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Fix PWM, IMU, Update config set CRSF as default

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This commit is contained in:
Peter van der Perk
2025-05-23 09:11:56 +02:00
parent d3beb7a459
commit ce897207bd
8 changed files with 85 additions and 88 deletions
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boards/nxp/mr-tropic/default.px4board
+6 -2
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@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
CONFIG_BOARD_PARAM_FILE="/fs/nor/mtd_params"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -16,21 +17,24 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_COMMON_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_COMMON_RC=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
boards/nxp/mr-tropic/init/rc.board_defaults
+8
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@@ -16,6 +16,10 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 0
param set-default RC_CRSF_PRT_CFG 300
param set-default RC_CRSF_TEL_EN 1
param set-default RC_SBUS_PRT_CFG 0
if [ -f "/fs/microsd/ipcfg-eth0" ]
then
else
@@ -29,3 +33,7 @@ if param greater -s UAVCAN_ENABLE 0
then
ifup can0
fi
# Start the ESC telemetry
#dshot telemetry -d /dev/ttyS4 -x
#TODO WAIT FOR https://github.com/PX4/PX4-Autopilot/pull/24706
boards/nxp/mr-tropic/init/rc.board_sensors
+1 -1
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@@ -41,7 +41,7 @@ fi
if [ $INA_CONFIGURED = no ]
then
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
i2c_launcher start -b 3
fi
boards/nxp/mr-tropic/src/board_config.h
+9 -9
View File
@@ -67,9 +67,9 @@
/* An RGB LED is connected through GPIO as shown below:
*/
#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
#define GPIO_nLED_RED /* GPIO_AD_B0_02 GPIO1_IO02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_GREEN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_BLUE /* GPIO_AD_B0_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_RED /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_BLUE /* GPIO_EMC_34 GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_GREEN /* GPIO_EMC_38 GPIO3_IO24 */ (GPIO_PORT3 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
@@ -149,9 +149,9 @@
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
#define BOARD_HAS_CUSTOM_LED_PWM 1
#define PWM_LED_RED /* GPIO_EMC_33 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_GREEN /* GPIO_EMC_34 */ (GPIO_FLEXPWM3_PWMB02_1 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_BLUE /* GPIO_EMC_38 */ (GPIO_FLEXPWM1_PWMA03_2 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_RED /* GPIO_EMC_33 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_BLUE /* GPIO_EMC_34 */ (GPIO_FLEXPWM3_PWMB02_1 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_GREEN /* GPIO_EMC_38 */ (GPIO_FLEXPWM1_PWMA03_2 | GENERAL_OUTPUT_IOMUX)
/* ETHERNET GPIO */
@@ -183,9 +183,9 @@
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
//#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
//#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
//#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* Safety Switch is HW version dependent on having an PX4IO
boards/nxp/mr-tropic/src/hw_rev_ver_tropic.c
+1 -43
View File
@@ -50,15 +50,8 @@
#if defined(BOARD_HAS_HW_VERSIONING)
#define DIR_READ 0x80
#define WHO_AMI_I 0x75
#define REG_BANK_SEL 0x76
#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
#define DEFAULT_SPI ((1 << 28) | DRV_IMU_DEVTYPE_ICM45686)
/****************************************************************************
* Private Data
****************************************************************************/
@@ -163,42 +156,7 @@ __EXPORT int board_get_hw_revision()
int board_determine_hw_info()
{
struct spi_dev_s *spi = px4_spibus_initialize(3);
SPI_SETFREQUENCY(spi, 8 * 1000 * 1000);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SETBITS(spi, 8);
/* ICM Select bank 0 */
SPI_SELECT(spi, DEFAULT_SPI, true);
uint8_t cmd_bank_sel[2] = {0};
cmd_bank_sel[0] = REG_BANK_SEL;
cmd_bank_sel[1] = 0;
SPI_EXCHANGE(spi, cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
SPI_SELECT(spi, DEFAULT_SPI, false);
/* ICM Read WHOAM */
SPI_SELECT(spi, DEFAULT_SPI, true);
uint8_t cmd[2] = {0};
cmd[0] = (WHO_AMI_I) | DIR_READ;
SPI_EXCHANGE(spi, cmd, cmd, sizeof(cmd_bank_sel));
SPI_SELECT(spi, DEFAULT_SPI, false);
// Default is TROPIC_0 icm45686
if (cmd[1] == 0x47) { // TROPIC_1 icm42688p
hw_revision = 1;
} else if (cmd[1] == 0x44) { // TROPIC_2 icm42686p
hw_revision = 2;
}
/* Default bus 1 to 8MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi, 8 * 1000 * 1000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
hw_revision = 0; //TODO Read fuses
sprintf(hw_info, "%03d", hw_revision);
boards/nxp/mr-tropic/src/i2c.cpp
+1 -1
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@@ -35,6 +35,6 @@
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(3),
initI2CBusExternal(3),
initI2CBusInternal(4),
};
boards/nxp/mr-tropic/src/timer_config.cpp
+1
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@@ -148,4 +148,5 @@ void fmurt1062_timer_initialize(void)
/* QTIMER3_TIMER0 -> Flexpwm234ExtClk */
imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM234_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT);
imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM1_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT);
}
boards/nxp/mr-tropic/src/tropic_led_pwm.cpp
+58 -32
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@@ -73,7 +73,7 @@
/* Register accessors */
#define _REG(_addr) (*(volatile uint16_t *)(_addr))
#define _REG16(_base, _reg) (*(volatile uint16_t *)(_base + _reg))
#define FLEXPWMREG(_tmr, _sm, _reg) _REG16(FLEXPWM_TIMER_BASE + ((_sm) * SM_SPACING), (_reg))
#define FLEXPWMREG(_tmr, _sm, _reg) _REG16(_tmr + ((_sm) * SM_SPACING), (_reg))
/* FlexPWM Registers for LED_G */
#define rINIT(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0INIT_OFFSET) /* Initial Count Register */
@@ -93,64 +93,90 @@
#define rDTSRCSEL(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_DTSRCSEL_OFFSET) /* PWM Source Select Register */
#define rMCTRL(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_MCTRL_OFFSET) /* Master Control Register */
#define FLEXPWM_TIMER 2
#define FLEXPWM_SM 3
#define OUTEN_A_MASK 0x1
#define OUTEN_B_MASK 0x2
#define FREQ
static void flexpwm_led_green(uint16_t cvalue)
static void flexpwm_led(uint32_t timer, uint32_t sm, uint16_t cvalue, uint32_t gpio_mux, uint32_t pwm_mux,
uint32_t out_mask)
{
if (cvalue == 0) {
rMCTRL(FLEXPWM_TIMER) &= ~MCTRL_RUN(1 << FLEXPWM_SM);
px4_arch_configgpio(GPIO_nLED_GREEN);
//rMCTRL(timer) &= ~MCTRL_RUN(1 << sm);
px4_arch_configgpio(gpio_mux);
} else {
rMCTRL(FLEXPWM_TIMER) |= (1 << (FLEXPWM_SM + MCTRL_CLDOK_SHIFT));
rVAL1(FLEXPWM_TIMER, FLEXPWM_SM) = (FLEXPWM_FREQ / LED_PWM_FREQ) - 1;
rVAL5(FLEXPWM_TIMER, FLEXPWM_SM) = (FLEXPWM_FREQ / LED_PWM_FREQ) - (cvalue * 3);
rMCTRL(FLEXPWM_TIMER) |= MCTRL_LDOK(1 << FLEXPWM_SM) | MCTRL_RUN(1 << FLEXPWM_SM);
px4_arch_configgpio(PWM_LED_GREEN);
rMCTRL(timer) |= (1 << (sm + MCTRL_CLDOK_SHIFT));
rVAL1(timer, sm) = (FLEXPWM_FREQ / LED_PWM_FREQ) - 1;
if (out_mask & OUTEN_A_MASK) {
rVAL3(timer, sm) = (FLEXPWM_FREQ / LED_PWM_FREQ) - (cvalue);
} else if (out_mask & OUTEN_B_MASK) {
rVAL5(timer, sm) = (FLEXPWM_FREQ / LED_PWM_FREQ) - (cvalue);
}
rMCTRL(timer) |= MCTRL_LDOK(1 << sm) | MCTRL_RUN(1 << sm);
px4_arch_configgpio(pwm_mux);
}
}
int
led_pwm_servo_set(unsigned channel, uint8_t cvalue)
{
if (channel == 2) {
if (channel == 0) {
flexpwm_led(IMXRT_FLEXPWM3_BASE, 2, cvalue, GPIO_nLED_RED, PWM_LED_RED, OUTEN_A_MASK);
} else if (channel == 1) {
flexpwm_led_green(cvalue);
flexpwm_led(IMXRT_FLEXPWM1_BASE, 3, cvalue, GPIO_nLED_GREEN, PWM_LED_GREEN, OUTEN_A_MASK);
} else if (channel == 0) {
} else if (channel == 2) {
flexpwm_led(IMXRT_FLEXPWM3_BASE, 2, cvalue * 3, GPIO_nLED_BLUE, PWM_LED_BLUE, OUTEN_B_MASK);
}
return 0;
}
void flexpwm_init(uint32_t timer, uint32_t sm, uint32_t out_mask)
{
/* Clear all Faults */
rFSTS0(timer) = FSTS_FFLAG_MASK;
rMCTRL(timer) |= (1 << (sm + MCTRL_CLDOK_SHIFT));
rCTRL2(timer, sm) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(timer, sm) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(timer, sm) = 0;
rVAL0(timer, sm) = 0;
rVAL2(timer, sm) = 0;
rVAL4(timer, sm) = 0;
rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(timer, sm) = 0xf000;
rDISMAP1(timer, sm) = 0xf000;
if (out_mask & OUTEN_A_MASK) {
rOUTEN(timer) |= OUTEN_PWMA_EN(1 << sm);
}
if (out_mask & OUTEN_B_MASK) {
rOUTEN(timer) |= OUTEN_PWMB_EN(1 << sm);
}
rDTSRCSEL(timer) = 0;
rMCTRL(timer) |= MCTRL_LDOK(1 << sm);
}
int led_pwm_servo_init()
{
/* PWM_LED_GREEN - FLEXPWM2_PWMB03 */
imxrt_clockall_pwm2();
imxrt_clockall_pwm1();
imxrt_clockall_pwm3();
/* Clear all Faults */
rFSTS0(FLEXPWM_TIMER) = FSTS_FFLAG_MASK;
rMCTRL(FLEXPWM_TIMER) |= (1 << (FLEXPWM_SM + MCTRL_CLDOK_SHIFT));
flexpwm_init(IMXRT_FLEXPWM3_BASE, 2, OUTEN_A_MASK | OUTEN_B_MASK); // GPIO_FLEXPWM3_PWMA02_1
flexpwm_init(IMXRT_FLEXPWM1_BASE, 3, OUTEN_A_MASK); // GPIO_FLEXPWM1_PWMA03_2
rCTRL2(FLEXPWM_TIMER, FLEXPWM_SM) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(FLEXPWM_TIMER, FLEXPWM_SM) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL0(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL2(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL4(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rFFILT0(FLEXPWM_TIMER) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(FLEXPWM_TIMER, FLEXPWM_SM) = 0xf000;
rDISMAP1(FLEXPWM_TIMER, FLEXPWM_SM) = 0xf000;
rOUTEN(FLEXPWM_TIMER) |= OUTEN_PWMB_EN(1 << FLEXPWM_SM);
rDTSRCSEL(FLEXPWM_TIMER) = 0;
rMCTRL(FLEXPWM_TIMER) |= MCTRL_LDOK(1 << FLEXPWM_SM);
return OK;
}