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boards: remove USB device from Auterion FMUv6x

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This commit is contained in:
Niklas Hauser 2025-10-10 14:16:00 +02:00 committed by Alexander Lerach
parent e8fbc30cf6
commit ba1e658750
11 changed files with 11 additions and 147 deletions
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BIN
boards/auterion/fmu-v6s/extras/auterion_fmu-v6s_bootloader.bin
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1
boards/auterion/fmu-v6x/default.px4board
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@ -13,7 +13,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
CONFIG_COMMON_DISTANCE_SENSOR=y

BIN
boards/auterion/fmu-v6x/extras/auterion_fmu-v6x_bootloader.bin
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12
boards/auterion/fmu-v6x/nuttx-config/bootloader/defconfig
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@ -30,14 +30,6 @@ CONFIG_BOARD_INITTHREAD_PRIORITY=254
CONFIG_BOARD_LATE_INITIALIZE=y
CONFIG_BOARD_LOOPSPERMSEC=95150
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0035
CONFIG_CDCACM_PRODUCTSTR="Auterion BL FMU v6X.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3185
CONFIG_CDCACM_VENDORSTR="Auterion"
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
@ -80,7 +72,6 @@ CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_UART5=y
CONFIG_SYSTEMTICK_HOOK=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGINT_CHAR=0x03
@ -89,7 +80,4 @@ CONFIG_UART5_RXBUFSIZE=512
CONFIG_UART5_RXDMA=y
CONFIG_UART5_TXBUFSIZE=512
CONFIG_UART5_TXDMA=y
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000

12
boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig
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@ -76,14 +76,6 @@ CONFIG_BOARD_CRASHDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=95751
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0035
CONFIG_CDCACM_PRODUCTSTR="Auterion FMU v6X.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3185
CONFIG_CDCACM_VENDORSTR="Auterion"
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_MEMFAULT=y
@ -284,7 +276,6 @@ 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
@ -325,8 +316,5 @@ 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_WATCHDOG=y

2
boards/auterion/fmu-v6x/src/CMakeLists.txt
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@ -35,7 +35,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_library(drivers_board
bootloader_main.c
init.cpp
usb.c
timer_config.cpp
)
target_link_libraries(drivers_board
@ -58,7 +57,6 @@ else()
sdio.c
spi.cpp
timer_config.cpp
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)

4
boards/auterion/fmu-v6x/src/board_config.h
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@ -473,6 +473,10 @@
#define BOARD_NUM_IO_TIMERS 5
/* No CDCACM driver for this board, so this is manually defined for version.c
* so that the px4_board_version reports the correct board id to the companion */
#define CONFIG_CDCACM_PRODUCTID 53
__BEGIN_DECLS
/****************************************************************************************************

3
boards/auterion/fmu-v6x/src/bootloader_main.c
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@ -48,11 +48,8 @@
#include "arm_internal.h"
#include <px4_platform_common/init.h>
extern int sercon_main(int c, char **argv);
void board_late_initialize(void)
{
sercon_main(0, NULL);
}
extern void sys_tick_handler(void);

15
boards/auterion/fmu-v6x/src/hw_config.h
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@ -57,17 +57,12 @@
*/
/* 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_USB 0
#define INTERFACE_USART 1
#define INTERFACE_USART_CONFIG "/dev/ttyS0,1500000"
#define BOOT_DELAY_ADDRESS 0x000001a0
@ -85,6 +80,10 @@
#define SERIAL_BREAK_DETECT_DISABLED 1
// Connected to VBUS on the Auterion FMU v6x
#define BOARD_FORCE_BL_PIN (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN9)
#define BOARD_FORCE_BL_STATE 1
/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
@ -118,11 +117,11 @@
#endif
#ifndef BOOT_DEVICES_SELECTION
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
# define BOOT_DEVICES_SELECTION SERIAL0_DEV|SERIAL1_DEV
#endif
#ifndef BOOT_DEVICES_FILTER_ONUSB
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
# define BOOT_DEVICES_FILTER_ONUSB SERIAL0_DEV|SERIAL1_DEV
#endif
#endif /* HW_CONFIG_H_ */

4
boards/auterion/fmu-v6x/src/init.cpp
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@ -179,10 +179,6 @@ stm32_boardinitialize(void)
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);
}

105
boards/auterion/fmu-v6x/src/usb.c
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@ -1,105 +0,0 @@
/****************************************************************************
*
* 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 usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <arm_internal.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.h>
#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);
}