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Merge branch 'main' into pr-fw_ctrl_api

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This commit is contained in:
Silvan Fuhrer
2025-02-19 15:54:26 +01:00
committed by GitHub
parent 55be9648e8 04a3c4af20
commit bc742b05f0
339 changed files with 12822 additions and 6824 deletions
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.github/workflows/dev_container.yml
+1 -1
View File
@@ -96,6 +96,6 @@ jobs:
platforms: |
linux/amd64
provenance: mode=max
push: true
push: ${{ github.event_name != 'pull_request' }}
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
.github/workflows/ros_translation_node.yml
+52
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@@ -0,0 +1,52 @@
name: ROS Translation Node Tests
on:
push:
branches:
- 'main'
pull_request:
branches:
- '*'
defaults:
run:
shell: bash
jobs:
build_and_test:
name: Build and test
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
strategy:
fail-fast: false
matrix:
config:
- {ros_version: "humble", ubuntu: "jammy"}
- {ros_version: "jazzy", ubuntu: "noble"}
container:
image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
steps:
- name: Setup ROS 2 (${{ matrix.config.ros_version }})
uses: ros-tooling/setup-ros@v0.7
with:
required-ros-distributions: ${{ matrix.config.ros_version }}
- name: Checkout repository
uses: actions/checkout@v4
with:
fetch-depth: 0
# Workaround for https://github.com/actions/runner/issues/2033
- name: ownership workaround
run: git config --system --add safe.directory '*'
- name: Check .msg file versioning
if: github.event_name == 'pull_request'
run: |
./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
- name: Build and test
run: |
ros_ws=/ros_ws
mkdir -p $ros_ws/src
./Tools/copy_to_ros_ws.sh $ros_ws
cd $ros_ws
source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
source ./install/setup.sh
./build/translation_node/translation_node_unit_tests
.vscode/cmake-variants.yaml
Vendored
+5
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@@ -131,6 +131,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow_canbootloader
ark_can-flow-mr_canbootloader:
short: ark_can-flow-mr_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow-mr_canbootloader
ark_can-gps_default:
short: ark_can-gps_default
buildType: MinSizeRel
.vscode/settings.json
Vendored
-1
View File
@@ -129,5 +129,4 @@
"yaml.schemas": {
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
},
"ros.distro": "humble"
}
MAINTAINERS.md
+42
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@@ -0,0 +1,42 @@
Maintainers
===========
See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
**Active Maintainers**
| Name | Sector | GitHub | Chat | email
|-------------------------|--------|--------|------|----------------
| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] | | <lorenz@px4.io>
| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
| Paul Riseborough | State Estimation | [priseborough][priseborough] | |
| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
**Documentation Maintainers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Hamish Willee | [hamishwillee][hamishwillee] | hamishwillee |
**Release Managers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
**Retired Maintainers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| | | |
Makefile
+1 -5
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@@ -404,7 +404,7 @@ check_newlines:
# Testing
# --------------------------------------------------------------------
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
.PHONY: rostest python_coverage
tests:
@@ -457,10 +457,6 @@ tests_offboard: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
tests_avoidance: rostest
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
python_coverage:
@mkdir -p "$(SRC_DIR)"/build/python_coverage
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
README.md
+2 -23
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@@ -44,30 +44,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
## Maintenance Team
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
| Sector | Maintainer |
|---|---|
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
| Drivers | [Daniel Agar](https://github.com/dagar) |
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
| Vehicle Type | Maintainer |
|---|---|
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
| Boat | x |
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
## Supported Hardware
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
-32
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@@ -1,32 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default COM_OBS_AVOID 1
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
-2
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@@ -1,2 +0,0 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
-1
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@@ -19,7 +19,6 @@ param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
# Commander Parameters
param set-default COM_OBS_AVOID 0
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+27 -17
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@@ -11,29 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_DECEL 10
param set-default RD_MAX_JERK 30
param set-default RD_MAX_THR_YAW_R 1.5
param set-default RD_YAW_RATE_P 0.25
param set-default RD_YAW_RATE_I 0.01
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_MAX_SPEED 2
param set-default RD_MAX_THR_SPD 2.15
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_MAX_YAW_RATE 180
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_MAX_YAW_ACCEL 1000
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
param set-default PP_LOOKAHD_MIN 2
# Rover Control Parameters
param set-default RO_ACCEL_LIM 5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 120
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
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@@ -11,23 +11,33 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 3
param set-default RA_MAX_DECEL 6
param set-default RA_MAX_JERK 15
param set-default RA_MAX_LAT_ACCEL 4
param set-default RA_MAX_SPEED 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 360
param set-default RA_MAX_THR_SPEED 3.1
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
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@@ -0,0 +1,155 @@
#!/bin/sh
#
# @name 6DoF Spacecraft Model
#
# @type Freeflyer with 8 thrusters
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 15
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 12
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set thrusters
param set-default CA_THRUSTER0_PX -0.50
param set-default CA_THRUSTER0_PY 0.50
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 0.237
param set-default CA_THRUSTER0_AX 0.0
param set-default CA_THRUSTER0_AY -1.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.50
param set-default CA_THRUSTER1_PY 0.50
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 0.237
param set-default CA_THRUSTER1_AX 0.0
param set-default CA_THRUSTER1_AY -1.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX 0.50
param set-default CA_THRUSTER2_PY -0.50
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 0.237
param set-default CA_THRUSTER2_AX 0.0
param set-default CA_THRUSTER2_AY 1.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX -0.50
param set-default CA_THRUSTER3_PY -0.50
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 0.237
param set-default CA_THRUSTER3_AX 0.0
param set-default CA_THRUSTER3_AY 1.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX -0.50
param set-default CA_THRUSTER4_PY 0.0
param set-default CA_THRUSTER4_PZ -0.50
param set-default CA_THRUSTER4_CT 0.237
param set-default CA_THRUSTER4_AX 1.0
param set-default CA_THRUSTER4_AY 0.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.50
param set-default CA_THRUSTER5_PY 0.0
param set-default CA_THRUSTER5_PZ -0.50
param set-default CA_THRUSTER5_CT 0.237
param set-default CA_THRUSTER5_AX -1.0
param set-default CA_THRUSTER5_AY 0.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX 0.50
param set-default CA_THRUSTER6_PY 0.0
param set-default CA_THRUSTER6_PZ 0.50
param set-default CA_THRUSTER6_CT 0.237
param set-default CA_THRUSTER6_AX -1.0
param set-default CA_THRUSTER6_AY 0.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.50
param set-default CA_THRUSTER7_PY 0.0
param set-default CA_THRUSTER7_PZ 0.50
param set-default CA_THRUSTER7_CT 0.237
param set-default CA_THRUSTER7_AX 1.0
param set-default CA_THRUSTER7_AY 0.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default CA_THRUSTER8_PX 0.0
param set-default CA_THRUSTER8_PY -0.50
param set-default CA_THRUSTER8_PZ -0.50
param set-default CA_THRUSTER8_CT 0.237
param set-default CA_THRUSTER8_AX 0.0
param set-default CA_THRUSTER8_AY 0.0
param set-default CA_THRUSTER8_AZ 1.0
param set-default CA_THRUSTER9_PX 0.0
param set-default CA_THRUSTER9_PY 0.50
param set-default CA_THRUSTER9_PZ -0.50
param set-default CA_THRUSTER9_CT 0.237
param set-default CA_THRUSTER9_AX 0.0
param set-default CA_THRUSTER9_AY 0.0
param set-default CA_THRUSTER9_AZ 1.0
param set-default CA_THRUSTER10_PX 0.0
param set-default CA_THRUSTER10_PY 0.50
param set-default CA_THRUSTER10_PZ 0.50
param set-default CA_THRUSTER10_CT 0.237
param set-default CA_THRUSTER10_AX 0.0
param set-default CA_THRUSTER10_AY 0.0
param set-default CA_THRUSTER10_AZ -1.0
param set-default CA_THRUSTER11_PX 0.0
param set-default CA_THRUSTER11_PY -0.50
param set-default CA_THRUSTER11_PZ 0.50
param set-default CA_THRUSTER11_CT 0.237
param set-default CA_THRUSTER11_AX 0.0
param set-default CA_THRUSTER11_AY 0.0
param set-default CA_THRUSTER11_AZ -1.0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
param set-default PWM_MAIN_FUNC9 109
param set-default PWM_MAIN_FUNC10 110
param set-default PWM_MAIN_FUNC11 111
param set-default PWM_MAIN_FUNC12 112
# PWM Simulation
param set PWM_SIM_PWM_MAX 10000
param set PWM_SIM_PWM_MIN 0
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
+149
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@@ -0,0 +1,149 @@
#!/bin/sh
#
# @name 3DoF Spacecraft Model
#
# @type 2D Freeflyer with 8 thrusters - Planar motion
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default SIM_GZ_TH_FUNC1 101
param set-default SIM_GZ_TH_FUNC2 102
param set-default SIM_GZ_TH_FUNC3 103
param set-default SIM_GZ_TH_FUNC4 104
param set-default SIM_GZ_TH_FUNC5 105
param set-default SIM_GZ_TH_FUNC6 106
param set-default SIM_GZ_TH_FUNC7 107
param set-default SIM_GZ_TH_FUNC8 108
param set-default SIM_GZ_TH_MIN1 0
param set-default SIM_GZ_TH_MIN2 0
param set-default SIM_GZ_TH_MIN3 0
param set-default SIM_GZ_TH_MIN4 0
param set-default SIM_GZ_TH_MIN5 0
param set-default SIM_GZ_TH_MIN6 0
param set-default SIM_GZ_TH_MIN7 0
param set-default SIM_GZ_TH_MIN8 0
param set-default SIM_GZ_TH_MAX1 10000
param set-default SIM_GZ_TH_MAX2 10000
param set-default SIM_GZ_TH_MAX3 10000
param set-default SIM_GZ_TH_MAX4 10000
param set-default SIM_GZ_TH_MAX5 10000
param set-default SIM_GZ_TH_MAX6 10000
param set-default SIM_GZ_TH_MAX7 10000
param set-default SIM_GZ_TH_MAX8 10000
# Controller Tunings
param set SC_YAWRATE_P 3.335
param set SC_YAWRATE_I 0.87
param set SC_YAWRATE_D 0.15
param set SC_YR_INT_LIM 0.2
param set SC_YAW_P 3.0
param set SPC_POS_P 0.20
param set SPC_VEL_P 6.55
param set SPC_VEL_I 0.0
param set SPC_VEL_D 0.0
param set SPC_VEL_MAX 12.0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+3 -2
View File
@@ -39,8 +39,6 @@ px4_add_romfs_files(
1012_gazebo-classic_iris_rplidar
1013_gazebo-classic_iris_vision
1013_gazebo-classic_iris_vision.post
1014_gazebo-classic_iris_obs_avoid
1014_gazebo-classic_iris_obs_avoid.post
1015_gazebo-classic_iris_depth_camera
1016_gazebo-classic_iris_downward_depth_camera
1017_gazebo-classic_iris_opt_flow_mockup
@@ -114,5 +112,8 @@ px4_add_romfs_files(
17001_flightgear_tf-g1
17002_flightgear_tf-g2
71001_gazebo-classic_spacecraft_dart
71002_gz_spacecraft_2d
# [22000, 22999] Reserve for custom models
)
ROMFS/px4fmu_common/init.d-posix/rcS
+5
View File
@@ -337,6 +337,11 @@ then
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+7
View File
@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
)
endif()
if(CONFIG_MODULES_SPACECRAFT)
px4_add_romfs_files(
rc.sc_apps
rc.sc_defaults
)
endif()
if(CONFIG_MODULES_ROVER_MECANUM)
px4_add_romfs_files(
rc.rover_mecanum_apps
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-1
View File
@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
-1
View File
@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+27 -16
View File
@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
param set-default RBCLW_FUNC2 102
param set-default RBCLW_REV 1 # reverse right wheels
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_ACCEL 3
param set-default RD_MAX_DECEL 4
param set-default RD_MAX_JERK 5
param set-default RD_MAX_SPEED 1.6
param set-default RD_MAX_THR_SPD 1.9
param set-default RD_MAX_THR_YAW_R 0.7
param set-default RD_MAX_YAW_ACCEL 600
param set-default RD_MAX_YAW_RATE 250
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0.01
# Pure pursuit parameters
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 4
param set-default RO_JERK_LIM 5
param set-default RO_MAX_THR_SPEED 1.9
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 600
param set-default RO_YAW_DECEL_LIM 600
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 1.6
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+23 -14
View File
@@ -14,24 +14,33 @@
. ${R}etc/init.d/rc.rover_ackermann_defaults
param set-default BAT1_N_CELLS 3
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_DECEL 10
param set-default RA_MAX_JERK 20
param set-default RA_MAX_LAT_ACCEL 3
param set-default RA_MAX_SPEED 2.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 270
param set-default RA_MAX_THR_SPEED 2.8
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 270
# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 20
param set-default RO_MAX_THR_SPEED 2.8
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0
param set-default RO_YAW_RATE_P 0
param set-default RO_YAW_RATE_LIM 0
# Rover Attitude Control Parameters
param set-default RO_YAW_P 0
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d
+150
View File
@@ -0,0 +1,150 @@
#!/bin/sh
#
# @name KTH Space Robot
#
# @type Space Robot
# @class 2D Space Robot
#
# @maintainer DISCOWER
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set Mocap Vision frame
param set EKF2_EV_CTRL 15
param set EKF2_HGT_REF 3
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default PWM_AUX_TIM0 10
param set-default PWM_AUX_TIM1 10
param set-default PWM_AUX_TIM2 10
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_FUNC5 105
param set-default PWM_AUX_FUNC6 106
param set-default PWM_AUX_FUNC7 107
param set-default PWM_AUX_FUNC8 108
param set-default PWM_AUX_DIS1 0
param set-default PWM_AUX_DIS2 0
param set-default PWM_AUX_DIS3 0
param set-default PWM_AUX_DIS4 0
param set-default PWM_AUX_DIS5 0
param set-default PWM_AUX_DIS6 0
param set-default PWM_AUX_DIS7 0
param set-default PWM_AUX_DIS8 0
param set-default PWM_AUX_MIN1 0
param set-default PWM_AUX_MIN2 0
param set-default PWM_AUX_MIN3 0
param set-default PWM_AUX_MIN4 0
param set-default PWM_AUX_MIN5 0
param set-default PWM_AUX_MIN6 0
param set-default PWM_AUX_MIN7 0
param set-default PWM_AUX_MIN8 0
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
param set-default PWM_AUX_MAX1 10000
param set-default PWM_AUX_MAX2 10000
param set-default PWM_AUX_MAX3 10000
param set-default PWM_AUX_MAX4 10000
param set-default PWM_AUX_MAX5 10000
param set-default PWM_AUX_MAX6 10000
param set-default PWM_AUX_MAX7 10000
param set-default PWM_AUX_MAX8 10000
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/rc.sc_apps
+36
View File
@@ -0,0 +1,36 @@
#!/bin/sh
#
# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Start Spacecraft App
spacecraft start
# Estimator Group Selection
# ekf2 start &
# Start MicroDDS Client
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
# uxrce_dds_client start -t udp -p 8888
#
# Start Control Allocator
#
# sc_control_allocator start
#
# Start Spacecraft Rate Controller.
#
# sc_rate_control start
#
# Start Spacecraft Attitude Controller.
#
# sc_att_control start
#
# Start Spacecraft Position Controller.
#
# sc_pos_control start
ROMFS/px4fmu_common/init.d/rc.sc_defaults
+27
View File
@@ -0,0 +1,27 @@
#!/bin/sh
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE sc
# MAV_TYPE_QUADROTOR 2
#param set-default MAV_TYPE 12
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
param set-default UXRCE_DDS_AG_IP -1062731775
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_ARM_HFLT_CHK 0
#Missing params
param set-default CP_DIST -1.0
# Default to MoCap fusion
param set-default ATT_EXT_HDG_M 2
param set-default EKF2_EV_CTRL 15
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_HGT_REF 3
ROMFS/px4fmu_common/init.d/rcS
+5
View File
@@ -555,6 +555,11 @@ else
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#
# Optional board supplied extras: rc.board_extras
#
Tools/HIL/run_tests.py
-3
View File
@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
def test_atomic_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
def test_bezier(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
def test_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
Tools/astyle/files_to_check_code_style.sh
+2
View File
@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
fi
exec find boards msg src platforms test \
-path msg/translation_node -prune -o \
-path platforms/nuttx/NuttX -prune -o \
-path platforms/qurt/dspal -prune -o \
-path src/drivers/ins/vectornav/libvnc -prune -o \
-path src/drivers/uavcan/libdronecan -prune -o \
-path src/drivers/uavcan/libuavcan -prune -o \
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-path src/drivers/cyphal/libcanard -prune -o \
-path src/lib/crypto/monocypher -prune -o \
Tools/ci/check_msg_versioning.sh
Executable
+76
View File
@@ -0,0 +1,76 @@
#! /bin/bash
# Copy a git diff between two commits if msg versioning is added
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR="$DIR/.."
BASE_COMMIT="$1"
HEAD_COMMIT="$2"
if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
then
echo "Usage: $0 <base_commit> <head_commit>"
exit 1
fi
failed=0
# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
all_files="$( git --no-pager diff --no-color --name-only "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
for file in ${modified_files}
do
if [[ "$file" == msg/versioned/*.msg ]]; then
echo "Modified msg file: ${file}"
# A modified versioned .msg file requires:
# - Incrementing the version
# - An old .msg version exists
# - A translation header exists and is included
# Ignore changes to comments or constants
content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
if [ "${content_a}" == "${content_b}" ]; then
echo "No version update required for ${file}"
continue
fi
diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
# Check that the version is incremented
if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
echo "ERROR: Missing version update for ${file}"
failed=1
else
if [ $((new_version-old_version)) -ne 1 ]; then
echo "ERROR: Version not incremented by +1 for ${file}"
failed=1
fi
fi
# Check that an old version exists
filename=$(basename -- "$file")
filename="${filename%.*}"
old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
if [[ "${all_files}" != *"${old_version_file}"* ]]; then
echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
failed=1
fi
# Check that a translation header got added by checking for a modification to all_translations.h
# If it is changed, we assume a new header got added too, so we don't explicitly check for that
if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
echo "ERROR: missing modification to translations/all_translations.h"
failed=1
fi
fi
done
if [ ${failed} -ne 0 ]; then
echo ""
echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
exit 1
fi
Tools/copy_to_ros_ws.sh
Executable
+34
View File
@@ -0,0 +1,34 @@
#! /bin/bash
# Copy msgs and the message translation node into a ROS workspace directory
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR="$DIR/.."
WS_DIR="$1"
if [ ! -e "${WS_DIR}" ]
then
echo "Usage: $0 <ros_ws_dir>"
exit 1
fi
WS_DIR="$WS_DIR"/src
if [ ! -e "${WS_DIR}" ]
then
echo "'src' directory not found inside ROS workspace (${WS_DIR})"
exit 1
fi
cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
if [ ! -e "${PX4_MSGS_DIR}" ]
then
git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
fi
cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
mkdir -p "${PX4_MSGS_DIR}"/msg/versioned
cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg/versioned
cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv
Tools/docker_run.sh
+1 -1
View File
@@ -47,6 +47,7 @@ CCACHE_DIR=${HOME}/.ccache
mkdir -p "${CCACHE_DIR}"
docker run -it --rm -w "${SRC_DIR}" \
--user="$(id -u):$(id -g)" \
--env=AWS_ACCESS_KEY_ID \
--env=AWS_SECRET_ACCESS_KEY \
--env=BRANCH_NAME \
@@ -54,7 +55,6 @@ docker run -it --rm -w "${SRC_DIR}" \
--env=CI \
--env=CODECOV_TOKEN \
--env=COVERALLS_REPO_TOKEN \
--env=LOCAL_USER_ID="$(id -u)" \
--env=PX4_ASAN \
--env=PX4_MSAN \
--env=PX4_TSAN \
Tools/kconfig/allyesconfig.py
+2
View File
@@ -53,6 +53,7 @@ exception_list = [
'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system',
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
]
exception_list_sitl = [
@@ -73,6 +74,7 @@ exception_list_sitl = [
'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
'SYSTEMCMDS_DMESG', # Not supported in SITL
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
]
def main():
Tools/px_uploader.py
+1 -1
View File
@@ -708,7 +708,7 @@ class uploader:
# https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
if self.fw_maxsize > fw.property('image_maxsize') and not force:
raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
else:
# If we're still on bootloader v4 on a Pixhawk, we don't know if we
# have the silicon errata and therefore need to flash px4_fmu-v2
Tools/setup/docker-entrypoint.sh
+1 -15
View File
@@ -1,6 +1,5 @@
#!/bin/bash
echo "[docker-entrypoint.sh] Starting entrypoint"
# Start virtual X server in the background
# - DISPLAY default is :99, set in dockerfile
# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -17,17 +16,4 @@ if [ -n "${ROS_DISTRO}" ]; then
source "/opt/ros/$ROS_DISTRO/setup.bash"
fi
echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
# Use the LOCAL_USER_ID if passed in at runtime
if [ -n "${LOCAL_USER_ID}" ]; then
echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
# modify existing user's id
usermod -u $LOCAL_USER_ID user
# run as user
# exec gosu user "$@"
exec "$@"
else
exec "$@"
fi
exec "$@"
Tools/setup/ubuntu.sh
+1
View File
@@ -116,6 +116,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
binutils-dev \
bison \
build-essential \
curl \
flex \
g++-multilib \
gcc-arm-none-eabi \
Tools/simulation/gz
+1 -1
Submodule Tools/simulation/gz updated: 230450cc81...db4af69088
boards/3dr/ctrl-zero-h7-oem-revg/src/init.c
+6 -1
View File
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/ark/can-flow-mr/canbootloader.px4board
+5
View File
@@ -0,0 +1,5 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT=""
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BOOTLOADERS=y
boards/ark/can-flow-mr/firmware.prototype
+13
View File
@@ -0,0 +1,13 @@
{
"board_id": 88,
"magic": "PX4FWv1",
"description": "Firmware for the ARK Flow MR board",
"image": "",
"build_time": 0,
"summary": "ARKFLOWMR",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
boards/ark/can-flow-mr/init/rc.board_sensors
+20
View File
@@ -0,0 +1,20 @@
#!/bin/sh
#
# board sensors init
#------------------------------------------------------------------------------
param set-default IMU_GYRO_RATEMAX 1000
param set-default SENS_FLOW_RATE 150
param set-default SENS_IMU_CLPNOTI 0
param set-default SENS_AFBR_S_RATE 25
param set-default SENS_AFBR_L_RATE 10
param set-default SENS_AFBR_THRESH 8
param set-default SENS_AFBR_HYSTER 2
# Internal SPI
paa3905 -s start -Y 180
iim42653 -R 0 -s start
afbrs50 start
boards/ark/can-flow-mr/nuttx-config/canbootloader/defconfig
+57
View File
@@ -0,0 +1,57 @@
#
# 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_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F412CE=y
CONFIG_ARCH_INTERRUPTSTACK=4096
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BINFMT_DISABLE=y
CONFIG_BOARDCTL=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_EXPERIMENTAL=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_INIT_STACKSIZE=4096
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_MM_REGIONS=2
CONFIG_NAME_MAX=0
CONFIG_NUNGET_CHARS=0
CONFIG_PREALLOC_TIMERS=0
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_FLASH_CONFIG_G=y
CONFIG_STM32_NOEXT_VECTORS=y
CONFIG_STM32_TIM8=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USEC_PER_TICK=1000
boards/ark/can-flow-mr/nuttx-config/include/board.h
+136
View File
@@ -0,0 +1,136 @@
/************************************************************************************
* configs/px4fmu/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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.
*
************************************************************************************/
#include "board_dma_map.h"
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/* HSI - 8 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - 8 MHz Crystal
* LSE - not installed
*/
#define STM32_BOARD_USEHSE 1
#define STM32_BOARD_XTAL 8000000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
/* Main PLL Configuration */
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
#define STM32_SYSCLK_FREQUENCY 96000000ul
/* AHB clock (HCLK) is SYSCLK (96MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
#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_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* APB2 clock (PCLK2) is HCLK (96MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
/* Timers driven from APB2 will be PCLK2 since no prescale division */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
/* Alternate function pin selections ************************************************/
/* UARTs */
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_TX GPIO_USART2_TX_1
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN1_RX_1
#define GPIO_CAN1_TX GPIO_CAN1_TX_1
/* SPI */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1 /* PB10 */
#endif /* __ARCH_BOARD_BOARD_H */
src/drivers/voxl2_io/voxl2_io_serial.hpp → boards/ark/can-flow-mr/nuttx-config/include/board_dma_map.h
+9 -34
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -33,37 +33,12 @@
#pragma once
#include <px4_log.h>
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
// DMA1 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0
#ifdef __PX4_QURT
#include <drivers/device/qurt/uart.h>
#define FAR
#endif
class Voxl2IoSerial
{
public:
Voxl2IoSerial();
virtual ~Voxl2IoSerial();
int uart_open(const char *dev, speed_t speed);
int uart_set_baud(speed_t speed);
int uart_close();
int uart_write(FAR void *buf, size_t len);
int uart_read(FAR void *buf, size_t len);
bool is_open() { return _uart_fd >= 0; };
int uart_get_baud() {return _speed; }
private:
int _uart_fd = -1;
#if ! defined(__PX4_QURT)
struct termios _orig_cfg;
struct termios _cfg;
#endif
int _speed = -1;
};
// DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
boards/ark/can-flow-mr/nuttx-config/nsh/defconfig
+149
View File
@@ -0,0 +1,149 @@
#
# 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_DISABLE_PTHREAD is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_CAT is not set
# CONFIG_NSH_DISABLE_CD is not set
# CONFIG_NSH_DISABLE_CP is not set
# CONFIG_NSH_DISABLE_DATE is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_ECHO is not set
# CONFIG_NSH_DISABLE_ENV is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXPORT is not set
# CONFIG_NSH_DISABLE_FREE is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_HELP is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_KILL is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
# CONFIG_NSH_DISABLE_LS is not set
# CONFIG_NSH_DISABLE_MKDIR is not set
# CONFIG_NSH_DISABLE_MOUNT is not set
# CONFIG_NSH_DISABLE_MV is not set
# CONFIG_NSH_DISABLE_PS is not set
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
# CONFIG_NSH_DISABLE_PWD is not set
# CONFIG_NSH_DISABLE_RM is not set
# CONFIG_NSH_DISABLE_RMDIR is not set
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_DISABLE_SET is not set
# CONFIG_NSH_DISABLE_SLEEP is not set
# CONFIG_NSH_DISABLE_SOURCE is not set
# CONFIG_NSH_DISABLE_TEST is not set
# CONFIG_NSH_DISABLE_TIME is not set
# CONFIG_NSH_DISABLE_UMOUNT is not set
# CONFIG_NSH_DISABLE_UNSET is not set
# CONFIG_NSH_DISABLE_USLEEP is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F412CE=y
CONFIG_ARCH_INTERRUPTSTACK=768
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_ASSERT_RESET_VALUE=0
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
CONFIG_DEFAULT_SMALL=y
CONFIG_FDCLONE_STDIO=y
CONFIG_FS_CROMFS=y
CONFIG_FS_ROMFS=y
CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2624
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_MAX_EXITFUNS=1
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MM_REGIONS=2
CONFIG_NAME_MAX=40
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_VARS=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_READLINE_TABCOMPLETION=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=254
CONFIG_SCHED_HPWORKSTACKSIZE=3000
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
CONFIG_SCHED_WAITPID=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=32
CONFIG_STM32_ADC1=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FLASH_CONFIG_G=y
CONFIG_STM32_FLASH_PREFETCH=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_PWR=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI1_DMA_BUFFER=2048
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI2_DMA=y
CONFIG_STM32_SPI2_DMA_BUFFER=2048
CONFIG_STM32_TIM8=y
CONFIG_STM32_USART2=y
CONFIG_STM32_USART_BREAKS=y
CONFIG_STM32_WWDG=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_USART2_BAUD=57600
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_TXBUFSIZE=1100
CONFIG_USEC_PER_TICK=1000
boards/ark/can-flow-mr/nuttx-config/scripts/canbootloader_script.ld
+134
View File
@@ -0,0 +1,134 @@
/****************************************************************************
* nuttx-config/scripts/canbootloader_script.ld
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
* 256Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000
* 2) 16Kb of SRAM beginning at address 0x2001:c000
* 3) 64Kb of SRAM beginning at address 0x2002:0000
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
*
* 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 first 0x10000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* 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)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.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) }
}
boards/ark/can-flow-mr/nuttx-config/scripts/script.ld
+146
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@@ -0,0 +1,146 @@
/****************************************************************************
* scripts/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
* 256Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000
* 2) 16Kb of SRAM beginning at address 0x2001:c000
* 3) 64Kb of SRAM beginning at address 0x2002:0000
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
*
* 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 first 0x10000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08010000, LENGTH = 928K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* 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(8);
/*
* This section positions the app_descriptor_t used
* by the make_can_boot_descriptor.py tool to set
* the application image's descriptor so that the
* uavcan bootloader has the ability to validate the
* image crc, size etc
*/
KEEP(*(.app_descriptor))
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.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) }
}
boards/ark/can-flow-mr/src/CMakeLists.txt
+65
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@@ -0,0 +1,65 @@
############################################################################
#
# 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.
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
add_library(drivers_board
boot_config.h
boot.c
led.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
canbootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
else()
add_library(drivers_board
can.c
init.c
led.c
spi.cpp
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch
nuttx_drivers
px4_layer
)
endif()
boards/ark/can-flow-mr/src/board_config.h
+95
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@@ -0,0 +1,95 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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
*
* board internal definitions
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* CAN Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
/* CAN termination software control */
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
/* Boot config */
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
#define GPIO_TIM1_CH1 /* PA8 */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
#define GPIO_TIM1_CH2 /* PA9 */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
#define BROADCOM_AFBR_S50_S2PI_CS /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define BROADCOM_AFBR_S50_S2PI_IRQ /* PB4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
#define BROADCOM_AFBR_S50_S2PI_CLK /* PB10 */ GPIO_SPI2_SCK_1
#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */ GPIO_SPI2_MOSI_1
#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */ GPIO_SPI2_MISO_1
#define FLASH_BASED_PARAMS
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define PX4_GPIO_INIT_LIST { \
GPIO_BOOT_CONFIG, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN1_TERMINATION, \
}
__BEGIN_DECLS
#define BOARD_HAS_N_S_RGB_LED 1
#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
#ifndef __ASSEMBLY__
extern void stm32_spiinitialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
boards/ark/can-flow-mr/src/boot.c
+188
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@@ -0,0 +1,188 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include "boot_config.h"
#include "board.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
#include "led.h"
/************************************************************************************
* 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)
{
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN1_SILENT_S0);
stm32_configgpio(GPIO_CAN1_TERMINATION);
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
#endif
}
/************************************************************************************
* Name: board_deinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
void board_deinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information. The function
* will first initialize the the callers struct to all zeros.
*
* Input Parameters:
* hw_version - A pointer to a uavcan_hardwareversion_t.
*
* Returned Value:
* Length of the unique_id
*
****************************************************************************/
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
{
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
hw_version->major = HW_VERSION_MAJOR;
hw_version->minor = HW_VERSION_MINOR;
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
typedef begin_packed_struct struct led_t {
uint8_t red;
uint8_t green;
uint8_t blue;
uint8_t hz;
} end_packed_struct led_t;
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 128, 128, 128, 30),
led(2, autobaud_start, 0, 128, 0, 1),
led(3, autobaud_end, 0, 128, 0, 2),
led(4, allocation_start, 0, 0, 64, 2),
led(5, allocation_end, 0, 128, 64, 3),
led(6, fw_update_start, 32, 128, 64, 3),
led(7, fw_update_erase_fail, 32, 128, 32, 3),
led(8, fw_update_invalid_response, 64, 0, 0, 1),
led(9, fw_update_timeout, 64, 0, 0, 2),
led(a, fw_update_invalid_crc, 64, 0, 0, 4),
led(b, jump_to_app, 0, 128, 0, 10),
};
void board_indicate(uiindication_t indication)
{
rgb_led(i2l[indication].red,
i2l[indication].green,
i2l[indication].blue,
i2l[indication].hz);
}
boards/ark/can-flow-mr/src/boot_config.h
+130
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@@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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 boot_config.h
*
* bootloader definitions that configures the behavior and options
* of the Boot loader
* This file is relies on the parent folder's boot_config.h file and defines
* different usages of the hardware for bootloading
*/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
/* Bring in the board_config.h definitions
* todo:make this be pulled in from a targed's build
* files in nuttx*/
#include "board_config.h"
#include "uavcan.h"
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_flash.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 3000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
/*
* This Option set is set to 1 ensure a provider of firmware has an
* opportunity update the node's firmware.
* This Option is the default policy and can be overridden by
* a jumper
* When this Policy is set, the node will ignore tboot and
* wait indefinitely for a GetNodeInfo request before booting.
*
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
* the polarity of the jumper to be True Active
*
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
* Jumper
* yes 1 0 x
* yes 1 1 Active
* no 1 1 Not Active
* no 0 0 X
* yes 0 1 Active
* no 0 1 Not Active
*
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
#define OPT_ENABLE_WD 1
#define OPT_RESTART_TIMEOUT_MS 20000
/* Reserved for the Booloader */
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
/* Reserved for the application out of the total
* system flash minus the BOOTLOADER_SIZE_IN_K
*/
#define OPT_APPLICATION_RESERVER_IN_K 0
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
#define FLASH_BASE STM32_FLASH_BASE
#define FLASH_SIZE STM32_FLASH_SIZE
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
/* If this board uses big flash that have large sectors */
#define OPT_USE_YIELD
/* Bootloader Option*****************************************************************
*
*/
#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
boards/ark/can-flow-mr/src/can.c
+130
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@@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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 can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "arm_internal.h"
#include "stm32.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
boards/ark/can-flow-mr/src/init.c
+147
View File
@@ -0,0 +1,147 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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
*
* board specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <syslog.h>
#include <nuttx/board.h>
#include <stm32.h>
#include "board_config.h"
#include "led.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <drivers/drv_watchdog.h>
#include <systemlib/px4_macros.h>
#include <px4_platform_common/init.h>
#include <px4_platform/gpio.h>
# if defined(FLASH_BASED_PARAMS)
# include <parameters/flashparams/flashfs.h>
#endif
/************************************************************************************
* 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)
{
watchdog_init();
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
// Configure SPI all interfaces GPIO & enable power.
stm32_spiinitialize();
}
/****************************************************************************
* 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)
{
px4_platform_init();
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t params_sector_map[] = {
{2, 16 * 1024, 0x08008000},
{3, 16 * 1024, 0x0800C000},
{0, 0, 0},
};
/* Initialize the flashfs layer to use heap allocated memory */
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
if (result != OK) {
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
}
#endif // FLASH_BASED_PARAMS
/* Configure the HW based on the manifest */
//px4_platform_configure();
return OK;
}
boards/ark/can-flow-mr/src/led.c
+124
View File
@@ -0,0 +1,124 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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 led.c
*
* LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
#include "led.h"
#define TMR_BASE STM32_TIM1_BASE
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
#define TMR_REG(o) (TMR_BASE+(o))
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = TMR_FREQUENCY;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
uint16_t val;
static bool once = 0;
if (!once) {
once = 1;
/* Enabel Clock to Block */
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
/* Reload */
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
val |= ATIM_EGR_UG;
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
/* Set Prescaler STM32_TIM_SETCLOCK */
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
/* Enable STM32_TIM_SETMODE*/
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
ATIM_CCER_CC2E | ATIM_CCER_CC2P |
ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
stm32_configgpio(GPIO_TIM1_CH1);
stm32_configgpio(GPIO_TIM1_CH2);
stm32_configgpio(GPIO_TIM1_CH3);
/* master output enable = on */
putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
}
long p = freqs == 0 ? p1s : p1s / freqs;
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
if (freqs == 0) {
val &= ~ATIM_CR1_CEN;
} else {
val |= ATIM_CR1_CEN;
}
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
}
boards/ark/can-flow-mr/src/led.h
+37
View File
@@ -0,0 +1,37 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
__BEGIN_DECLS
void rgb_led(int r, int g, int b, int freqs);
__END_DECLS
boards/ark/can-flow-mr/src/spi.cpp
+48
View File
@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAA3905, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
boards/ark/can-flow-mr/uavcan_board_identity
+17
View File
@@ -0,0 +1,17 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 0)
set(uavcanblid_hw_version_minor 88)
set(uavcanblid_name "\"org.ark.can-flow-mr\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
boards/ark/can-gps/init/rc.board_defaults
+1 -1
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
param set-default CBRK_IO_SAFETY 0
param set-default MBE_ENABLE 1
param set-default MBE_ENABLE 0
param set-default SENS_IMU_CLPNOTI 0
safety_button start
boards/ark/can-rtk-gps/init/rc.board_defaults
+1 -1
View File
@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
param set-default CANNODE_SUB_MBD 1
param set-default CANNODE_SUB_RTCM 1
param set-default GPS_1_GNSS 63
param set-default MBE_ENABLE 1
param set-default MBE_ENABLE 0
param set-default SENS_IMU_CLPNOTI 0
safety_button start
boards/ark/cannode/init/rc.board_defaults
+1
View File
@@ -3,6 +3,7 @@
# board specific defaults
#------------------------------------------------------------------------------
param set-default MBE_ENABLE 0
param set-default SENS_IMU_CLPNOTI 0
pwm_out start
boards/ark/fmu-v6x/src/init.c
+6 -1
View File
@@ -150,8 +150,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/ark/fpv/src/init.c
+6 -1
View File
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/ark/pi6x/nuttx-config/bootloader/defconfig
+1 -1
View File
@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0039
CONFIG_CDCACM_PRODUCTID=0x003A
CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
boards/ark/pi6x/nuttx-config/nsh/defconfig
+1 -1
View File
@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0039
CONFIG_CDCACM_PRODUCTID=0x003A
CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
boards/ark/pi6x/src/init.c
+6 -1
View File
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/ark/septentrio-gps/init/rc.board_defaults
+1 -1
View File
@@ -6,7 +6,7 @@
param set-default CBRK_IO_SAFETY 0
param set-default CANNODE_SUB_MBD 1
param set-default CANNODE_SUB_RTCM 1
param set-default MBE_ENABLE 1
param set-default MBE_ENABLE 0
param set-default SENS_IMU_CLPNOTI 0
safety_button start
boards/ark/teseo-gps/init/rc.board_defaults
+1 -1
View File
@@ -6,7 +6,7 @@
param set-default CBRK_IO_SAFETY 0
param set-default CANNODE_SUB_MBD 1
param set-default CANNODE_SUB_RTCM 1
param set-default MBE_ENABLE 1
param set-default MBE_ENABLE 0
param set-default SENS_IMU_CLPNOTI 0
tone_alarm start
boards/av/x-v1/src/init.c
+6 -1
View File
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cuav/7-nano/src/init.c
+6 -1
View File
@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cuav/nora/src/init.c
+6 -1
View File
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cuav/x7pro/src/init.c
+6 -1
View File
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cubepilot/cubeorange/src/init.c
+6 -1
View File
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cubepilot/cubeorangeplus/src/init.c
+6 -1
View File
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/cubepilot/cubeyellow/src/init.c
+6 -1
View File
@@ -102,8 +102,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/hkust/nxt-dual/src/init.c
+6 -1
View File
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/hkust/nxt-v1/src/init.c
+6 -1
View File
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/durandal-v1/src/init.c
+6 -1
View File
@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/kakutef7/src/init.c
+6 -1
View File
@@ -124,8 +124,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/kakuteh7/src/init.c
+6 -1
View File
@@ -129,8 +129,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/kakuteh7mini/src/init.c
+6 -1
View File
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/kakuteh7v2/src/init.c
+6 -1
View File
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/holybro/pix32v5/src/init.c
+6 -1
View File
@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/matek/h743-mini/src/init.c
+6 -1
View File
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/matek/h743-slim/default.px4board
+1
View File
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
boards/matek/h743-slim/src/init.c
+6 -1
View File
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/matek/h743/src/init.c
+6 -1
View File
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/micoair/h743-aio/src/init.c
+6 -1
View File
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/micoair/h743-v2/src/init.c
+6 -1
View File
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/micoair/h743/src/init.c
+6 -1
View File
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/modalai/fc-v1/src/init.c
+6 -1
View File
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/modalai/fc-v2/src/init.c
+6 -1
View File
@@ -139,8 +139,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/modalai/voxl2-slpi/default.px4board
+1
View File
@@ -13,6 +13,7 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_QSHELL_QURT=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_VOXL2_IO=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_EKF2=y
boards/modalai/voxl2/target/voxl-px4
+14 -14
View File
@@ -74,49 +74,49 @@ print_config_settings(){
while getopts "bcdhfmorwz" flag
do
case "${flag}" in
b)
b)
echo "[INFO] Holybro GPS selected"
GPS=HOLYBRO
;;
c)
c)
echo "[INFO] Wiping old config file"
if [ -f "$CONFIG_FILE" ]; then
rm -rf ${CONFIG_FILE}
fi
exit 0
;;
d)
d)
echo "[INFO] Disabling daemon mode"
DAEMON_MODE=DISABLE
;;
h)
h)
print_usage
;;
f)
f)
echo "[INFO] Setting RC to FAKE_RC_INPUT"
RC=FAKE_RC_INPUT
;;
m)
m)
echo "[INFO] Matek GPS selected"
GPS=MATEK
;;
o)
o)
echo "[INFO] OSD module selected"
OSD=ENABLE
;;
r)
r)
echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
RC=CRSF_MAV
;;
w)
w)
echo "[INFO] TBS Crossfire RC receiver, raw selected"
RC=CRSF_RAW
;;
z)
z)
echo "[INFO] Fake sensor calibration values selected"
SENSOR_CAL=FAKE
;;
*)
*)
print_usage
;;
esac
@@ -130,9 +130,9 @@ else
fi
if [ $SENSOR_CAL == "FAKE" ]; then
/bin/echo "[INFO] Setting up fake sensor calibration values"
px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
/bin/sync
/bin/echo "[INFO] Setting up fake sensor calibration values"
px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
/bin/sync
fi
print_config_settings
boards/modalai/voxl2/target/voxl-px4-hitl-start
+2 -2
View File
@@ -35,9 +35,9 @@ fi
/bin/sleep 1
if [ ! -f /data/px4/param/hitl_parameters ]; then
echo "[INFO] Setting default parameters for PX4 on voxl"
echo "[INFO] Setting default parameters for PX4 on voxl"
. /etc/modalai/voxl-px4-hitl-set-default-parameters.config
/bin/sync
/bin/sync
else
param select /data/px4/param/hitl_parameters
param load
boards/modalai/voxl2/target/voxl-px4-start
+44 -44
View File
@@ -13,7 +13,7 @@ echo "OSD: $OSD"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
echo -e "\t$i"
echo -e "\t$i"
done
echo -e "*************************\n"
@@ -83,17 +83,17 @@ qshell ist8310 start -R 10 -X -b 1
# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
# On M0052 the GPS driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
gps start -d /dev/ttyHS2
# On M0054 and M0104 the GPS driver runs on SLPI DSP
else
qshell gps start -d 6
fi
# On M0052 the GPS driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
gps start -d /dev/ttyHS2
# On M0054 and M0104 the GPS driver runs on SLPI DSP
else
qshell gps start -d 6
fi
fi
# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
# fail but not cause any harm.
# fail but not cause any harm.
/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
@@ -107,17 +107,17 @@ param touch SYS_AUTOSTART
# ESC driver
if [ "$ESC" == "VOXL_ESC" ]; then
/bin/echo "Starting VOXL ESC driver"
qshell voxl_esc start
qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
if [ "$RC" == "M0065_SBUS" ]; then
/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
qshell voxl2_io start
else
/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
qshell voxl2_io start -e
fi
if [ "$RC" == "M0065_SBUS" ]; then
/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
qshell voxl2_io start
else
/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
qshell voxl2_io start -e
fi
else
/bin/echo "No ESC type specified, not starting an ESC driver"
/bin/echo "No ESC type specified, not starting an ESC driver"
fi
@@ -133,41 +133,41 @@ elif [ "$RC" == "CRSF_MAV" ]; then
qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
/bin/echo "Starting Spektrum RC"
# On M0052 the RC driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
# On M0052 the RC driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
rc_input start -d /dev/ttyHS1
# On M0054 and M0104 the RC driver runs on SLPI DSP
else
# On M0054 and M0104 the RC driver runs on SLPI DSP
else
qshell spektrum_rc start
fi
fi
elif [ "$RC" == "GHST" ]; then
/bin/echo "Starting GHST RC driver"
qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
if [ $PLATFORM = "M0052" ]; then
apps_sbus start
elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
qshell dsp_sbus start
retVal=$?
if [ $retVal -ne 0 ]; then
/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
qshell voxl2_io start -d -p 7
fi
else
/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
fi
if [ $PLATFORM = "M0052" ]; then
apps_sbus start
elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
qshell dsp_sbus start
retVal=$?
if [ $retVal -ne 0 ]; then
/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
qshell voxl2_io start -d -p 7
fi
else
/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
fi
fi
if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
qshell lightware_laser_serial start -d 7
# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
qshell lightware_laser_serial start -d 7
fi
if [ "$POWER_MANAGER" == "VOXLPM" ]; then
# APM power monitor
qshell voxlpm start -X -b 2
# APM power monitor
qshell voxlpm start -X -b 2
fi
# Optional distance sensor on spare i2c
@@ -191,7 +191,7 @@ qshell load_mon start
# is publishing input_rc topics. Otherwise for external RC
# over Mavlink this isn't needed.
if [ "$RC" != "EXTERNAL" ]; then
qshell rc_update start
qshell rc_update start
fi
qshell commander start
@@ -214,7 +214,7 @@ voxl_save_cal_params start
# On M0052 there is only one IMU. So, PX4 needs to
# publish IMU samples externally for VIO to use.
if [ $PLATFORM = "M0052" ]; then
imu_server start
imu_server start
fi
# start the onboard fast link to connect to voxl-mavlink-server
@@ -250,5 +250,5 @@ fi
# Start optional EXTRA_STEPS
for i in "${EXTRA_STEPS[@]}"
do
$i
$i
done
boards/mro/ctrl-zero-classic/src/init.c
+6 -1
View File
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/ctrl-zero-f7-oem/src/init.c
+6 -1
View File
@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/ctrl-zero-f7/src/init.c
+6 -1
View File
@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/ctrl-zero-h7-oem/src/init.c
+6 -1
View File
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/ctrl-zero-h7/src/init.c
+6 -1
View File
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/pixracerpro/src/init.c
+6 -1
View File
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}
boards/mro/x21-777/src/init.c
+5 -5
View File
@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
/**
* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(6);
up_mdelay(100);
}
}

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