diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index 186bbb45aa..7410596b6b 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -21,6 +21,7 @@ jobs: ark_can-gps, ark_can-rtk-gps, ark_cannode, + ark_fmu-v6x, atl_mantis-edu, av_x-v1, bitcraze_crazyflie, diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 9e983b46b5..6f903ba908 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -131,6 +131,16 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: ark_cannode_canbootloader + ark_fmu-v6x_bootloader: + short: ark_fmu-v6x_bootloader + buildType: MinSizeRel + settings: + CONFIG: ark_fmu-v6x_bootloader + ark_fmu-v6x_default: + short: ark_fmu-v6x_default + buildType: MinSizeRel + settings: + CONFIG: ark_fmu-v6x_default atl_mantis-edu_default: short: atl_mantis-edu buildType: MinSizeRel diff --git a/boards/ark/fmu-v6x/bootloader.px4board b/boards/ark/fmu-v6x/bootloader.px4board new file mode 100644 index 0000000000..19b6e662be --- /dev/null +++ b/boards/ark/fmu-v6x/bootloader.px4board @@ -0,0 +1,3 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board new file mode 100644 index 0000000000..f57fd7df13 --- /dev/null +++ b/boards/ark/fmu-v6x/default.px4board @@ -0,0 +1,94 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ETHERNET=y +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_BAROMETER_MS5611=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_CAMERA_CAPTURE=y +CONFIG_DRIVERS_CAMERA_TRIGGER=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_HEATER=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y +CONFIG_COMMON_LIGHT=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_OPTICAL_FLOW=y +CONFIG_DRIVERS_POWER_MONITOR_INA226=y +CONFIG_DRIVERS_POWER_MONITOR_INA228=y +CONFIG_DRIVERS_POWER_MONITOR_INA238=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_DRIVERS_PWM_OUT_SIM=y +CONFIG_DRIVERS_PX4IO=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SAFETY_BUTTON=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +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 +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_GYRO_FFT=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIH=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MIXER=y +CONFIG_SYSTEMCMDS_MOTOR_TEST=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NETMAN=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_PWM=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin new file mode 100755 index 0000000000..b1228d1006 Binary files /dev/null and b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin differ diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin new file mode 100755 index 0000000000..25a00e2357 Binary files /dev/null and b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin differ diff --git a/boards/ark/fmu-v6x/firmware.prototype b/boards/ark/fmu-v6x/firmware.prototype new file mode 100644 index 0000000000..39718c37a3 --- /dev/null +++ b/boards/ark/fmu-v6x/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 57, + "magic": "ARKFWv1", + "description": "Firmware for the ARKFMUv6X board", + "image": "", + "build_time": 0, + "summary": "ARKFMUv6X", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults new file mode 100644 index 0000000000..a7d844a366 --- /dev/null +++ b/boards/ark/fmu-v6x/init/rc.board_defaults @@ -0,0 +1,19 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + +# Mavlink ethernet (CFG 1000) +param set-default MAV_2_CONFIG 1000 +param set-default MAV_2_BROADCAST 1 +param set-default MAV_2_MODE 0 +param set-default MAV_2_RADIO_CTL 0 +param set-default MAV_2_RATE 100000 +param set-default MAV_2_REMOTE_PRT 14550 +param set-default MAV_2_UDP_PRT 14550 + +param set-default SENS_EN_INA238 0 +param set-default SENS_EN_INA228 0 +param set-default SENS_EN_INA226 1 + +safety_button start diff --git a/boards/ark/fmu-v6x/init/rc.board_sensors b/boards/ark/fmu-v6x/init/rc.board_sensors new file mode 100644 index 0000000000..caf6b2e8de --- /dev/null +++ b/boards/ark/fmu-v6x/init/rc.board_sensors @@ -0,0 +1,47 @@ +#!/bin/sh +# +# PX4 FMUv6X specific board sensors init +#------------------------------------------------------------------------------ +board_adc start + +if param compare SENS_EN_INA226 1 +then + # Start Digital power monitors + ina226 -X -b 1 -t 1 -k start + ina226 -X -b 2 -t 2 -k start +fi + +if param compare SENS_EN_INA228 1 +then + # Start Digital power monitors + ina228 -X -b 1 -t 1 -k start + ina228 -X -b 2 -t 2 -k start +fi + +if param compare SENS_EN_INA238 1 +then + # Start Digital power monitors + ina238 -X -b 1 -t 1 -k start + ina238 -X -b 2 -t 2 -k start +fi + +# Internal SPI bus IIM42652 +iim42652 -R 3 -s -b 1 start + +# Internal SPI bus ICM42688p +icm42688p -R 9 -s -b 2 start + +# Internal SPI bus ICM42688p +icm42688p -R 6 -s -b 3 start + +# Internal magnetometer on I2c +bmm150 -I start + +# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) +ist8310 -X -b 1 -R 10 start + +# Possible internal Baro +bmp388 -I start + +# Baro on I2C3 +ms5611 -X start diff --git a/boards/ark/fmu-v6x/nuttx-config/Kconfig b/boards/ark/fmu-v6x/nuttx-config/Kconfig new file mode 100644 index 0000000000..bb33d3cfda --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/Kconfig @@ -0,0 +1,17 @@ +# +# 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/ark/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig new file mode 100644 index 0000000000..8910e823ae --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig @@ -0,0 +1,96 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DEV_CONSOLE is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_SPI_EXCHANGE is not set +# CONFIG_STM32H7_SYSCFG is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fmu-v6x/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H753II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=512 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_C99_BOOL8=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0035 +CONFIG_CDCACM_PRODUCTSTR="ARK BL FMU v6X.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="ARK" +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_PTHREAD=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_LIB_BOARDCTL=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SPI=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_UART7=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_RXDMA=y +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_UART7_TXDMA=y +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2944 +CONFIG_USER_ENTRYPOINT="bootloader_main" diff --git a/boards/ark/fmu-v6x/nuttx-config/include/board.h b/boards/ark/fmu-v6x/nuttx-config/include/board.h new file mode 100644 index 0000000000..38ce2f9d50 --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/include/board.h @@ -0,0 +1,558 @@ +/************************************************************************************ + * nuttx-configs/px4_fmu-v6x/include/board.h + * + * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The px4_fmu-v6X board provides the following clock sources: + * + * X1: 16 MHz crystal for HSE + * + * So we have these clock source available within the STM32 + * + * HSI: 16 MHz RC factory-trimmed + * HSE: 16 MHz crystal for HSE + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE = 16,000,000 + * + * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * Subject to: + * + * 1 <= PLLM <= 63 + * 4 <= PLLN <= 512 + * 150 MHz <= PLL_VCOL <= 420MHz + * 192 MHz <= PLL_VCOH <= 836MHz + * + * SYSCLK = PLL_VCO / PLLP + * CPUCLK = SYSCLK / D1CPRE + * Subject to + * + * PLLP1 = {2, 4, 6, 8, ..., 128} + * PLLP2,3 = {2, 3, 4, ..., 128} + * CPUCLK <= 480 MHz + */ + +#define STM32_BOARD_USEHSE + +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE + +/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR + * + * PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz + * + * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz + * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz + * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz + */ + +#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP1EN | \ + RCC_PLLCFGR_DIVQ1EN | \ + RCC_PLLCFGR_DIVR1EN) +#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1) +#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(60) +#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) +#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) +#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) + +#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 60) +#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) +#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) +#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) + +/* PLL2 */ + +#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVP2EN | \ + RCC_PLLCFGR_DIVQ2EN | \ + RCC_PLLCFGR_DIVR2EN) +#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) +#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) +#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) +#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) +#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) + +#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) +#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) + +/* PLL3 */ + +#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ + RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ + RCC_PLLCFGR_DIVQ3EN) +#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4) +#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) +#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) +#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) +#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) + +#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48) +#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) +#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) +#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) + +/* SYSCLK = PLL1P = 480MHz + * CPUCLK = SYSCLK / 1 = 480 MHz + */ + +#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) +#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) +#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) + +/* Configure Clock Assignments */ + +/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) + * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 + */ + +#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ +#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ +#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ + +#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ +#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ + +#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ +#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timer clock frequencies */ + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Kernel Clock Configuration + * + * Note: look at Table 54 in ST Manual + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 2 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#define BOARD_FLASH_WAITSTATES 2 + +/* SDMMC definitions ********************************************************/ + +/* Init 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 +# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif +#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) +# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#else +# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) +#endif + +#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + +/* LED definitions ******************************************************************/ +/* The PX4 FMUV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +/* LED definitions ******************************************************************/ +/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ + +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ + +#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ + +#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_6 /* PH14 */ +#define GPIO_UART4_TX GPIO_UART4_TX_6 /* PH13 */ + +#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ +#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ +// GPIO_UART5_RTS no remap /* PC8 */ +// GPIO_UART5_CTS No remap /* PC9 */ + +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */ +#define GPIO_UART7_CTS GPIO_UART7_CTS_1 /* PE10 */ + +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ + + +/* CAN + * + * CAN1 is routed to transceiver. + * CAN2 is routed to transceiver. + */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + +/* SPI + * SPI1 is sensors1 + * SPI2 is sensors2 + * SPI3 is sensors3 + * SPI4 is Not Used + * SPI5 is FRAM + * SPI6 is EXTERNAL1 + * + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_3 /* PG9 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ + +#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */ +#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */ +#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */ + +#define GPIO_SPI5_MISO GPIO_SPI5_MISO_2 /* PH7 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF11 */ +#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ + +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_2 /* PA6 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3 */ + +/* I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_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) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */ +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */ + +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0) + +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */ +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ + +#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8) +#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8) + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ + +#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) +#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) + +/* SDMMC2 + * + * VDD 3.3 + * GND + * SDMMC2_CK PD6 + * SDMMC2_CMD PD7 + * SDMMC2_D0 PB14 + * SDMMC2_D1 PB15 + * SDMMC2_D2 PG11 + * SDMMC2_D3 PB4 + */ + +#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_1 /* PD6 */ +#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */ +// GPIO_SDMMC2_D0 No Remap /* PB14 */ +// GPIO_SDMMC2_D1 No Remap /* PB15 */ +#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_1 /* PG11 */ +// GPIO_SDMMC2_D3 No Remap /* PB4 */ + +/* The STM32 H7 connects to a TI DP83848TSQ/NOPB + * using RMII + * + * STM32 H7 BOARD DP83848TSQ/NOPB + * GPIO SIGNAL PIN NAME + * -------- ------------ ------------- + * PA7 ETH_CRS_DV CRS_DV + * PC1 ETH_MDC MDC + * PA2 ETH_MDIO MDIO + * PA1 ETH_REF_CL X1 + * PC4 ETH_RXD0 RX_D0 + * PC5 ETH_RXD1 RX_D1 + * PB11 ETH_TX_EN TX_EN + * PG13 ETH_TXD0 TX_D0 + * PG12 ETH_TXD1 TX_D1 + * + * The PHY address is 1, since COL/PHYAD0 features a pull up. + */ + +#define GPIO_ETH_RMII_TX_EN GPIO_ETH_RMII_TX_EN_1 /* PB11 */ +#define GPIO_ETH_RMII_TXD0 GPIO_ETH_RMII_TXD0_2 /* PG13 */ +#define GPIO_ETH_RMII_TXD1 GPIO_ETH_RMII_TXD1_2 /* PG12 */ + + +/* 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_PX4_FMU_V6X_INCLUDE_BOARD_H */ diff --git a/boards/ark/fmu-v6x/nuttx-config/include/board_dma_map.h b/boards/ark/fmu-v6x/nuttx-config/include/board_dma_map.h new file mode 100644 index 0000000000..1f45efc569 --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/include/board_dma_map.h @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#pragma once + +// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned +// V + +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 ICM-20649 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 ICM-20649 */ + +#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 ICM-42688-P */ +#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 ICM-42688-P */ + +//#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */ +//#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */ + +//#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 Telem3 */ +//#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 Telem3 */ + +//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */ +//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */ + +//#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 EXT2 */ +//#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 EXT2 */ + +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 PX4IO */ +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 PX4IO */ + +// Assigned in timer_config.cpp + +// Timer 4 /* 7 DMA1:32 TIM4UP */ +// Timer 5 /* 8 DMA1:50 TIM5UP */ + +// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned +// V + +#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* 1 DMA2:61 BMI088 */ +#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* 2 DMA2:62 BMI088 */ + +#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 3 DMA2:45 DEBUG */ +#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 4 DMA2:46 DEBUG */ + +#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 5 DMA2:65 TELEM2 */ +#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 6 DMA2:66 TELEM2 */ + +#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 7 DMA1:79 TELEM1 */ +#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 8 DMA1:80 TELEM1 */ + +//#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA1:81 GPS2 */ +//#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_1 /* DMA1:82 GPS2 */ + +// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned +// V + +#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */ +#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */ diff --git a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig new file mode 100644 index 0000000000..082db6c827 --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig @@ -0,0 +1,295 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_MMCSD_HAVE_CARDDETECT is not set +# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_ARP is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_TIME is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fmu-v6x/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H753II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=512 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95751 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_C99_BOOL8=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x0035 +CONFIG_CDCACM_PRODUCTSTR="ARK FMU v6X.x" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x3185 +CONFIG_CDCACM_VENDORSTR="ARK" +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_ETH0_PHY_LAN8742A=y +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FSUTILS_IPCFG=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_THROTTLE=0 +CONFIG_IPCFG_BINARY=y +CONFIG_IPCFG_CHARDEV=y +CONFIG_IPCFG_PATH="/fs/mtd_net" +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NET=y +CONFIG_NETDB_DNSCLIENT=y +CONFIG_NETDB_DNSCLIENT_ENTRIES=8 +CONFIG_NETDB_DNSSERVER_NOADDR=y +CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_DNS=y +CONFIG_NETINIT_DNSIPADDR=0XC0A800FE +CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_THREAD=y +CONFIG_NETINIT_THREAD_PRIORITY=49 +CONFIG_NETUTILS_TELNETD=y +CONFIG_NET_ARP_IPIN=y +CONFIG_NET_ARP_SEND=y +CONFIG_NET_BROADCAST=y +CONFIG_NET_ETH_PKTSIZE=1518 +CONFIG_NET_ICMP=y +CONFIG_NET_ICMP_SOCKET=y +CONFIG_NET_SOLINGER=y +CONFIG_NET_TCP=y +CONFIG_NET_TCPBACKLOG=y +CONFIG_NET_TCP_DELAYED_ACK=y +CONFIG_NET_TCP_WRITE_BUFFERS=y +CONFIG_NET_UDP=y +CONFIG_NET_UDP_CHECKSUMS=y +CONFIG_NET_UDP_WRITE_BUFFERS=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_TELNET=y +CONFIG_NSH_TELNET_LOGIN=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_SETSPEED=y +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SDMMC2_SDIO_PULLUP=y +CONFIG_SEM_PREALLOCHOLDERS=32 +CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=256 +CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_ETHMAC=y +CONFIG_STM32H7_FLASH_OVERRIDE_I=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C3=y +CONFIG_STM32H7_I2C4=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PHYSR=31 +CONFIG_STM32H7_PHYSR_100MBPS=0x8 +CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10 +CONFIG_STM32H7_PHYSR_MODE=0x10 +CONFIG_STM32H7_PHYSR_SPEED=0x8 +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC2=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI2_DMA=y +CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI3=y +CONFIG_STM32H7_SPI3_DMA=y +CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 +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 +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM5=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART5=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_DHCPC_RENEW=y +CONFIG_SYSTEM_NSH=y +CONFIG_SYSTEM_PING=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_IFLOWCONTROL=y +CONFIG_UART5_OFLOWCONTROL=y +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_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_RXDMA=y +CONFIG_USART3_SERIAL_CONSOLE=y +CONFIG_USART3_TXBUFSIZE=1500 +CONFIG_USART3_TXDMA=y +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2944 +CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/ark/fmu-v6x/nuttx-config/scripts/bootloader_script.ld b/boards/ark/fmu-v6x/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 0000000000..2e6eba3607 --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,215 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743II also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The bootloader uses the first sector of the flash, which is 128K in length. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/fmu-v6x/nuttx-config/scripts/script.ld b/boards/ark/fmu-v6x/nuttx-config/scripts/script.ld new file mode 100644 index 0000000000..b6b341d4e8 --- /dev/null +++ b/boards/ark/fmu-v6x/nuttx-config/scripts/script.ld @@ -0,0 +1,229 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory. + * The flash memory is partitioned into a User Flash memory and a System + * Flash memory. Each of these memories has two banks: + * + * 1) User Flash memory: + * + * Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each + * Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each + * + * 2) System Flash memory: + * + * Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector + * Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector + * + * 3) User option bytes for user configuration, only in Bank 1. + * + * In the STM32H743II, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash memory at 0x0800:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x1FF0:0000 + * + * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by + * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test + * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 + * + * The STM32H743II also has 1024Kb of data SRAM. + * SRAM is split up into several blocks and into three power domains: + * + * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with + * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus + * + * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 + * + * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit + * DTCM ports. The DTCM-RAM could be used for critical real-time + * data, such as interrupt service routines or stack / heap memory. + * Both DTCM-RAMs can be used in parallel (for load/store operations) + * thanks to the Cortex-M7 dual issue capability. + * + * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 + * + * This RAM is connected to ITCM 64-bit interface designed for + * execution of critical real-times routines by the CPU. + * + * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA + * through D1 domain AXI bus matrix + * + * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 + * + * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA + * through D2 domain AHB bus matrix + * + * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 + * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 + * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 + * + * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 + * + * 4) AHB SRAM (D3 domain) accessible by most of system masters + * through D3 domain AHB bus matrix + * + * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 + * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + */ + +MEMORY +{ + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ + SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ + SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ + SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ + BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) +EXTERN(board_get_manifest) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH + + + .ARM.extab : { + *(.ARM.extab*) + } > FLASH + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/ark/fmu-v6x/src/CMakeLists.txt b/boards/ark/fmu-v6x/src/CMakeLists.txt new file mode 100644 index 0000000000..7ff9cdf5f5 --- /dev/null +++ b/boards/ark/fmu-v6x/src/CMakeLists.txt @@ -0,0 +1,70 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") + add_library(drivers_board + bootloader_main.c + usb.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + mtd.cpp + manifest.c + sdio.c + spi.cpp + timer_config.cpp + usb.c + ) + add_dependencies(drivers_board arch_board_hw_info) + + target_link_libraries(drivers_board + PRIVATE + arch_spi + arch_board_hw_info + drivers__led # drv_led_start + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer + ) +endif() diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h new file mode 100644 index 0000000000..14827405b4 --- /dev/null +++ b/boards/ark/fmu-v6x/src/board_config.h @@ -0,0 +1,515 @@ +/**************************************************************************** + * + * Copyright (c) 2016, 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. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * PX4FMU-v6x internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + + +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +#undef TRACE_PINS + +/* 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 ************************************************************************************/ + +#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks +#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid +#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage +#define BOARD_HAS_NBAT_I 2d // 2 Digital Current + +/* PX4FMU GPIOs ***********************************************************************************/ + +/* Trace Clock and D0-D3 are available on the trace connector + * + * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 + * TRACED0 PE3 - nLED_RED - Trace Connector Pin 3 + * TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5 + * TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7 + * TRACED3 PE6 - nARMED - Trace Connector Pin 8 + + */ + +/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ + +#if !defined(TRACE_PINS) +# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) +# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) + +# define BOARD_HAS_CONTROL_STATUS_LEDS 1 +# define BOARD_OVERLOAD_LED LED_RED +# define BOARD_ARMED_STATE_LED LED_BLUE + +#else + +# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2) +# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3) +# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4) +# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5) +# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6) +//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3) + +# undef BOARD_HAS_CONTROL_STATUS_LEDS +# undef BOARD_OVERLOAD_LED +# undef BOARD_ARMED_STATE_LED + +# define GPIO_nLED_RED GPIO_TRACED0 +# define GPIO_nLED_GREEN GPIO_TRACED1 +# define GPIO_nLED_BLUE GPIO_TRACED2 +# define GPIO_nARMED GPIO_TRACED3 +# define GPIO_nARMED_INIT GPIO_TRACED3 +#endif + + +/* SPI */ + +#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10) +#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) + +/* I2C busses */ + +/* Devices on the onboard buses. + * + * Note that these are unshifted addresses. + */ +#define GPIO_I2C2_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) + +/* + * 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) + +/* N.B. there is no offset mapping needed for ADC3 because */ +#define ADC3_CH(n) (n) + +/* We are only use ADC3 for REV/VER. + * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1 + * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3 + * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO + * PA0SO of 0. + * + * 0 Analog switch closed (pads are connected through the analog switch) + * + * So ADC3_INP0 is GPIO_ADC123_INP12 + * ADC3_INP1 is GPIO_ADC12_INP13 + */ + +/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ + +#define PX4_ADC_GPIO \ + /* PA0 */ GPIO_ADC1_INP16, \ + /* PA4 */ GPIO_ADC12_INP18, \ + /* PB0 */ GPIO_ADC12_INP9, \ + /* PB1 */ GPIO_ADC12_INP5, \ + /* PC2 */ GPIO_ADC123_INP12, \ + /* PC3 */ GPIO_ADC12_INP13, \ + /* PF12 */ GPIO_ADC1_INP6, \ + /* PH3 */ GPIO_ADC3_INP14, \ + /* PH4 */ GPIO_ADC3_INP15 + +/* Define Channel numbers must match above GPIO pin IN(n)*/ +#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16) +#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(18) +#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL /* PB0 */ ADC1_CH(9) +#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5) +#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12) +#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13) +#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL /* PF12 */ ADC1_CH(6) +#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14) +#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15) + +#define ADC_CHANNELS \ + ((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL) | \ + (1 << ADC_ADC3_6V6_CHANNEL) | \ + (1 << ADC_ADC3_3V3_CHANNEL)) | \ + (1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL) + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ + +#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE + +#define SYSTEM_ADC_BASE STM32_ADC1_BASE + +/* HW has to large of R termination on ADC todo:change when HW value is chosen */ +#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) + +/* HW Version and Revision drive signals Default to 1 to detect */ +#define BOARD_HAS_HW_VERSIONING + +#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) +#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 +#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 +#define HW_INFO_INIT {'V','6','X','x', 'x',0} +#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */ +#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */ + +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets +// Base/FMUM +#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0 +#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1 +#define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3 +#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 +#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3 + + +/* HEATER + * PWM in future + */ +#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) + +/* PE6 is nARMED + * The GPIO will be set as input while not armed HW will have external HW Pull UP. + * While armed it shall be configured at a GPIO OUT set LOW + */ +#if !defined(TRACE_PINS) +#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6) +#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6) +#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) +#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED) +#endif + + +/* PWM + */ +#define DIRECT_PWM_OUTPUT_CHANNELS 9 + + +/* Power supply control and monitoring GPIOs */ + +#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1) +#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2) +#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3) + +#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ +#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ +#define BOARD_NUMBER_BRICKS 2 +#define BOARD_NUMBER_DIGITAL_BRICKS 2 +#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ + +#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4) +#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15) +#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10) +#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) +#define GPIO_VDD_3V3_SENSORS4_EN /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8) +#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) +#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +/* Spare GPIO */ + +#define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) +#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) + +/* ETHERNET GPIO */ + +#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15) + +/* NFC GPIO */ + +#define GPIO_NFC_GPIO /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0) + + +/* Define True logic Power Control in arch agnostic form */ + +#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true)) +#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) +#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true)) +#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) +#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) +#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) +#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true)) + + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 14 /* Timer 14 */ +#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */ + +#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2 + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing + */ +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ + +#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */ +#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2 + +/* RC Serial port */ + +#define RC_SERIAL_PORT "/dev/ttyS5" +#define RC_SERIAL_SINGLEWIRE + +/* Input Capture Channels. */ +#define INPUT_CAP1_TIMER 1 +#define INPUT_CAP1_CHANNEL /* T1C2 */ 2 +#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN + +/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ +#define PWMIN_TIMER 4 +#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 +#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 + +/* Safety Switch is HW version dependent on having an PX4IO + * So we init to a benign state with the _INIT definition + * and provide the the non _INIT one for the driver to make a run time + * decision to use it. + */ +#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10) +#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) + +/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ +#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT + +#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5) +/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ +#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ + +/* Power switch controls ******************************************************/ + +#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) + +/* + * FMUv6X has a separate RC_IN + * + * GPIO PPM_IN on PI5 T8CH1 + * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 + * Inversion is possible in the UART and can drive GPIO PPM_IN as an output + */ + +#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5) +#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) +#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ +#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) + +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_LIB_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ + +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) + * this board support the ADC system_power interface, and therefore + * provides the true logic GPIO BOARD_ADC_xxxx macros. + */ +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) +#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) + +/* FMUv6X never powers off the Servo rail */ + +#define BOARD_ADC_SERVO_VALID (1) + +#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0 +# define BOARD_ADC_BRICK1_VALID (1) +# define BOARD_ADC_BRICK2_VALID (0) +#elif BOARD_HAS_LTC44XX_VALIDS == 1 +# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) +# define BOARD_ADC_BRICK2_VALID (0) +#elif BOARD_HAS_LTC44XX_VALIDS == 2 +# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) +# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) +#elif BOARD_HAS_LTC44XX_VALIDS == 3 +# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) +# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) +# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) +#elif BOARD_HAS_LTC44XX_VALIDS == 4 +# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) +# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) +# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) +# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID)) +#else +# error Unsupported BOARD_HAS_LTC44XX_VALIDS value +#endif + +#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) +#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) + + +/* 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 + +#if defined(TRACE_PINS) +#define GPIO_TRACE \ + GPIO_TRACECLK1, \ + GPIO_TRACED0, \ + GPIO_TRACED1, \ + GPIO_TRACED2, \ + GPIO_TRACED3 +#else +#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#endif + +#define PX4_GPIO_INIT_LIST { \ + GPIO_TRACE, \ + PX4_ADC_GPIO, \ + GPIO_HW_VER_REV_DRIVE, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN2_TX, \ + GPIO_CAN2_RX, \ + GPIO_HEATER_OUTPUT, \ + GPIO_nPOWER_IN_A, \ + GPIO_nPOWER_IN_B, \ + GPIO_nPOWER_IN_C, \ + GPIO_VDD_5V_PERIPH_nEN, \ + GPIO_VDD_5V_PERIPH_nOC, \ + GPIO_VDD_5V_HIPOWER_nEN, \ + GPIO_VDD_5V_HIPOWER_nOC, \ + GPIO_VDD_3V3_SENSORS4_EN, \ + GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + GPIO_VDD_3V3_SD_CARD_EN, \ + GPIO_PD15, \ + GPIO_SYNC, \ + SPI6_nRESET_EXTERNAL1, \ + GPIO_ETH_POWER_EN, \ + GPIO_NFC_GPIO, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \ + GPIO_SAFETY_SWITCH_IN, \ + GPIO_PG6, \ + GPIO_nARMED_INIT \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +#define PX4_I2C_BUS_MTD 4,5 + + +#define BOARD_NUM_IO_TIMERS 5 + +__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 PX4FMU 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/ark/fmu-v6x/src/bootloader_main.c b/boards/ark/fmu-v6x/src/bootloader_main.c new file mode 100644 index 0000000000..915b7f3d29 --- /dev/null +++ b/boards/ark/fmu-v6x/src/bootloader_main.c @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bootloader_main.c + * + * FMU-specific early startup code for bootloader +*/ + +#include "board_config.h" +#include "bl.h" + +#include +#include +#include +#include +#include +#include "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +__EXPORT void board_on_reset(int status) {} + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure USB interfaces */ + stm32_usbinitialize(); +} + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + return 0; +} + +void board_late_initialize(void) +{ + sercon_main(0, NULL); +} + +extern void sys_tick_handler(void); +void board_timerhook(void) +{ + sys_tick_handler(); +} diff --git a/boards/ark/fmu-v6x/src/can.c b/boards/ark/fmu-v6x/src/can.c new file mode 100644 index 0000000000..3834074f37 --- /dev/null +++ b/boards/ark/fmu-v6x/src/can.c @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_can.c + * + * Board-specific CAN functions. + */ + +#ifdef CONFIG_CAN + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_arch.h" + +#include "chip.h" +#include "stm32_can.h" +#include "board_config.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif + +#endif /* CONFIG_CAN */ diff --git a/boards/ark/fmu-v6x/src/hw_config.h b/boards/ark/fmu-v6x/src/hw_config.h new file mode 100644 index 0000000000..3a0205c87b --- /dev/null +++ b/boards/ark/fmu-v6x/src/hw_config.h @@ -0,0 +1,128 @@ +/* + * hw_config.h + * + * Created on: May 17, 2015 + * Author: david_s5 + */ + +#ifndef HW_CONFIG_H_ +#define HW_CONFIG_H_ + +/**************************************************************************** + * 10-8--2016: + * To simplify the ripple effect on the tools, we will be using + * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore + * moving forward all Bootloaders must contain the prefix "PX4 BL " + * in the USBDEVICESTRING + * This Change will be made in an upcoming BL release + ****************************************************************************/ +/* + * Define usage to configure a bootloader + * + * + * Constant example Usage + * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed + * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request + * BOARD_FMUV2 + * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading + * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading + * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string + * USBPRODUCTID 0x0011 - PID Should match defconfig + * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom + * delay provided by an APP FW + * BOARD_TYPE 9 - Must match .prototype boad_id + * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection + * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector + * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector + * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. + * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted + * programmatically + * + * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. + * This is to allow sectors to be reserved for app fw usage. That will NOT be erased + * during a FW upgrade. + * The default is 0, and selects the first sector to be erased, as the 0th entry in the + * flash_sectors table. Which is the second physical sector of FLASH in the device. + * The first physical sector of FLASH is used by the bootloader, and is not defined + * in the table. + * + * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus + * BOOTLOADER_RESERVATION_SIZE will be deducted from + * BOARD_FLASH_SIZE to determine the size of the App FW + * and hence the address space of FLASH to erase and program. + * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) + * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL + * + * * Other defines are somewhat self explanatory. + */ + +/* Boot device selection list*/ +#define USB0_DEV 0x01 +#define SERIAL0_DEV 0x02 +#define SERIAL1_DEV 0x04 + +#define APP_LOAD_ADDRESS 0x08020000 +#define BOOTLOADER_DELAY 5000 +#define INTERFACE_USB 1 +#define INTERFACE_USB_CONFIG "/dev/ttyACM0" +#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) + +//#define USE_VBUS_PULL_DOWN +#define INTERFACE_USART 1 +#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 57 +#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) +#define BOARD_FLASH_SECTORS (15) +#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) + +#define OSC_FREQ 16 + +#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE +#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +/* + * Uncommenting this allows to force the bootloader through + * a PWM output pin. As this can accidentally initialize + * an ESC prematurely, it is not recommended. This feature + * has not been used and hence defaults now to off. + * + * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) + * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) + * + * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + * # define BOARD_POWER_ON 1 + * # define BOARD_POWER_OFF 0 + * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) + * +*/ + +#if !defined(ARCH_SN_MAX_LENGTH) +# define ARCH_SN_MAX_LENGTH 12 +#endif + +#if !defined(APP_RESERVATION_SIZE) +# define APP_RESERVATION_SIZE 0 +#endif + +#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) +# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 +#endif + +#if !defined(USB_DATA_ALIGN) +# define USB_DATA_ALIGN +#endif + +#ifndef BOOT_DEVICES_SELECTION +# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#ifndef BOOT_DEVICES_FILTER_ONUSB +# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV +#endif + +#endif /* HW_CONFIG_H_ */ diff --git a/boards/ark/fmu-v6x/src/i2c.cpp b/boards/ark/fmu-v6x/src/i2c.cpp new file mode 100644 index 0000000000..8a557078e0 --- /dev/null +++ b/boards/ark/fmu-v6x/src/i2c.cpp @@ -0,0 +1,41 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(2), + initI2CBusExternal(3), + initI2CBusInternal(4), +}; diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c new file mode 100644 index 0000000000..a96a406496 --- /dev/null +++ b/boards/ark/fmu-v6x/src/init.c @@ -0,0 +1,276 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * PX4FMU-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" + +#include +#include +#include +#include +#include +#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 + * + * Description: + * + ************************************************************************************/ +__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(); + /* Keep Spektum on to discharge rail*/ + VDD_3V3_SPEKTRUM_POWER_EN(false); + + /* wait for the peripheral rail to reach GND */ + usleep(ms * 1000); + syslog(LOG_DEBUG, "reset done, %d ms\n", ms); + + /* re-enable power */ + + /* 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); + +} + +/************************************************************************************ + * Name: board_on_reset + * + * Description: + * Optionally provided function called on entry to board_system_reset + * It should perform any house keeping prior to the rest. + * + * status - 1 if resetting to boot loader + * 0 if just resetting + * + ************************************************************************************/ +__EXPORT void board_on_reset(int status) +{ + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); + } + + if (status >= 0) { + up_mdelay(6); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure USB interfaces */ + + stm32_usbinitialize(); + + VDD_3V3_ETH_POWER_EN(true); + +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + /* Power on Interfaces */ + VDD_3V3_SD_CARD_EN(true); + VDD_5V_PERIPH_EN(true); + VDD_5V_HIPOWER_EN(true); + VDD_3V3_SENSORS4_EN(true); + 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()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + stm32_spiinitialize(); + + board_spi_reset(10, 0xffff); + + /* configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +#if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_GREEN); // Indicate Power. + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + + // 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) { + led_on(LED_RED); + } + +#endif /* CONFIG_MMCSD */ + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + return OK; +} diff --git a/boards/ark/fmu-v6x/src/led.c b/boards/ark/fmu-v6x/src/led.c new file mode 100644 index 0000000000..bff4b09864 --- /dev/null +++ b/boards/ark/fmu-v6x/src/led.c @@ -0,0 +1,235 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu2_led.c + * + * PX4FMU LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * Ideally we'd be able to get these from arm_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +#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_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED + GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4 +}; + +#else + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER + 0, // Indexed by LED_SAFETY (defaulted to an input) + GPIO_nLED_GREEN, // Indexed by LED_GREEN +}; + +#endif + +__EXPORT void led_init(void) +{ + for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { + if (g_ledmap[l] != 0) { + stm32_configgpio(g_ledmap[l]); + } + } +} + +static void phy_set_led(int led, bool state) +{ + /* Drive Low to switch on */ + + if (g_ledmap[led] != 0) { + stm32_gpiowrite(g_ledmap[led], !state); + } +} + +static bool phy_get_led(int led) +{ + /* If Low it is on */ + if (g_ledmap[led] != 0) { + return !stm32_gpioread(g_ledmap[led]); + } + + return false; +} + +__EXPORT void led_on(int led) +{ + phy_set_led(xlat(led), true); +} + +__EXPORT void led_off(int led) +{ + phy_set_led(xlat(led), false); +} + +__EXPORT void led_toggle(int led) +{ + phy_set_led(xlat(led), !phy_get_led(xlat(led))); +} + +#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: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_IRQSENABLED: + phy_set_led(BOARD_LED_BLUE, false); + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_STACKCREATED: + phy_set_led(BOARD_LED_GREEN, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, true); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, true); + break; + } +} + +/**************************************************************************** + * Name: board_autoled_off + ****************************************************************************/ + +void board_autoled_off(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, false); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, false); + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, false); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, false); + break; + } +} + +#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/ark/fmu-v6x/src/manifest.c b/boards/ark/fmu-v6x/src/manifest.c new file mode 100644 index 0000000000..3a4fc93bff --- /dev/null +++ b/boards/ark/fmu-v6x/src/manifest.c @@ -0,0 +1,150 @@ +/**************************************************************************** + * + * Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW REV and HW VER IDs + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include + +#include "systemlib/px4_macros.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +typedef struct { + uint32_t hw_ver_rev; /* the version and revision */ + const px4_hw_mft_item_t *mft; /* The first entry */ + uint32_t entries; /* the lenght of the list */ +} px4_hw_mft_list_entry_t; + +typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; +#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 + +static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; + +// List of components on a specific board configuration +// The index of those components is given by the enum (px4_hw_mft_item_id_t) +// declared in board_common.h +static const px4_hw_mft_item_t hw_mft_list_v0600[] = { + { + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + +static const px4_hw_mft_item_t hw_mft_list_v0610[] = { + { + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + + +static px4_hw_mft_list_entry_t mft_lists[] = { +// ver_rev + {V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, + {V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO + {V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 + {V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3 + {V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3 +}; + +/************************************************************************************ + * Name: board_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + uint32_t ver_rev = board_get_hw_version() << 8; + ver_rev |= board_get_hw_revision(); + + for (unsigned i = 0; i < arraySize(mft_lists); i++) { + if (mft_lists[i].hw_ver_rev == ver_rev) { + boards_manifest = &mft_lists[i]; + break; + } + } + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev); + } + } + + px4_hw_mft_item rv = &device_unsupported; + + if (boards_manifest != px4_hw_mft_list_uninitialized && + id < boards_manifest->entries) { + rv = &boards_manifest->mft[id]; + } + + return rv; +} diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp new file mode 100644 index 0000000000..ce047df328 --- /dev/null +++ b/boards/ark/fmu-v6x/src/mtd.cpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#include +#include +// KiB BS nB +static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 + .bus_type = px4_mft_device_t::SPI, + .devid = SPIDEV_FLASH(0) +}; +static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 256 + .bus_type = px4_mft_device_t::I2C, + .devid = PX4_MK_I2C_DEVID(3, 0x51) +}; +static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256 + .bus_type = px4_mft_device_t::I2C, + .devid = PX4_MK_I2C_DEVID(4, 0x50) +}; + + +static const px4_mtd_entry_t fmum_fram = { + .device = &spi5, + .npart = 2, + .partd = { + { + .type = MTD_PARAMETERS, + .path = "/fs/mtd_params", + .nblocks = 32 + }, + { + .type = MTD_WAYPOINTS, + .path = "/fs/mtd_waypoints", + .nblocks = 32 + + } + }, +}; + +static const px4_mtd_entry_t base_eeprom = { + .device = &i2c3, + .npart = 2, + .partd = { + { + .type = MTD_MFT, + .path = "/fs/mtd_mft", + .nblocks = 248 + }, + { + .type = MTD_NET, + .path = "/fs/mtd_net", + .nblocks = 8 // 256 = 32 * 8 + + } + }, +}; + +static const px4_mtd_manifest_t board_mtd_config = { + .nconfigs = 2, + .entries = { + &fmum_fram, + &base_eeprom, + } +}; + +static const px4_mft_entry_s mtd_mft = { + .type = MTD, + .pmft = (void *) &board_mtd_config, +}; + +static const px4_mft_s mft = { + .nmft = 1, + .mfts = &mtd_mft +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/ark/fmu-v6x/src/sdio.c b/boards/ark/fmu-v6x/src/sdio.c new file mode 100644 index 0000000000..869d757756 --- /dev/null +++ b/boards/ark/fmu-v6x/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * 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/ark/fmu-v6x/src/spi.cpp b/boards/ark/fmu-v6x/src/spi.cpp new file mode 100644 index 0000000000..0e08f86bec --- /dev/null +++ b/boards/ark/fmu-v6x/src/spi.cpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { + initSPIHWVersion(HW_VER_REV(0, 0), { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + }, {GPIO::PortI, GPIO::Pin11}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + }, {GPIO::PortF, GPIO::Pin4}), + initSPIBus(SPI::Bus::SPI3, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), + }, {GPIO::PortE, GPIO::Pin7}), + // initSPIBus(SPI::Bus::SPI4, { + // // no devices + // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h + // }, {GPIO::PortG, GPIO::Pin8}), + initSPIBus(SPI::Bus::SPI5, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) + }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), + initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), + }), + }), + + initSPIHWVersion(HW_VER_REV(0, 3), { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), + }, {GPIO::PortI, GPIO::Pin11}), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + }, {GPIO::PortF, GPIO::Pin4}), + initSPIBus(SPI::Bus::SPI3, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), + }, {GPIO::PortE, GPIO::Pin7}), + // initSPIBus(SPI::Bus::SPI4, { + // // no devices + // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h + // }, {GPIO::PortG, GPIO::Pin8}), + initSPIBus(SPI::Bus::SPI5, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) + }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), + initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), + }), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/ark/fmu-v6x/src/timer_config.cpp b/boards/ark/fmu-v6x/src/timer_config.cpp new file mode 100644 index 0000000000..928f4916f0 --- /dev/null +++ b/boards/ark/fmu-v6x/src/timer_config.cpp @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +/* Timer allocation + * + * TIM5_CH4 T FMU_CH1 + * TIM5_CH3 T FMU_CH2 + * TIM5_CH2 T FMU_CH3 + * TIM5_CH1 T FMU_CH4 + * + * TIM4_CH2 T FMU_CH5 + * TIM4_CH3 T FMU_CH6 + * + * TIM12_CH1 T FMU_CH7 + * TIM12_CH2 T FMU_CH8 + * + * TIM1_CH2 T FMU_CAP1 < Capture + * TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT + * TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe + * + * TIM2_CH3 T HEATER > PWM OUT or GPIO + * + * TIM14_CH1 T BUZZER_1 - Driven by other driver + * TIM8_CH1_IN T FMU_PPM_INPUT - Sampled byt HRT by other driver + */ + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer5, DMA{DMA::Index1}), + initIOTimer(Timer::Timer4, DMA{DMA::Index1}), + initIOTimer(Timer::Timer12), + initIOTimer(Timer::Timer1), + initIOTimer(Timer::Timer2), +}; + +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}), + initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}), + initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}), + initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/ark/fmu-v6x/src/usb.c b/boards/ark/fmu-v6x/src/usb.c new file mode 100644 index 0000000000..9d5915c0e6 --- /dev/null +++ b/boards/ark/fmu-v6x/src/usb.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#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 +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + uinfo("resume: %d\n", resume); +} diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 360c5b9913..b0e45b7655 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -68,6 +68,7 @@ #define DRV_IMU_DEVTYPE_SIM 0x14 #define DRV_DIFF_PRESS_DEVTYPE_SIM 0x15 +#define DRV_FLOW_DEVTYPE_SIM 0x16 #define DRV_IMU_DEVTYPE_MPU6000 0x21 #define DRV_GYR_DEVTYPE_L3GD20 0x22 @@ -78,6 +79,7 @@ #define DRV_IMU_DEVTYPE_ICM20948 0x28 #define DRV_IMU_DEVTYPE_ICM42605 0x29 #define DRV_IMU_DEVTYPE_ICM42670P 0x2A +#define DRV_IMU_DEVTYPE_IIM42652 0x2B #define DRV_RNG_DEVTYPE_MB12XX 0x31 #define DRV_RNG_DEVTYPE_LL40LS 0x32 @@ -126,21 +128,19 @@ #define DRV_BARO_DEVTYPE_MPC2520 0x5F #define DRV_BARO_DEVTYPE_LPS22HB 0x60 -#define DRV_ACC_DEVTYPE_LSM303AGR 0x61 -#define DRV_MAG_DEVTYPE_LSM303AGR 0x62 -#define DRV_IMU_DEVTYPE_ADIS16497 0x63 -#define DRV_BARO_DEVTYPE_BAROSIM 0x65 -#define DRV_GYR_DEVTYPE_BMI088 0x66 -#define DRV_BARO_DEVTYPE_BMP388 0x67 -#define DRV_BARO_DEVTYPE_DPS310 0x68 -#define DRV_PWM_DEVTYPE_PCA9685 0x69 -#define DRV_ACC_DEVTYPE_BMI088 0x6a -#define DRV_OSD_DEVTYPE_ATXXXX 0x6b -#define DRV_FLOW_DEVTYPE_PMW3901 0x6c -#define DRV_FLOW_DEVTYPE_PAW3902 0x6d -#define DRV_FLOW_DEVTYPE_PX4FLOW 0x6e -#define DRV_FLOW_DEVTYPE_PAA3905 0x6f - +#define DRV_ACC_DEVTYPE_LSM303AGR 0x61 +#define DRV_MAG_DEVTYPE_LSM303AGR 0x62 +#define DRV_IMU_DEVTYPE_ADIS16497 0x63 +#define DRV_BARO_DEVTYPE_BAROSIM 0x65 +#define DRV_GYR_DEVTYPE_BMI088 0x66 +#define DRV_BARO_DEVTYPE_BMP388 0x67 +#define DRV_BARO_DEVTYPE_DPS310 0x68 +#define DRV_PWM_DEVTYPE_PCA9685 0x69 +#define DRV_ACC_DEVTYPE_BMI088 0x6a +#define DRV_OSD_DEVTYPE_ATXXXX 0x6b +#define DRV_ACC_DEVTYPE_BMI085 0x6C +#define DRV_GYR_DEVTYPE_BMI085 0x6D +#define DRV_BARO_DEVTYPE_BMP390 0x6E #define DRV_DIST_DEVTYPE_LL40LS 0x70 #define DRV_DIST_DEVTYPE_MAPPYDOT 0x71 @@ -206,8 +206,19 @@ #define DRV_GPS_DEVTYPE_SIM 0xAF +#define DRV_TRNS_DEVTYPE_MXS 0xB0 + #define DRV_HYGRO_DEVTYPE_SHT3X 0xB1 +#define DRV_FLOW_DEVTYPE_MAVLINK 0xB2 +#define DRV_FLOW_DEVTYPE_PMW3901 0xB3 +#define DRV_FLOW_DEVTYPE_PAW3902 0xB4 +#define DRV_FLOW_DEVTYPE_PX4FLOW 0xB5 +#define DRV_FLOW_DEVTYPE_PAA3905 0xB6 + +#define DRV_BARO_DEVTYPE_ICP10100 0xC0 +#define DRV_BARO_DEVTYPE_ICP10111 0xC1 + #define DRV_DEVTYPE_UNUSED 0xff #endif /* _DRV_SENSOR_H */ diff --git a/src/drivers/imu/invensense/iim42652/CMakeLists.txt b/src/drivers/imu/invensense/iim42652/CMakeLists.txt new file mode 100644 index 0000000000..1ce153c6f6 --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/CMakeLists.txt @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (c) 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 +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__imu__invensense__iim42652 + MAIN iim42652 + COMPILE_FLAGS + ${MAX_CUSTOM_OPT_LEVEL} + SRCS + iim42652_main.cpp + IIM42652.cpp + IIM42652.hpp + InvenSense_IIM42652_registers.hpp + DEPENDS + px4_work_queue + drivers_accelerometer + drivers_gyroscope + ) diff --git a/src/drivers/imu/invensense/iim42652/IIM42652.cpp b/src/drivers/imu/invensense/iim42652/IIM42652.cpp new file mode 100644 index 0000000000..dabd688715 --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/IIM42652.cpp @@ -0,0 +1,800 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "IIM42652.hpp" + +using namespace time_literals; + +static constexpr int16_t combine(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} + +IIM42652::IIM42652(const I2CSPIDriverConfig &config) : + SPI(config), + I2CSPIDriver(config), + _drdy_gpio(config.drdy_gpio), + _px4_accel(get_device_id(), config.rotation), + _px4_gyro(get_device_id(), config.rotation) +{ + if (config.drdy_gpio != 0) { + _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed"); + } + + ConfigureSampleRate(_px4_gyro.get_max_rate_hz()); +} + +IIM42652::~IIM42652() +{ + perf_free(_bad_register_perf); + perf_free(_bad_transfer_perf); + perf_free(_fifo_empty_perf); + perf_free(_fifo_overflow_perf); + perf_free(_fifo_reset_perf); + perf_free(_drdy_missed_perf); +} + +int IIM42652::init() +{ + int ret = SPI::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool IIM42652::Reset() +{ + _state = STATE::RESET; + DataReadyInterruptDisable(); + ScheduleClear(); + ScheduleNow(); + return true; +} + +void IIM42652::exit_and_cleanup() +{ + DataReadyInterruptDisable(); + I2CSPIDriverBase::exit_and_cleanup(); +} + +void IIM42652::print_status() +{ + I2CSPIDriverBase::print_status(); + + PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us); + + perf_print_counter(_bad_register_perf); + perf_print_counter(_bad_transfer_perf); + perf_print_counter(_fifo_empty_perf); + perf_print_counter(_fifo_overflow_perf); + perf_print_counter(_fifo_reset_perf); + perf_print_counter(_drdy_missed_perf); +} + +int IIM42652::probe() +{ + for (int i = 0; i < 3; i++) { + uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I); + + if (whoami == WHOAMI) { + return PX4_OK; + + } else { + DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami); + + uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL); + int bank = reg_bank_sel >> 4; + + if (bank >= 1 && bank <= 3) { + DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank); + // force bank selection and retry + SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true); + } + } + } + + return PX4_ERROR; +} + +void IIM42652::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + // DEVICE_CONFIG: Software reset configuration + RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + ScheduleDelayed(1_ms); // wait 1 ms for soft reset to be effective + break; + + case STATE::WAIT_FOR_RESET: + if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI) + && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00) + && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) { + + // Wakeup accel and gyro and schedule remaining configuration + RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE); + _state = STATE::CONFIGURE; + ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 10 ms"); + ScheduleDelayed(10_ms); + } + } + + break; + + case STATE::CONFIGURE: + if (Configure()) { + // if configure succeeded then start reading from FIFO + _state = STATE::FIFO_READ; + + if (DataReadyInterruptConfigure()) { + _data_ready_interrupt_enabled = true; + + // backup schedule as a watchdog timeout + ScheduleDelayed(100_ms); + + } else { + _data_ready_interrupt_enabled = false; + ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us); + } + + FIFOReset(); + + } else { + // CONFIGURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Configure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Configure failed, retrying"); + } + + ScheduleDelayed(100_ms); + } + + break; + + case STATE::FIFO_READ: { + hrt_abstime timestamp_sample = now; + uint8_t samples = 0; + + if (_data_ready_interrupt_enabled) { + // scheduled from interrupt if _drdy_timestamp_sample was set as expected + const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0); + + if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) { + timestamp_sample = drdy_timestamp_sample; + samples = _fifo_gyro_samples; + + } else { + perf_count(_drdy_missed_perf); + } + + // push backup schedule back + ScheduleDelayed(_fifo_empty_interval_us * 2); + } + + if (samples == 0) { + // check current FIFO count + const uint16_t fifo_count = FIFOReadCount(); + + if (fifo_count >= FIFO::SIZE) { + FIFOReset(); + perf_count(_fifo_overflow_perf); + + } else if (fifo_count == 0) { + perf_count(_fifo_empty_perf); + + } else { + // FIFO count (size in bytes) + samples = (fifo_count / sizeof(FIFO::DATA)); + + // tolerate minor jitter, leave sample to next iteration if behind by only 1 + if (samples == _fifo_gyro_samples + 1) { + timestamp_sample -= static_cast(FIFO_SAMPLE_DT); + samples--; + } + + if (samples > FIFO_MAX_SAMPLES) { + // not technically an overflow, but more samples than we expected or can publish + FIFOReset(); + perf_count(_fifo_overflow_perf); + samples = 0; + } + } + } + + bool success = false; + + if (samples >= 1) { + if (FIFORead(timestamp_sample, samples)) { + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + } + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { + // check configuration registers periodically or immediately following any failure + if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0]) + && RegisterCheck(_register_bank1_cfg[_checked_register_bank1]) + && RegisterCheck(_register_bank2_cfg[_checked_register_bank2]) + ) { + _last_config_check_timestamp = now; + _checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg; + _checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg; + _checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg; + + } else { + // register check failed, force reset + perf_count(_bad_register_perf); + Reset(); + } + } + } + + break; + } +} + +void IIM42652::ConfigureSampleRate(int sample_rate) +{ + // round down to nearest FIFO sample dt + const float min_interval = FIFO_SAMPLE_DT; + _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); + + _fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES)); + + // recompute FIFO empty interval (us) with actual gyro sample limit + _fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE); + + ConfigureFIFOWatermark(_fifo_gyro_samples); +} + +void IIM42652::ConfigureFIFOWatermark(uint8_t samples) +{ + // FIFO watermark threshold in number of bytes + const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA); + + for (auto &r : _register_bank0_cfg) { + if (r.reg == Register::BANK_0::FIFO_CONFIG2) { + // FIFO_WM[7:0] FIFO_CONFIG2 + r.set_bits = fifo_watermark_threshold & 0xFF; + + } else if (r.reg == Register::BANK_0::FIFO_CONFIG3) { + // FIFO_WM[11:8] FIFO_CONFIG3 + r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F; + } + } +} + +void IIM42652::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force) +{ + if (bank != _last_register_bank || force) { + // select BANK_0 + uint8_t cmd_bank_sel[2] {}; + cmd_bank_sel[0] = static_cast(Register::BANK_0::REG_BANK_SEL); + cmd_bank_sel[1] = bank; + transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel)); + + _last_register_bank = bank; + } +} + +bool IIM42652::Configure() +{ + // first set and clear all configured register bits + for (const auto ®_cfg : _register_bank0_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + for (const auto ®_cfg : _register_bank1_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + for (const auto ®_cfg : _register_bank2_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + // now check that all are configured + bool success = true; + + for (const auto ®_cfg : _register_bank0_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + for (const auto ®_cfg : _register_bank1_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + for (const auto ®_cfg : _register_bank2_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + // 20-bits data format used + // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer + _px4_accel.set_range(16.f * CONSTANTS_ONE_G); + _px4_gyro.set_range(math::radians(2000.f)); + + return success; +} + +int IIM42652::DataReadyInterruptCallback(int irq, void *context, void *arg) +{ + static_cast(arg)->DataReady(); + return 0; +} + +void IIM42652::DataReady() +{ + _drdy_timestamp_sample.store(hrt_absolute_time()); + ScheduleNow(); +} + +bool IIM42652::DataReadyInterruptConfigure() +{ + if (_drdy_gpio == 0) { + return false; + } + + // Setup data ready on falling edge + return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0; +} + +bool IIM42652::DataReadyInterruptDisable() +{ + if (_drdy_gpio == 0) { + return false; + } + + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; +} + +template +bool IIM42652::RegisterCheck(const T ®_cfg) +{ + bool success = true; + + const uint8_t reg_value = RegisterRead(reg_cfg.reg); + + if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); + success = false; + } + + if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); + success = false; + } + + return success; +} + +template +uint8_t IIM42652::RegisterRead(T reg) +{ + uint8_t cmd[2] {}; + cmd[0] = static_cast(reg) | DIR_READ; + SelectRegisterBank(reg); + transfer(cmd, cmd, sizeof(cmd)); + return cmd[1]; +} + +template +void IIM42652::RegisterWrite(T reg, uint8_t value) +{ + uint8_t cmd[2] { (uint8_t)reg, value }; + SelectRegisterBank(reg); + transfer(cmd, cmd, sizeof(cmd)); +} + +template +void IIM42652::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits) +{ + const uint8_t orig_val = RegisterRead(reg); + + uint8_t val = (orig_val & ~clearbits) | setbits; + + if (orig_val != val) { + RegisterWrite(reg, val); + } +} + +uint16_t IIM42652::FIFOReadCount() +{ + // read FIFO count + uint8_t fifo_count_buf[3] {}; + fifo_count_buf[0] = static_cast(Register::BANK_0::FIFO_COUNTH) | DIR_READ; + SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); + + if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) { + perf_count(_bad_transfer_perf); + return 0; + } + + return combine(fifo_count_buf[1], fifo_count_buf[2]); +} + +bool IIM42652::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples) +{ + FIFOTransferBuffer buffer{}; + const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE); + SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); + + if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) { + perf_count(_bad_transfer_perf); + return false; + } + + if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) { + perf_count(_fifo_overflow_perf); + FIFOReset(); + return false; + } + + const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL); + + if (fifo_count_bytes >= FIFO::SIZE) { + perf_count(_fifo_overflow_perf); + FIFOReset(); + return false; + } + + const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA); + + if (fifo_count_samples == 0) { + perf_count(_fifo_empty_perf); + return false; + } + + // check FIFO header in every sample + uint8_t valid_samples = 0; + + for (int i = 0; i < math::min(samples, fifo_count_samples); i++) { + bool valid = true; + + // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx + const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header; + + if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) { + // FIFO sample empty if HEADER_MSG set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) { + // accel bit not set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) { + // gyro bit not set + valid = false; + + } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) { + // Packet does not contain a new and valid extended 20-bit data + valid = false; + + } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) { + // accel ODR changed + valid = false; + + } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) { + // gyro ODR changed + valid = false; + } + + if (valid) { + valid_samples++; + + } else { + perf_count(_bad_transfer_perf); + break; + } + } + + if (valid_samples > 0) { + if (ProcessTemperature(buffer.f, valid_samples)) { + ProcessGyro(timestamp_sample, buffer.f, valid_samples); + ProcessAccel(timestamp_sample, buffer.f, valid_samples); + return true; + } + } + + return false; +} + +void IIM42652::FIFOReset() +{ + perf_count(_fifo_reset_perf); + + // SIGNAL_PATH_RESET: FIFO flush + RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH); + + // reset while FIFO is disabled + _drdy_timestamp_sample.store(0); +} + +static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c) +{ + // 0xXXXAABBC + uint32_t high = ((a << 12) & 0x000FF000); + uint32_t low = ((b << 4) & 0x00000FF0); + uint32_t lowest = (c & 0x0000000F); + + uint32_t x = high | low | lowest; + + if (a & Bit7) { + // sign extend + x |= 0xFFF00000u; + } + + return static_cast(x); +} + +void IIM42652::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) +{ + sensor_accel_fifo_s accel{}; + accel.timestamp_sample = timestamp_sample; + accel.samples = 0; + accel.dt = FIFO_SAMPLE_DT; + + // 18-bits of accelerometer data + bool scale_20bit = false; + + // first pass + for (int i = 0; i < samples; i++) { + // 20 bit hires mode + // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) + // Accel data is 18 bit () + int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0, + fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4); + int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0, + fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); + int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0, + fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); + + // sample invalid if -524288 + if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) { + // check if any values are going to exceed int16 limits + static constexpr int16_t max_accel = INT16_MAX; + static constexpr int16_t min_accel = INT16_MIN; + + if (accel_x >= max_accel || accel_x <= min_accel) { + scale_20bit = true; + } + + if (accel_y >= max_accel || accel_y <= min_accel) { + scale_20bit = true; + } + + if (accel_z >= max_accel || accel_z <= min_accel) { + scale_20bit = true; + } + + // shift by 2 (2 least significant bits are always 0) + accel.x[accel.samples] = accel_x / 4; + accel.y[accel.samples] = accel_y / 4; + accel.z[accel.samples] = accel_z / 4; + accel.samples++; + } + } + + if (!scale_20bit) { + // if highres enabled accel data is always 8192 LSB/g + _px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f); + + } else { + // 20 bit data scaled to 16 bit (2^4) + for (int i = 0; i < samples; i++) { + // 20 bit hires mode + // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) + // Accel data is 18 bit () + int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0); + int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0); + int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0); + + accel.x[i] = accel_x; + accel.y[i] = accel_y; + accel.z[i] = accel_z; + } + + _px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f); + } + + // correct frame for publication + for (int i = 0; i < accel.samples; i++) { + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + accel.x[i] = accel.x[i]; + accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i]; + accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i]; + } + + _px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); + + if (accel.samples > 0) { + _px4_accel.updateFIFO(accel); + } +} + +void IIM42652::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) +{ + sensor_gyro_fifo_s gyro{}; + gyro.timestamp_sample = timestamp_sample; + gyro.samples = 0; + gyro.dt = FIFO_SAMPLE_DT; + + // 20-bits of gyroscope data + bool scale_20bit = false; + + // first pass + for (int i = 0; i < samples; i++) { + // 20 bit hires mode + // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) + int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F); + int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F); + int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F); + + // check if any values are going to exceed int16 limits + static constexpr int16_t max_gyro = INT16_MAX; + static constexpr int16_t min_gyro = INT16_MIN; + + if (gyro_x >= max_gyro || gyro_x <= min_gyro) { + scale_20bit = true; + } + + if (gyro_y >= max_gyro || gyro_y <= min_gyro) { + scale_20bit = true; + } + + if (gyro_z >= max_gyro || gyro_z <= min_gyro) { + scale_20bit = true; + } + + gyro.x[gyro.samples] = gyro_x / 2; + gyro.y[gyro.samples] = gyro_y / 2; + gyro.z[gyro.samples] = gyro_z / 2; + gyro.samples++; + } + + if (!scale_20bit) { + // if highres enabled gyro data is always 131 LSB/dps + _px4_gyro.set_scale(math::radians(1.f / 131.f)); + + } else { + // 20 bit data scaled to 16 bit (2^4) + for (int i = 0; i < samples; i++) { + gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0); + gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0); + gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0); + } + + _px4_gyro.set_scale(math::radians(2000.f / 32768.f)); + } + + // correct frame for publication + for (int i = 0; i < gyro.samples; i++) { + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + gyro.x[i] = gyro.x[i]; + gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i]; + gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i]; + } + + _px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); + + if (gyro.samples > 0) { + _px4_gyro.updateFIFO(gyro); + } +} + +bool IIM42652::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples) +{ + int16_t temperature[FIFO_MAX_SAMPLES]; + float temperature_sum{0}; + + int valid_samples = 0; + + for (int i = 0; i < samples; i++) { + const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0); + + // sample invalid if -32768 + if (t != -32768) { + temperature_sum += t; + temperature[valid_samples] = t; + valid_samples++; + } + } + + if (valid_samples > 0) { + const float temperature_avg = temperature_sum / valid_samples; + + for (int i = 0; i < valid_samples; i++) { + // temperature changing wildly is an indication of a transfer error + if (fabsf(temperature[i] - temperature_avg) > 1000) { + perf_count(_bad_transfer_perf); + return false; + } + } + + // use average temperature reading + const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET; + + if (PX4_ISFINITE(TEMP_degC)) { + _px4_accel.set_temperature(TEMP_degC); + _px4_gyro.set_temperature(TEMP_degC); + return true; + + } else { + perf_count(_bad_transfer_perf); + } + } + + return false; +} diff --git a/src/drivers/imu/invensense/iim42652/IIM42652.hpp b/src/drivers/imu/invensense/iim42652/IIM42652.hpp new file mode 100644 index 0000000000..9ba671d093 --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/IIM42652.hpp @@ -0,0 +1,206 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file IIM42652.hpp + * + * Driver for the Invensense IIM42652 connected via SPI. + * + */ + +#pragma once + +#include "InvenSense_IIM42652_registers.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace InvenSense_IIM42652; + +class IIM42652 : public device::SPI, public I2CSPIDriver +{ +public: + IIM42652(const I2CSPIDriverConfig &config); + ~IIM42652() override; + + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + void exit_and_cleanup() override; + + // Sensor Configuration + static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f}; // 8000 Hz accel & gyro ODR configured + static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; + static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT}; + + // maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo + static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))}; + + // Transfer data + struct FIFOTransferBuffer { + uint8_t cmd{static_cast(Register::BANK_0::INT_STATUS) | DIR_READ}; + uint8_t INT_STATUS{0}; + uint8_t FIFO_COUNTH{0}; + uint8_t FIFO_COUNTL{0}; + FIFO::DATA f[FIFO_MAX_SAMPLES] {}; + }; + // ensure no struct padding + static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA))); + + struct register_bank0_config_t { + Register::BANK_0 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + struct register_bank1_config_t { + Register::BANK_1 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + struct register_bank2_config_t { + Register::BANK_2 reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + int probe() override; + + bool Reset(); + + bool Configure(); + void ConfigureSampleRate(int sample_rate); + void ConfigureFIFOWatermark(uint8_t samples); + + void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false); + void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); } + void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); } + void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); } + + static int DataReadyInterruptCallback(int irq, void *context, void *arg); + void DataReady(); + bool DataReadyInterruptConfigure(); + bool DataReadyInterruptDisable(); + + template bool RegisterCheck(const T ®_cfg); + template uint8_t RegisterRead(T reg); + template void RegisterWrite(T reg, uint8_t value); + template void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits); + template void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); } + template void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); } + + uint16_t FIFOReadCount(); + bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples); + void FIFOReset(); + + void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); + void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); + bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples); + + const spi_drdy_gpio_t _drdy_gpio; + + PX4Accelerometer _px4_accel; + PX4Gyroscope _px4_gyro; + + perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")}; + perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")}; + perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")}; + perf_counter_t _drdy_missed_perf{nullptr}; + + hrt_abstime _reset_timestamp{0}; + hrt_abstime _last_config_check_timestamp{0}; + hrt_abstime _temperature_update_timestamp{0}; + int _failure_count{0}; + + enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0}; + + px4::atomic _drdy_timestamp_sample{0}; + bool _data_ready_interrupt_enabled{false}; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + CONFIGURE, + FIFO_READ, + } _state{STATE::RESET}; + + uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval + int32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; + + uint8_t _checked_register_bank0{0}; + static constexpr uint8_t size_register_bank0_cfg{13}; + register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, + { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, + { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, + { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, + { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, + { Register::BANK_0::GYRO_CONFIG1, 0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD }, + { Register::BANK_0::GYRO_ACCEL_CONFIG0, 0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW }, + { Register::BANK_0::ACCEL_CONFIG1, 0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD }, + { Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 }, + { Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime + { Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime + { Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 }, + { Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 }, + }; + + uint8_t _checked_register_bank1{0}; + static constexpr uint8_t size_register_bank1_cfg{1}; + register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_1::GYRO_CONFIG_STATIC2, GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS, 0 }, + }; + + uint8_t _checked_register_bank2{0}; + static constexpr uint8_t size_register_bank2_cfg{1}; + register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] { + // Register | Set bits, Clear bits + { Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS, 0 }, + }; +}; diff --git a/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp b/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp new file mode 100644 index 0000000000..7f59099e2f --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp @@ -0,0 +1,322 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file InvenSense_IIM42652_registers.hpp + * + * Invensense IIM-42652 registers. + * + */ + +#pragma once + +#include +#include + +namespace InvenSense_IIM42652 +{ +// TODO: move to a central header +static constexpr uint8_t Bit0 = (1 << 0); +static constexpr uint8_t Bit1 = (1 << 1); +static constexpr uint8_t Bit2 = (1 << 2); +static constexpr uint8_t Bit3 = (1 << 3); +static constexpr uint8_t Bit4 = (1 << 4); +static constexpr uint8_t Bit5 = (1 << 5); +static constexpr uint8_t Bit6 = (1 << 6); +static constexpr uint8_t Bit7 = (1 << 7); + +static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI +static constexpr uint8_t DIR_READ = 0x80; + +static constexpr uint8_t WHOAMI = 0x6F; + +static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C +static constexpr float TEMPERATURE_OFFSET = 25.f; // C + +namespace Register +{ + +enum class BANK_0 : uint8_t { + DEVICE_CONFIG = 0x11, + + INT_CONFIG = 0x14, + + FIFO_CONFIG = 0x16, + + TEMP_DATA1 = 0x1D, + TEMP_DATA0 = 0x1E, + + INT_STATUS = 0x2D, + FIFO_COUNTH = 0x2E, + FIFO_COUNTL = 0x2F, + FIFO_DATA = 0x30, + + SIGNAL_PATH_RESET = 0x4B, + INTF_CONFIG0 = 0x4C, + INTF_CONFIG1 = 0x4D, + PWR_MGMT0 = 0x4E, + GYRO_CONFIG0 = 0x4F, + ACCEL_CONFIG0 = 0x50, + GYRO_CONFIG1 = 0x51, + GYRO_ACCEL_CONFIG0 = 0x52, + ACCEL_CONFIG1 = 0x53, + + FIFO_CONFIG1 = 0x5F, + FIFO_CONFIG2 = 0x60, + FIFO_CONFIG3 = 0x61, + + INT_CONFIG0 = 0x63, + + INT_SOURCE0 = 0x65, + + SELF_TEST_CONFIG = 0x70, + + WHO_AM_I = 0x75, + REG_BANK_SEL = 0x76, +}; + +enum class BANK_1 : uint8_t { + GYRO_CONFIG_STATIC2 = 0x0B, + + INTF_CONFIG5 = 0x7B, +}; + +enum class BANK_2 : uint8_t { + ACCEL_CONFIG_STATIC2 = 0x03, +}; + +}; + +//---------------- BANK0 Register bits + +// DEVICE_CONFIG +enum DEVICE_CONFIG_BIT : uint8_t { + SOFT_RESET_CONFIG = Bit0, // +}; + +// INT_CONFIG +enum INT_CONFIG_BIT : uint8_t { + INT1_MODE = Bit2, + INT1_DRIVE_CIRCUIT = Bit1, + INT1_POLARITY = Bit0, +}; + +// FIFO_CONFIG +enum FIFO_CONFIG_BIT : uint8_t { + // 7:6 FIFO_MODE + FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode +}; + +// INT_STATUS +enum INT_STATUS_BIT : uint8_t { + RESET_DONE_INT = Bit4, + DATA_RDY_INT = Bit3, + FIFO_THS_INT = Bit2, + FIFO_FULL_INT = Bit1, +}; + +// SIGNAL_PATH_RESET +enum SIGNAL_PATH_RESET_BIT : uint8_t { + ABORT_AND_RESET = Bit3, + FIFO_FLUSH = Bit1, +}; + +// PWR_MGMT0 +enum PWR_MGMT0_BIT : uint8_t { + GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode + ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode +}; + +// GYRO_CONFIG0 +enum GYRO_CONFIG0_BIT : uint8_t { + // 7:5 GYRO_FS_SEL + GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default) + GYRO_FS_SEL_1000_DPS = Bit5, + GYRO_FS_SEL_500_DPS = Bit6, + GYRO_FS_SEL_250_DPS = Bit6 | Bit5, + GYRO_FS_SEL_125_DPS = Bit7, + + + // 3:0 GYRO_ODR + // 0001: 32kHz + GYRO_ODR_32KHZ_SET = Bit0, + GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0010: 16kHz + GYRO_ODR_16KHZ_SET = Bit1, + GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0011: 8kHz + GYRO_ODR_8KHZ_SET = Bit1 | Bit0, + GYRO_ODR_8KHZ_CLEAR = Bit3 | Bit2, + // 0110: 1kHz (default) + GYRO_ODR_1KHZ_SET = Bit2 | Bit1, + GYRO_ODR_1KHZ_CLEAR = Bit3 | Bit0, +}; + +// ACCEL_CONFIG0 +enum ACCEL_CONFIG0_BIT : uint8_t { + // 7:5 ACCEL_FS_SEL + ACCEL_FS_SEL_16G = 0, // 000: ±16g (default) + ACCEL_FS_SEL_8G = Bit5, + ACCEL_FS_SEL_4G = Bit6, + ACCEL_FS_SEL_2G = Bit6 | Bit5, + + + // 3:0 ACCEL_ODR + // 0001: 32kHz + ACCEL_ODR_32KHZ_SET = Bit0, + ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0010: 16kHz + ACCEL_ODR_16KHZ_SET = Bit1, + ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, + // 0011: 8kHz + ACCEL_ODR_8KHZ_SET = Bit1 | Bit0, + ACCEL_ODR_8KHZ_CLEAR = Bit3 | Bit2, + // 0110: 1kHz (default) + ACCEL_ODR_1KHZ_SET = Bit2 | Bit1, + ACCEL_ODR_1KHZ_CLEAR = Bit3 | Bit0, +}; + +// GYRO_CONFIG1 +enum GYRO_CONFIG1_BIT : uint8_t { + GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order +}; + +// GYRO_ACCEL_CONFIG0 +enum GYRO_ACCEL_CONFIG0_BIT : uint8_t { + // 7:4 ACCEL_UI_FILT_BW + ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2 + + // 3:0 GYRO_UI_FILT_BW + GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2 +}; + +// ACCEL_CONFIG1 +enum ACCEL_CONFIG1_BIT : uint8_t { + ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order +}; + +// FIFO_CONFIG1 +enum FIFO_CONFIG1_BIT : uint8_t { + FIFO_RESUME_PARTIAL_RD = Bit6, + FIFO_WM_GT_TH = Bit5, + FIFO_HIRES_EN = Bit4, + FIFO_TEMP_EN = Bit2, + FIFO_GYRO_EN = Bit1, + FIFO_ACCEL_EN = Bit0, +}; + +// INT_CONFIG0 +enum INT_CONFIG0_BIT : uint8_t { + // 3:2 FIFO_THS_INT_CLEAR + CLEAR_ON_FIFO_READ = Bit3, +}; + +// INT_SOURCE0 +enum INT_SOURCE0_BIT : uint8_t { + UI_FSYNC_INT1_EN = Bit6, + PLL_RDY_INT1_EN = Bit5, + RESET_DONE_INT1_EN = Bit4, + UI_DRDY_INT1_EN = Bit3, + FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1 + FIFO_FULL_INT1_EN = Bit1, + UI_AGC_RDY_INT1_EN = Bit0, +}; + +// REG_BANK_SEL +enum REG_BANK_SEL_BIT : uint8_t { + USER_BANK_0 = 0, // 0: Select USER BANK 0. + USER_BANK_1 = Bit4, // 1: Select USER BANK 1. + USER_BANK_2 = Bit5, // 2: Select USER BANK 2. + USER_BANK_3 = Bit5 | Bit4, // 3: Select USER BANK 3. +}; + + +//---------------- BANK1 Register bits + +// GYRO_CONFIG_STATIC2 +enum GYRO_CONFIG_STATIC2_BIT : uint8_t { + GYRO_AAF_DIS = Bit1, + GYRO_NF_DIS = Bit0, +}; + + +//---------------- BANK2 Register bits + +// ACCEL_CONFIG_STATIC2 +enum ACCEL_CONFIG_STATIC2_BIT : uint8_t { + ACCEL_AAF_DIS = Bit0, +}; + +namespace FIFO +{ +static constexpr size_t SIZE = 2048; + +// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set + +// Packet 4 +struct DATA { + uint8_t FIFO_Header; + uint8_t ACCEL_DATA_X1; // Accel X [19:12] + uint8_t ACCEL_DATA_X0; // Accel X [11:4] + uint8_t ACCEL_DATA_Y1; // Accel Y [19:12] + uint8_t ACCEL_DATA_Y0; // Accel Y [11:4] + uint8_t ACCEL_DATA_Z1; // Accel Z [19:12] + uint8_t ACCEL_DATA_Z0; // Accel Z [11:4] + uint8_t GYRO_DATA_X1; // Gyro X [19:12] + uint8_t GYRO_DATA_X0; // Gyro X [11:4] + uint8_t GYRO_DATA_Y1; // Gyro Y [19:12] + uint8_t GYRO_DATA_Y0; // Gyro Y [11:4] + uint8_t GYRO_DATA_Z1; // Gyro Z [19:12] + uint8_t GYRO_DATA_Z0; // Gyro Z [11:4] + uint8_t TEMP_DATA1; // Temperature[15:8] + uint8_t TEMP_DATA0; // Temperature[7:0] + uint8_t TimeStamp_h; // TimeStamp[15:8] + uint8_t TimeStamp_l; // TimeStamp[7:0] + uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0] + uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0] + uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0] +}; + +// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx +enum FIFO_HEADER_BIT : uint8_t { + HEADER_MSG = Bit7, // 1: FIFO is empty + HEADER_ACCEL = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1 + HEADER_GYRO = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1 + HEADER_20 = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel + HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2, + HEADER_ODR_ACCEL = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet + HEADER_ODR_GYRO = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet +}; + +} +} // namespace InvenSense_IIM42652 diff --git a/src/drivers/imu/invensense/iim42652/Kconfig b/src/drivers/imu/invensense/iim42652/Kconfig new file mode 100644 index 0000000000..88031b3b6a --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_IMU_INVENSENSE_IIM42652 + bool "iim42652" + default n + ---help--- + Enable support for iim42652 diff --git a/src/drivers/imu/invensense/iim42652/iim42652_main.cpp b/src/drivers/imu/invensense/iim42652/iim42652_main.cpp new file mode 100644 index 0000000000..ae88e7e709 --- /dev/null +++ b/src/drivers/imu/invensense/iim42652/iim42652_main.cpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "IIM42652.hpp" + +#include +#include + +void IIM42652::print_usage() +{ + PRINT_MODULE_USAGE_NAME("iim42652", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("imu"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); +} + +extern "C" int iim42652_main(int argc, char *argv[]) +{ + int ch; + using ThisDriver = IIM42652; + BusCLIArguments cli{false, true}; + cli.default_spi_frequency = SPI_SPEED; + + while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { + switch (ch) { + case 'R': + cli.rotation = (enum Rotation)atoi(cli.optArg()); + break; + } + } + + const char *verb = cli.optArg(); + + if (!verb) { + ThisDriver::print_usage(); + return -1; + } + + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_IIM42652); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); + } + + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); + } + + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); + } + + ThisDriver::print_usage(); + return -1; +}