATIC_MANIFEST 1 - - #define BOARD_NUM_IO_TIMERS 3 - #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; - +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 +#define BOARD_HAS_ON_RESET 1 #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ @@ -168,6 +159,11 @@ GPIO_CAN1_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c index daaace48fb..e0ee1339cd 100644 --- a/boards/mro/ctrl-zero-h7/src/init.c +++ b/boards/mro/ctrl-zero-h7/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2021-2022 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 @@ -38,7 +38,7 @@ * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); + board_control_spi_sensors_power_configgpio(); /* configure LEDs */ @@ -168,6 +167,11 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif /* initial LED state */ drv_led_start(); @@ -197,7 +201,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/mro/ctrl-zero-h7/src/spi.cpp b/boards/mro/ctrl-zero-h7/src/spi.cpp index 4a4c3502bb..276d1073dc 100644 --- a/boards/mro/ctrl-zero-h7/src/spi.cpp +++ b/boards/mro/ctrl-zero-h7/src/spi.cpp @@ -48,6 +48,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}), initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}), + }), }; static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/mro/ctrl-zero-h7/src/timer_config.cpp b/boards/mro/ctrl-zero-h7/src/timer_config.cpp index e238804914..0179851c05 100644 --- a/boards/mro/ctrl-zero-h7/src/timer_config.cpp +++ b/boards/mro/ctrl-zero-h7/src/timer_config.cpp @@ -36,7 +36,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}), - initIOTimer(Timer::Timer8, DMA{DMA::Index1}), + initIOTimer(Timer::Timer8, DMA{DMA::Index2}), }; constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 0c042a5efa..2ec3cb3901 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -38,6 +38,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_ESC_BATTERY=y @@ -61,7 +62,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -72,8 +72,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y diff --git a/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h b/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h index ebbf689254..b23b0f20e3 100644 --- a/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h +++ b/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,16 +33,27 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM1UP DMAMAP_DMA12_TIM1UP_0 /* DMA1:15 */ // DSHOT 1, 2, 3, 4 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */ // TELEM1 RX +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */ // TELEM1 TX +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */ // TELEM2 RX +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */ // TELEM2 TX -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ -#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */ -#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */ +// DMAMUX2 +// DMAMAP_TIM8UP DMAMAP_DMA12_TIM8UP_1 /* DMA2:61 */ // DSHOT 7, 8 +#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA2:63 */ // GPS1 RX +#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA2:64 */ // GPS1 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // RC (RX only) +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_1 /* DMA2:85 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_1 /* DMA2:86 */ + // BDMA -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig index d72f637f37..f979578024 100644 --- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig @@ -103,9 +103,6 @@ CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_IFCONFIG=y -CONFIG_NSH_DISABLE_IFUPDOWN=y -CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -206,7 +203,9 @@ CONFIG_TTY_SIGINT=y CONFIG_TTY_SIGTSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_RXDMA=y CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART4_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_RXBUFSIZE=600 CONFIG_UART7_SERIAL_CONSOLE=y @@ -218,14 +217,19 @@ CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y CONFIG_USART3_BAUD=57600 CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_RXDMA=y CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART3_TXDMA=y CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld index 68343681c0..ca99eb9395 100644 --- a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld +++ b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld @@ -111,6 +111,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ diff --git a/boards/mro/pixracerpro/src/board_config.h b/boards/mro/pixracerpro/src/board_config.h index d2aeacf48a..444dbebeaa 100644 --- a/boards/mro/pixracerpro/src/board_config.h +++ b/boards/mro/pixracerpro/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -118,7 +118,6 @@ /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS4" -#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT #define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) @@ -147,8 +146,8 @@ #define BOARD_NUM_IO_TIMERS 3 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ -#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 +#define BOARD_HAS_ON_RESET 1 #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c index 7e80ea7cd0..c8741b2ee0 100644 --- a/boards/mro/pixracerpro/src/init.c +++ b/boards/mro/pixracerpro/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -38,7 +38,7 @@ * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ #include "board_config.h" @@ -60,8 +60,6 @@ #include #include -#include - __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); @@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure pins */ const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); + board_control_spi_sensors_power_configgpio(); /* configure LEDs */ @@ -168,6 +167,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) 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)stm32_serial_dma_poll, NULL); +#endif + /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -195,5 +200,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) sdio_mediachange(sdio_dev, true); #endif /* CONFIG_MMCSD */ + /* Configure the HW based on the manifest */ + px4_platform_configure(); + return OK; } diff --git a/boards/mro/pixracerpro/src/timer_config.cpp b/boards/mro/pixracerpro/src/timer_config.cpp index 7aecf98fa4..41521a41d2 100644 --- a/boards/mro/pixracerpro/src/timer_config.cpp +++ b/boards/mro/pixracerpro/src/timer_config.cpp @@ -36,7 +36,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}), - initIOTimer(Timer::Timer8, DMA{DMA::Index1}), + initIOTimer(Timer::Timer8, DMA{DMA::Index2}), }; constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index dde51d912b..dad2e4e1c0 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -43,6 +43,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=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_ESC_BATTERY=y @@ -65,7 +66,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -74,8 +74,8 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y diff --git a/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h b/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h index f17c2891d6..6c7449b48b 100644 --- a/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h +++ b/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,16 +33,29 @@ #pragma once -// DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +// DMAMUX1 +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 RX +#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */ // GPS1 TX +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 1, 2, 3, 4 + // DMAMUX2 -#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */ -#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ +#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */ +#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* DMA2:65 */ // TELEM2 RX +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* DMA2:66 */ // TELEM2 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // RC RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // RC TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // TELEM1 RX +#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* DMA2:80 */ // TELEM1 TX -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig index 23990065ff..fa952a891f 100644 --- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig @@ -181,7 +181,7 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y CONFIG_STM32H7_SPI1=y CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI1_DMA_BUFFER=4096 CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI2_DMA=y CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 @@ -215,19 +215,28 @@ CONFIG_TASK_NAME_SIZE=24 CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_BAUD=57600 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_RXDMA=y +CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y CONFIG_UART7_OFLOWCONTROL=y CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_UART7_TXDMA=y CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART1_TXDMA=y CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y @@ -239,7 +248,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y CONFIG_USART3_TXBUFSIZE=1500 CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/px4/fmu-v6u/src/init.c b/boards/px4/fmu-v6u/src/init.c index 1563331909..babc764d7b 100644 --- a/boards/px4/fmu-v6u/src/init.c +++ b/boards/px4/fmu-v6u/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,35 +34,21 @@ /** * @file init.c * - * PX4FMU-specific early startup code. This file implements the + * board-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 -#include -#include -#include -#include #include #include #include -#include #include #include -#include -#include -#include -#include #include #include "arm_internal.h" @@ -75,26 +61,12 @@ #include #include -/**************************************************************************** - * 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); __END_DECLS - /************************************************************************************ * Name: board_peripheral_reset * @@ -104,9 +76,7 @@ __END_DECLS __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); VDD_3V3_SENSORS_EN(false); bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); @@ -121,10 +91,8 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); VDD_3V3_SENSORS_EN(true); VDD_5V_PERIPH_EN(true); - } /************************************************************************************ @@ -158,18 +126,12 @@ __EXPORT void board_on_reset(int status) * and mapped but before any devices have been initialized. * ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) +__EXPORT void stm32_boardinitialize(void) { - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); + /* Reset PWM first thing */ + board_on_reset(-1); /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); @@ -180,9 +142,10 @@ stm32_boardinitialize(void) stm32_spiinitialize(); /* configure USB interfaces */ - stm32_usbinitialize(); + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -196,21 +159,13 @@ stm32_boardinitialize(void) * 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. + * meaning to NuttX; * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on * any failure to indicate the nature of the failure. * ****************************************************************************/ - - __EXPORT int board_app_initialize(uintptr_t arg) { /* Power on Interfaces */ @@ -222,10 +177,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) VDD_3V3_SPEKTRUM_POWER_EN(true); /* Need hrt running before using the ADC */ - px4_platform_init(); - if (OK == board_determine_hw_info()) { syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), board_get_hw_type_name()); @@ -235,7 +188,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) } /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } @@ -256,12 +208,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_RED); } +#ifdef CONFIG_MMCSD // Ensure Power is off for > 10 mS usleep(15 * 1000); VDD_3V3_SD_CARD_EN(true); usleep(500 * 1000); -#ifdef CONFIG_MMCSD int ret = stm32_sdio_initialize(); if (ret != OK) { @@ -271,7 +223,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index b606181528..39d598f438 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -39,6 +39,7 @@ CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 CONFIG_MODULES_AIRSPEED_SELECTOR=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_ESC_BATTERY=y @@ -61,7 +62,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y @@ -70,8 +70,8 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h b/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h index 7685974474..afba086a36 100644 --- a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h +++ b/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -33,19 +33,29 @@ #pragma once + // DMAMUX1 -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +// DMAMAP_TIM4UP DMAMAP_DMA12_TIM4UP_0 /* DMA1:32 */ // DSHOT 5, 6 +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ +#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */ // GPS1 RX +#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */ // GPS1 TX +// DMAMAP_TIM5UP DMAMAP_DMA12_TIM5UP_0 /* DMA1:59 */ // DSHOT 1, 2, 3, 4 -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ - -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* DMA1:72 */ // DMAMUX2 -#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */ -#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ +#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */ +#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* DMA2:65 */ // TELEM2 RX +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* DMA2:66 */ // TELEM2 TX +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */ // PX4IO RX +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */ // PX4IO TX +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* DMA2:79 */ // TELEM1 RX +#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* DMA2:80 */ // TELEM1 TX -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ + +// BDMA +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig index e7460884bd..cd98fa6cfd 100644 --- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig @@ -219,7 +219,7 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y CONFIG_STM32H7_SPI1=y CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI1_DMA_BUFFER=4096 CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI2_DMA=y CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 @@ -255,19 +255,28 @@ CONFIG_TASK_NAME_SIZE=24 CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_BAUD=57600 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_RXDMA=y +CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y CONFIG_UART7_OFLOWCONTROL=y CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_RXDMA=y CONFIG_UART7_TXBUFSIZE=3000 +CONFIG_UART7_TXDMA=y CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART1_BAUD=57600 CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=1500 +CONFIG_USART1_TXDMA=y CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y @@ -279,7 +288,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y CONFIG_USART3_TXBUFSIZE=1500 CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_RXDMA=y CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USART6_TXDMA=y CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h index f2966995bf..4d445b7182 100644 --- a/boards/px4/fmu-v6x/src/board_config.h +++ b/boards/px4/fmu-v6x/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2016, 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,20 +34,14 @@ /** * @file board_config.h * - * PX4FMU-v6x internal definitions + * Board internal definitions */ #pragma once -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - #include #include #include - - #include /**************************************************************************************************** diff --git a/boards/px4/fmu-v6x/src/hw_config.h b/boards/px4/fmu-v6x/src/hw_config.h index 57149b1df1..d28f42fd7f 100644 --- a/boards/px4/fmu-v6x/src/hw_config.h +++ b/boards/px4/fmu-v6x/src/hw_config.h @@ -1,12 +1,37 @@ -/* - * hw_config.h +/**************************************************************************** * - * Created on: May 17, 2015 - * Author: david_s5 - */ + * Copyright (C) 2020 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. + * + ****************************************************************************/ -#ifndef HW_CONFIG_H_ -#define HW_CONFIG_H_ +#pragma once /**************************************************************************** * 10-8--2016: diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c index 6fdb69b89e..1473d8d1d2 100644 --- a/boards/px4/fmu-v6x/src/init.c +++ b/boards/px4/fmu-v6x/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,35 +34,21 @@ /** * @file init.c * - * PX4FMU-specific early startup code. This file implements the + * board-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 -#include -#include -#include -#include #include #include #include -#include #include #include -#include -#include -#include -#include #include #include "arm_internal.h" @@ -75,26 +61,12 @@ #include #include -/**************************************************************************** - * 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); __END_DECLS - /************************************************************************************ * Name: board_peripheral_reset * @@ -104,9 +76,7 @@ __END_DECLS __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); VDD_3V3_SENSORS4_EN(false); bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); @@ -121,10 +91,8 @@ __EXPORT void board_peripheral_reset(int ms) /* switch the peripheral rail back on */ VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); VDD_3V3_SENSORS4_EN(true); VDD_5V_PERIPH_EN(true); - } /************************************************************************************ @@ -158,18 +126,12 @@ __EXPORT void board_on_reset(int status) * and mapped but before any devices have been initialized. * ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) +__EXPORT void stm32_boardinitialize(void) { - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); + /* Reset PWM first thing */ + board_on_reset(-1); /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); @@ -180,11 +142,12 @@ stm32_boardinitialize(void) stm32_spiinitialize(); /* configure USB interfaces */ - stm32_usbinitialize(); - VDD_3V3_ETH_POWER_EN(true); + /* configure LEDs */ + board_autoled_initialize(); + VDD_3V3_ETH_POWER_EN(true); } /**************************************************************************** @@ -198,21 +161,13 @@ stm32_boardinitialize(void) * 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. + * meaning to NuttX; * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on * any failure to indicate the nature of the failure. * ****************************************************************************/ - - __EXPORT int board_app_initialize(uintptr_t arg) { /* Power on Interfaces */ @@ -224,10 +179,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) VDD_3V3_SPEKTRUM_POWER_EN(true); /* Need hrt running before using the ADC */ - px4_platform_init(); - if (OK == board_determine_hw_info()) { syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), board_get_hw_type_name()); @@ -237,7 +190,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) } /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } @@ -258,12 +210,12 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_RED); } +#ifdef CONFIG_MMCSD // Ensure Power is off for > 10 mS usleep(15 * 1000); VDD_3V3_SD_CARD_EN(true); usleep(500 * 1000); -#ifdef CONFIG_MMCSD int ret = stm32_sdio_initialize(); if (ret != OK) { @@ -273,7 +225,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/raspberrypi/pico/src/board_config.h b/boards/raspberrypi/pico/src/board_config.h index 581233e7ac..25663ed67e 100644 --- a/boards/raspberrypi/pico/src/board_config.h +++ b/boards/raspberrypi/pico/src/board_config.h @@ -91,9 +91,6 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 4 -// Has pwm outputs -#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - /* * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) * this board support the ADC system_power interface, and therefore diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index 37cf3867de..7c12e1021d 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -21,6 +21,7 @@ CONFIG_DRIVERS_TONE_ALARM=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y @@ -35,7 +36,6 @@ 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_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y diff --git a/boards/spracing/h7extreme/init/rc.board_sensors b/boards/spracing/h7extreme/init/rc.board_sensors index c1277c07df..d9451fcad7 100644 --- a/boards/spracing/h7extreme/init/rc.board_sensors +++ b/boards/spracing/h7extreme/init/rc.board_sensors @@ -1,7 +1,8 @@ #!/bin/sh # -# SP Racing H7 EXTREME specific board sensors init +# board specific sensors init #------------------------------------------------------------------------------ + board_adc start # Internal SPI bus ICM-20602 @@ -13,5 +14,3 @@ icm20602 -s -b 3 -R 4 start # SPI 3 # Internal I2C bus bmp388 -I start - - diff --git a/boards/spracing/h7extreme/nuttx-config/include/board.h b/boards/spracing/h7extreme/nuttx-config/include/board.h index 91edb4e650..2a0f0139f2 100644 --- a/boards/spracing/h7extreme/nuttx-config/include/board.h +++ b/boards/spracing/h7extreme/nuttx-config/include/board.h @@ -1,5 +1,5 @@ /************************************************************************************ - * nuttx-configs/spracing/h7extreme/include/board.h + * nuttx-config/include/board.h * * Copyright (C) 2016-2020 Gregory Nutt. All rights reserved. * Authors: Igor Misic @@ -32,12 +32,8 @@ * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ -#ifndef __NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H +#pragma once -/************************************************************************************ - * Included Files - ************************************************************************************/ #include "board_dma_map.h" #include @@ -49,12 +45,8 @@ #include "stm32_rcc.h" #include "stm32_sdmmc.h" -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - /* Clocking *************************************************************************/ -/* The sp racing h7 extreme board provides the following clock sources: +/* The board provides the following clock sources: * * X1: 8 MHz crystal for HSE * @@ -63,13 +55,12 @@ * HSI: 64 MHz RC factory-trimmed * HSE: 8 MHz crystal for HSE */ - #define STM32_BOARD_XTAL 8000000ul #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 +#define STM32_LSE_FREQUENCY 0 /* Main PLL Configuration. * @@ -104,12 +95,7 @@ * PLL1Q = PLL1_VCO/4 = 800 MHz / 4 = 200 MHz * PLL1R = PLL1_VCO/2 = 800 MHz / 2 = 400 MHz - locked for H750 */ - -#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP1EN | \ - RCC_PLLCFGR_DIVQ1EN | \ - RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN) #define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(2) #define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(200) #define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) @@ -122,12 +108,7 @@ #define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 2) /* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN) #define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) #define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(260) #define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) @@ -140,12 +121,7 @@ #define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) /* PLL3 */ - -#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP3EN | \ - RCC_PLLCFGR_DIVQ3EN | \ - RCC_PLLCFGR_DIVR3EN) +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVP3EN|RCC_PLLCFGR_DIVQ3EN|RCC_PLLCFGR_DIVR3EN) #define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2) #define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(50) #define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) @@ -160,7 +136,6 @@ /* SYSCLK = PLL1P = 400MHz * CPUCLK = SYSCLK / 1 = 400 MHz */ - #define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) #define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) #define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) @@ -170,36 +145,30 @@ /* AHB clock (HCLK) is SYSCLK/2 (200 MHz max) * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 200 */ - #define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ #define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ #define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ #define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ /* APB1 clock (PCLK1) is HCLK/2 (100 MHz) */ - #define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ #define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB2 clock (PCLK2) is HCLK/2 (50 MHz) */ - #define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB3 clock (PCLK3) is HCLK/2 (50 MHz) */ - #define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ #define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB4 clock (PCLK4) is HCLK/4 (50 MHz) */ - #define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ #define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timer clock frequencies */ /* Timers driven from APB1 will be twice PCLK1 */ - #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) @@ -211,7 +180,6 @@ #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* Timers driven from APB2 will be twice PCLK2 */ - #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) @@ -219,65 +187,25 @@ #define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) /* Kernel Clock Configuration - * - * Note: look at Table 54 in ST Manual - */ - -/* I2C123 clock source */ - -#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI - -/* SPI123 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1 - -/* SPI45 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_APB - -/* USB 1 and 2 clock source */ - -#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_HSI48 - -/* ADC 1 2 3 clock source */ - -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 - -/* QSPI clock source */ -#define STM32_RCC_D1CCIPR_QSPISEL RCC_D1CCIPR_QSPISEL_PLL2 - -/* FLASH wait states - * - * ------------ ---------- ----------- - * Vcore MAX ACLK WAIT STATES - * ------------ ---------- ----------- - * 1.15-1.26 V 70 MHz 0 - * (VOS1 level) 140 MHz 1 - * 210 MHz 2 - * 1.05-1.15 V 55 MHz 0 - * (VOS2 level) 110 MHz 1 - * 165 MHz 2 - * 220 MHz 3 - * 0.95-1.05 V 45 MHz 0 - * (VOS3 level) 90 MHz 1 - * 135 MHz 2 - * 180 MHz 3 - * 225 MHz 4 - * ------------ ---------- ----------- + * Note: look at Table 54 in ST Manual */ +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1 /* SPI123 clock source */ +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_APB /* SPI45 clock source */ +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_HSI48 /* USB 1 and 2 clock source */ +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */ +#define STM32_RCC_D1CCIPR_QSPISEL RCC_D1CCIPR_QSPISEL_PLL2 /* QSPI clock source */ +/* FLASH wait states */ #define BOARD_FLASH_WAITSTATES 2 /* SDMMC definitions ********************************************************/ - /* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ - #define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) /* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s */ - #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) # define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #else @@ -291,118 +219,64 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE -/* LED definitions ******************************************************************/ -/* The sp racing h7 extreme board has three, LED_GREEN a Green LED, LED_BLUE - * Red LED 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() */ +/* UART/USART */ +#define GPIO_USART1_RX GPIO_USART1_RX_1 /* PB15 */ +#define GPIO_USART1_TX GPIO_USART1_TX_1 /* PB14 */ -#define BOARD_LED1 0 -#define BOARD_NLEDS 1 +#define GPIO_USART2_RX 0 /* Not in use */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define BOARD_LED_RED BOARD_LED1 +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ -/* LED bits for use with board_userled_all() */ +#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ +#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ -#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define GPIO_UART5_RX GPIO_UART5_RX_2 /* PB5 */ +#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */ -/* 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 GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ -#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 in sleep mode ON OFF OFF */ - -/* Alternate function pin selections ************************************************/ - -#define GPIO_USART1_RX GPIO_USART1_RX_1 /* PB15 */ -#define GPIO_USART1_TX GPIO_USART1_TX_1 /* PB14 */ - -#define GPIO_USART2_RX 0 /* Not in use */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ - -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ - -#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ -#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ - -#define GPIO_UART5_RX GPIO_UART5_RX_2 /* PB5 */ -#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */ - -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ - -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ - -/* SPI - * SPI2 is gyro 1 - * SPI3 is gyro 2 - * SPI4 is BARO - */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ -//#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -//#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -//#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ +/* SPI */ +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */ -#define GPIO_SPI2_SCK GPIO_SPI2_SCK_5 /* PD3 */ +//#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */ +//#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +//#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ -#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 /* PD6 */ -#define GPIO_SPI3_SCK GPIO_SPI3_SCK_1 /* PB3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */ +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */ -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ -#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1 /* PE12 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */ +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */ +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 /* PD6 */ -/* I2C - * - * Each I2C is associated with a U[S]ART - * hence the naming I2C2_SDA_UART4 in FMU USAGE spreadsheet - * - * The optional _GPIO configurations allow the I2C driver to manually - * reset the bus to clear stuck slaves. They match the pin configuration, - * but are normally-high GPIOs. - * - */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */ +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE14 */ + +/* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) /* SDMMC1 * - * VDD 3.3 - * GND - * SDMMC1_CK PC12 - * SDMMC1_CMD PD2 - * SDMMC1_D0 PC8 - * SDMMC1_D1 PC9 - * SDMMC1_D2 PC10 - * SDMMC1_D3 PC11 - * GPIO_SDMMC1_NCD PG0 + * SDMMC1_D0 PC8 + * SDMMC1_D1 PC9 + * SDMMC1_D2 PC10 + * SDMMC1_D3 PC11 + * SDMMC1_CK PC12 + * SDMMC1_CMD PD2 + * GPIO_SDMMC1_NCD PG0 */ /* USB @@ -412,47 +286,6 @@ * VBUS PA9 */ - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# include "stm32_gpio.h" -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PE14 AUX1 */ -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN10) /* PA10 AUX2 */ -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 AUX3 */ -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* PE9 AUX4 */ -# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */ -# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 FMU_CAP6 */ -# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 FMU_CAP5 */ -# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 FMU_CAP4 */ -# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN5) /* PA5 FMU_CAP3 */ -# define PROBE_10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3) /* PB3 FMU_CAP2 */ -# define PROBE_11 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11) /* PB11 FMU_CAP1 */ - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ - if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ - if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ - if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ - if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ - if ((mask)& PROBE_N(10)) { stm32_configgpio(PROBE_10); } \ - if ((mask)& PROBE_N(11)) { stm32_configgpio(PROBE_11); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - /* QSPI configuration */ #define CONFIG_STM32H7_QUADSPI @@ -466,41 +299,3 @@ #define GPIO_QSPI_IO2 GPIO_QUADSPI_BK1_IO2_1 /* PE2 */ #define GPIO_QSPI_IO3 GPIO_QUADSPI_BK1_IO3_2 /* PD13 */ #define GPIO_QSPI_SCK GPIO_QUADSPI_CLK_1 /* PB2 */ - -/************************************************************************************ - * Public Data - ************************************************************************************/ -#ifndef __ASSEMBLY__ - -#undef EXTERN -#if defined(__cplusplus) -#define EXTERN extern "C" -extern "C" -{ -#else -#define EXTERN extern -#endif - -/************************************************************************************ - * Public Function Prototypes - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -void stm32_boardinitialize(void); - -#undef EXTERN -#if defined(__cplusplus) -} -#endif - -#endif /* __ASSEMBLY__ */ -#endif /*__NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H */ diff --git a/boards/spracing/h7extreme/src/CMakeLists.txt b/boards/spracing/h7extreme/src/CMakeLists.txt index c118465143..cd4983c4da 100644 --- a/boards/spracing/h7extreme/src/CMakeLists.txt +++ b/boards/spracing/h7extreme/src/CMakeLists.txt @@ -35,7 +35,6 @@ add_library(drivers_board i2c.cpp init.c led.c - sdio.c spi.cpp timer_config.cpp usb.c diff --git a/boards/spracing/h7extreme/src/board_config.h b/boards/spracing/h7extreme/src/board_config.h index 570d6e8785..29a2aa7600 100644 --- a/boards/spracing/h7extreme/src/board_config.h +++ b/boards/spracing/h7extreme/src/board_config.h @@ -35,61 +35,44 @@ /** * @file board_config.h * - * sp racing h7 extreme internal definitions + * Board internal definitions */ #pragma once -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - #include #include #include - #include -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - #define FLASH_BASED_PARAMS #define BOARD_USE_EXTERNAL_FLASH //Configuration and firmware are in external flash -#define BOARD_HAS_USB_VALID 1 // LTC Has No USB valid - +/* LEDs */ /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ - #define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -#define BOARD_HAS_CONTROL_STATUS_LEDS 1 +#define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_ARMED_STATE_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ +/* ADC channels */ #define PX4_ADC_GPIO \ - /* PC4 */ GPIO_ADC12_INP4, \ - /* PC1 */ GPIO_ADC123_INP11, \ - /* PC0 */ GPIO_ADC123_INP10 + /* PC4 */ GPIO_ADC12_INP4, \ + /* PC1 */ GPIO_ADC123_INP11, \ + /* PC0 */ GPIO_ADC123_INP10 +/* Define Channel numbers must match above GPIO pins */ +#define ADC_RSSI_IN_CHANNEL 4 /* PC4 */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 11 /* PC1 */ +#define ADC_BATTERY_CURRENT_CHANNEL 10 /* PC0 */ -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_RSSI_IN_CHANNEL /* PC4 */ 4 -#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC1 */ 11 -#define ADC_BATTERY_CURRENT_CHANNEL /* PC0 */ 10 +#define ADC_CHANNELS \ + ((1 << ADC_RSSI_IN_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ + (1 << ADC_BATTERY_VOLTAGE_CHANNEL)) -#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) - -/* PWM - */ +/* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 /* Tone alarm output */ @@ -97,8 +80,7 @@ #define GPIO_TONE_ALARM_GPIO /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) /* USB OTG FS - * - * PA8 OTG_FS_VBUS VBUS sensing + * PA9 OTG_FS_VBUS VBUS sensing */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) @@ -108,71 +90,32 @@ /* RC Serial port */ - #define RC_SERIAL_PORT "/dev/ttyS0" #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - - -/* This board provides a DMA pool and APIs */ +#define BOARD_NUM_IO_TIMERS 3 +#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7}; #define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ #define BOARD_HAS_ON_RESET 1 +#define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ PX4_ADC_GPIO, \ + GPIO_RSSI_IN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_TONE_ALARM_IDLE, \ - GPIO_RSSI_IN, \ + GPIO_OTGFS_VBUS, \ } -#define BOARD_ENABLE_CONSOLE_BUFFER - -#define BOARD_NUM_IO_TIMERS 3 - -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7}; - __BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - #ifndef __ASSEMBLY__ -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void); - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the board. - * - ****************************************************************************************************/ - extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - extern void board_peripheral_reset(int ms); #include diff --git a/boards/spracing/h7extreme/src/init.c b/boards/spracing/h7extreme/src/init.c index b241fb6286..57f258bffe 100644 --- a/boards/spracing/h7extreme/src/init.c +++ b/boards/spracing/h7extreme/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2022 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 @@ -34,42 +34,28 @@ /** * @file init.c * - * Board-specific early startup code. This file implements the + * board-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. + * subsystems and perform board-specific initialization. */ -/**************************************************************************** - * Included Files - ****************************************************************************/ - #include "board_config.h" -#include -#include -#include -#include -#include #include #include #include -#include #include #include -#include -#include -#include -#include #include #include "arm_internal.h" -#include #include #include #include +#include #include #include #include @@ -78,19 +64,6 @@ # include #endif -/**************************************************************************** - * 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); @@ -139,32 +112,23 @@ __EXPORT void board_on_reset(int status) * and mapped but before any devices have been initialized. * ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) +__EXPORT void stm32_boardinitialize(void) { - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); + /* Reset PWM first thing */ + board_on_reset(-1); /* configure pins */ - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; px4_gpio_init(gpio, arraySize(gpio)); /* configure SPI interfaces */ - stm32_spiinitialize(); - /* configure USB interfaces */ - - stm32_usbinitialize(); - /* configure external memory*/ flash_w25q128_init(); + /* configure LEDs */ + board_autoled_initialize(); } /**************************************************************************** @@ -178,29 +142,19 @@ stm32_boardinitialize(void) * 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. + * meaning to NuttX; * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on * any failure to indicate the nature of the failure. * ****************************************************************************/ - - __EXPORT int board_app_initialize(uintptr_t arg) { /* Need hrt running before using the ADC */ - px4_platform_init(); /* configure the DMA allocator */ - if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } @@ -219,15 +173,23 @@ __EXPORT int board_app_initialize(uintptr_t arg) led_on(LED_RED); } - #ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot - if (ret != OK) { - led_on(LED_RED); + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0); } -#endif + if (mmcsd_slotinitialize(0, sdio_dev) != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n"); + } + + /* Assume that the SD card is inserted. What choice do we have? */ + sdio_mediachange(sdio_dev, true); +#endif /* CONFIG_MMCSD */ + up_udelay(20); @@ -277,7 +239,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/spracing/h7extreme/src/led.c b/boards/spracing/h7extreme/src/led.c index d3453aebd7..923eef60b7 100644 --- a/boards/spracing/h7extreme/src/led.c +++ b/boards/spracing/h7extreme/src/led.c @@ -32,9 +32,9 @@ ****************************************************************************/ /** - * @file px4fmu2_led.c + * @file led.c * - * PX4FMU LED backend. + * LED backend. */ #include @@ -62,27 +62,14 @@ extern void led_off(int led); extern void led_toggle(int led); __END_DECLS -#ifdef CONFIG_ARCH_LEDS -static bool nuttx_owns_leds = true; -// B R S G -// 0 1 2 3 -static const uint8_t xlatpx4[] = {1, 2, 4, 0}; -# define xlat(p) xlatpx4[(p)] -static uint32_t g_ledmap[] = { - GPIO_nLED_RED, // Indexed by BOARD_LED_RED -}; - -#else - # define xlat(p) (p) static uint32_t g_ledmap[] = { GPIO_nLED_RED // Indexed by LED_RED }; -#endif - __EXPORT void led_init(void) { + /* Configure LED GPIOs for output */ for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { if (g_ledmap[l] != 0) { stm32_configgpio(g_ledmap[l]); @@ -93,7 +80,6 @@ __EXPORT void led_init(void) static void phy_set_led(int led, bool state) { /* Drive Low to switch on */ - if (g_ledmap[led] != 0) { stm32_gpiowrite(g_ledmap[led], !state); } @@ -123,96 +109,3 @@ __EXPORT void led_toggle(int led) { phy_set_led(xlat(led), !phy_get_led(xlat(led))); } - -#ifdef CONFIG_ARCH_LEDS -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: board_autoled_initialize - ****************************************************************************/ - -void board_autoled_initialize(void) -{ - led_init(); -} - -/**************************************************************************** - * Name: board_autoled_on - ****************************************************************************/ - -void board_autoled_on(int led) -{ - if (!nuttx_owns_leds) { - return; - } - - switch (led) { - default: - break; - - case LED_HEAPALLOCATE: - break; - - case LED_IRQSENABLED: - break; - - case LED_STACKCREATED: - break; - - case LED_INIRQ: - break; - - case LED_SIGNAL: - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, 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: - break; - - case LED_INIRQ: - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, 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 */ diff --git a/boards/spracing/h7extreme/src/sdio.c b/boards/spracing/h7extreme/src/sdio.c deleted file mode 100644 index 869d757756..0000000000 --- a/boards/spracing/h7extreme/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "board_config.h" -#include "stm32_gpio.h" -#include "stm32_sdmmc.h" - -#ifdef CONFIG_MMCSD - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/* Card detections requires card support and a card detection GPIO */ - -#define HAVE_NCD 1 -#if !defined(GPIO_SDMMC1_NCD) -# undef HAVE_NCD -#endif - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -static FAR struct sdio_dev_s *sdio_dev; -#ifdef HAVE_NCD -static bool g_sd_inserted = 0xff; /* Impossible value */ -#endif - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_ncd_interrupt - * - * Description: - * Card detect interrupt handler. - * - ****************************************************************************/ - -#ifdef HAVE_NCD -static int stm32_ncd_interrupt(int irq, FAR void *context) -{ - bool present; - - present = !stm32_gpioread(GPIO_SDMMC1_NCD); - - if (sdio_dev && present != g_sd_inserted) { - sdio_mediachange(sdio_dev, present); - g_sd_inserted = present; - } - - return OK; -} -#endif - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void) -{ - int ret; - -#ifdef HAVE_NCD - /* Card detect */ - - bool cd_status; - - /* Configure the card detect GPIO */ - - stm32_configgpio(GPIO_SDMMC1_NCD); - - /* Register an interrupt handler for the card detect pin */ - - stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); -#endif - - /* Mount the SDIO-based MMC/SD block driver */ - /* First, get an instance of the SDIO interface */ - - finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); - - sdio_dev = sdio_initialize(SDIO_SLOTNO); - - if (!sdio_dev) { - syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); - return -ENODEV; - } - - /* Now bind the SDIO interface to the MMC/SD driver */ - - finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); - - ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); - - if (ret != OK) { - syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); - return ret; - } - - finfo("Successfully bound SDIO to the MMC/SD driver\n"); - -#ifdef HAVE_NCD - /* Use SD card detect pin to check if a card is g_sd_inserted */ - - cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); - finfo("Card detect : %d\n", cd_status); - - sdio_mediachange(sdio_dev, cd_status); -#else - /* Assume that the SD card is inserted. What choice do we have? */ - - sdio_mediachange(sdio_dev, true); -#endif - - return OK; -} - -#endif /* CONFIG_MMCSD */ diff --git a/boards/spracing/h7extreme/src/spi.cpp b/boards/spracing/h7extreme/src/spi.cpp index 9684ffec7d..59d26d6225 100644 --- a/boards/spracing/h7extreme/src/spi.cpp +++ b/boards/spracing/h7extreme/src/spi.cpp @@ -45,7 +45,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI4, { initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortE, GPIO::Pin11}), }), - }; static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/spracing/h7extreme/src/timer_config.cpp b/boards/spracing/h7extreme/src/timer_config.cpp index d7c83bbd9a..c6b2c36db8 100644 --- a/boards/spracing/h7extreme/src/timer_config.cpp +++ b/boards/spracing/h7extreme/src/timer_config.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/boards/spracing/h7extreme/src/usb.c b/boards/spracing/h7extreme/src/usb.c index 9d5915c0e6..166891d4d3 100644 --- a/boards/spracing/h7extreme/src/usb.c +++ b/boards/spracing/h7extreme/src/usb.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * Copyright (C) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,61 +32,16 @@ ****************************************************************************/ /** - * @file px4fmu_usb.c + * @file usb.c * * Board-specific USB functions. */ -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include - +#include "board_config.h" #include #include - -#include -#include -#include #include -#include "board_config.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32H7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} +#include /************************************************************************************ * Name: stm32_usbsuspend @@ -98,7 +53,6 @@ __EXPORT void stm32_usbinitialize(void) * while the USB is suspended. * ************************************************************************************/ - __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume);