From d8148c8e3b5ab2e568d51d73b771e57a6ddf03e1 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 14 Mar 2021 14:24:41 -0400 Subject: [PATCH] boards: sync --- boards/airmind/mindpx-v2/default.cmake | 16 +++-- boards/av/x-v1/default.cmake | 15 +++-- boards/cuav/nora/default.cmake | 18 ++++-- boards/cuav/nora/init/rc.board_mavlink | 2 +- boards/cuav/nora/nuttx-config/include/board.h | 64 ++++++++++--------- boards/cuav/x7pro/default.cmake | 19 ++++-- boards/cuav/x7pro/init/rc.board_mavlink | 2 +- .../cuav/x7pro/nuttx-config/include/board.h | 64 ++++++++++--------- boards/cubepilot/cubeorange/default.cmake | 2 + boards/cubepilot/cubeyellow/default.cmake | 8 +-- boards/holybro/durandal-v1/default.cmake | 21 +++--- boards/modalai/fc-v1/default.cmake | 9 ++- boards/mro/ctrl-zero-f7-oem/default.cmake | 19 ++++-- boards/mro/ctrl-zero-f7/default.cmake | 19 ++++-- boards/mro/ctrl-zero-h7-oem/default.cmake | 20 +++--- .../ctrl-zero-h7-oem/init/rc.board_mavlink | 2 +- .../nuttx-config/include/board.h | 53 +++++++-------- .../nuttx-config/include/board_dma_map.h | 7 +- .../nuttx-config/scripts/bootloader_script.ld | 5 ++ .../mro/ctrl-zero-h7-oem/src/board_config.h | 27 ++++---- boards/mro/ctrl-zero-h7-oem/src/init.c | 2 - boards/mro/ctrl-zero-h7-oem/src/usb.c | 26 +------- boards/mro/ctrl-zero-h7/default.cmake | 20 +++--- boards/mro/ctrl-zero-h7/init/rc.board_mavlink | 2 +- .../ctrl-zero-h7/nuttx-config/include/board.h | 39 +++++------ .../nuttx-config/include/board_dma_map.h | 7 +- .../nuttx-config/scripts/bootloader_script.ld | 5 ++ boards/mro/ctrl-zero-h7/src/board_config.h | 29 +++++---- boards/mro/ctrl-zero-h7/src/init.c | 2 - boards/mro/ctrl-zero-h7/src/usb.c | 26 +------- boards/mro/pixracerpro/default.cmake | 32 ++++++---- boards/mro/pixracerpro/init/rc.board_extras | 10 +++ boards/mro/pixracerpro/init/rc.board_mavlink | 2 +- boards/mro/pixracerpro/init/rc.board_sensors | 2 +- .../nuttx-config/bootloader/defconfig | 2 +- .../pixracerpro/nuttx-config/include/board.h | 6 +- .../nuttx-config/include/board_dma_map.h | 5 +- .../pixracerpro/nuttx-config/nsh/defconfig | 6 +- .../nuttx-config/scripts/script.ld | 3 + boards/mro/pixracerpro/src/board_config.h | 30 +++++---- boards/mro/pixracerpro/src/init.c | 5 +- boards/mro/pixracerpro/src/spi.cpp | 4 +- boards/mro/x21-777/default.cmake | 13 ++-- boards/mro/x21/default.cmake | 20 ++++-- boards/nxp/fmuk66-v3/default.cmake | 20 ++++-- boards/omnibus/f4sd/default.cmake | 10 ++- boards/px4/fmu-v2/default.cmake | 16 +++-- boards/px4/fmu-v3/default.cmake | 20 +++--- boards/px4/fmu-v4/default.cmake | 15 ++--- boards/px4/fmu-v4pro/default.cmake | 18 +++--- boards/px4/fmu-v5/default.cmake | 11 +--- boards/px4/fmu-v5x/default.cmake | 16 ++--- boards/px4/fmu-v6u/default.cmake | 4 +- boards/px4/fmu-v6x/default.cmake | 13 ++-- boards/px4/sitl/default.cmake | 1 + src/drivers/lights/CMakeLists.txt | 3 +- 56 files changed, 450 insertions(+), 387 deletions(-) create mode 100644 boards/mro/pixracerpro/init/rc.board_extras diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake index b976951b2f..05ad41f7f3 100644 --- a/boards/airmind/mindpx-v2/default.cmake +++ b/boards/airmind/mindpx-v2/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -31,13 +32,12 @@ px4_add_board( imu/invensense/mpu6000 imu/invensense/mpu6500 irlock - lights/blinkm - lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -45,6 +45,7 @@ px4_add_board( pwm_out rc_input roboclaw + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -57,6 +58,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -72,12 +74,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -85,6 +90,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -111,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake index 4c3f93dbf8..5380cbb3ed 100644 --- a/boards/av/x-v1/default.cmake +++ b/boards/av/x-v1/default.cmake @@ -31,13 +31,12 @@ px4_add_board( imu/adis16477 imu/adis16497 irlock - lights/blinkm - #lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers #osd pca9685 + #pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -45,6 +44,7 @@ px4_add_board( pwm_out rc_input roboclaw + rpm telemetry # all available telemetry drivers test_ppm #tone_alarm @@ -57,6 +57,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -72,19 +73,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS - #bl_update + bl_update dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -108,6 +113,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake index c73950d652..56c28783a2 100644 --- a/boards/cuav/nora/default.cmake +++ b/boards/cuav/nora/default.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE: /dev/ttyS4 # RC: /dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,24 +31,24 @@ px4_add_board( gps heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/bosch/bmi088 imu/invensense/icm20649 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c - lights/rgbled_pwm + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm @@ -61,6 +62,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -76,12 +78,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +94,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -104,6 +110,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -115,6 +122,7 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello diff --git a/boards/cuav/nora/init/rc.board_mavlink b/boards/cuav/nora/init/rc.board_mavlink index a7c5b8a837..75c5256651 100644 --- a/boards/cuav/nora/init/rc.board_mavlink +++ b/boards/cuav/nora/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# board specific board MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/cuav/nora/nuttx-config/include/board.h b/boards/cuav/nora/nuttx-config/include/board.h index 6d78671f81..198d3c5877 100644 --- a/boards/cuav/nora/nuttx-config/include/board.h +++ b/boards/cuav/nora/nuttx-config/include/board.h @@ -220,55 +220,61 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + /* UART/USART */ -#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ -#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ +#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ +#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ -#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */ #define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ +#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */ #define GPIO_USART6_RTS GPIO_USART6_RTS_2 /* PG8 */ #define GPIO_USART6_CTS GPIO_USART6_CTS_NSS_2 /* PG15 */ -#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ + +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ /* CAN */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ #define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + /* SPI */ -#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) -#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */ -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */ -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ -#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */ -#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */ +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ + +#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ +#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ + +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ -#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */ -#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ -#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake index 8bd747f92c..24fbf66321 100644 --- a/boards/cuav/x7pro/default.cmake +++ b/boards/cuav/x7pro/default.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE: /dev/ttyS4 # RC: /dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -31,26 +32,23 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20649 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c - lights/rgbled_pwm + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm @@ -64,6 +62,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -79,12 +78,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -92,6 +94,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -107,6 +110,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -118,6 +122,7 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello diff --git a/boards/cuav/x7pro/init/rc.board_mavlink b/boards/cuav/x7pro/init/rc.board_mavlink index a7c5b8a837..75c5256651 100644 --- a/boards/cuav/x7pro/init/rc.board_mavlink +++ b/boards/cuav/x7pro/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# board specific board MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/cuav/x7pro/nuttx-config/include/board.h b/boards/cuav/x7pro/nuttx-config/include/board.h index 6d78671f81..198d3c5877 100644 --- a/boards/cuav/x7pro/nuttx-config/include/board.h +++ b/boards/cuav/x7pro/nuttx-config/include/board.h @@ -220,55 +220,61 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE + /* UART/USART */ -#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ -#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ +#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */ +#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ -#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */ #define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ +#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */ #define GPIO_USART6_RTS GPIO_USART6_RTS_2 /* PG8 */ #define GPIO_USART6_CTS GPIO_USART6_CTS_NSS_2 /* PG15 */ -#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */ + +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ /* CAN */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ #define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + /* SPI */ -#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) -#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */ -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */ -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ -#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */ -#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */ +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ + +#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ +#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ + +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ -#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */ -#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ -#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ diff --git a/boards/cubepilot/cubeorange/default.cmake b/boards/cubepilot/cubeorange/default.cmake index 6db55e059f..a8e2409a3d 100644 --- a/boards/cubepilot/cubeorange/default.cmake +++ b/boards/cubepilot/cubeorange/default.cmake @@ -107,6 +107,8 @@ px4_add_board( reboot reflect sd_bench + serial_test + system_time #tests # tests and test runner top topic_listener diff --git a/boards/cubepilot/cubeyellow/default.cmake b/boards/cubepilot/cubeyellow/default.cmake index ba148d09f6..6d732f14ab 100644 --- a/boards/cubepilot/cubeyellow/default.cmake +++ b/boards/cubepilot/cubeyellow/default.cmake @@ -30,8 +30,6 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20649 imu/invensense/icm20948 @@ -51,7 +49,7 @@ px4_add_board( roboclaw rpm telemetry # all available telemetry drivers - test_ppm + #test_ppm tone_alarm uavcan MODULES @@ -108,7 +106,9 @@ px4_add_board( reboot reflect sd_bench - tests # tests and test runner + serial_test + system_time + #tests # tests and test runner top topic_listener tune_control diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake index 5fc4b999f9..b772488e7f 100644 --- a/boards/holybro/durandal-v1/default.cmake +++ b/boards/holybro/durandal-v1/default.cmake @@ -10,7 +10,7 @@ px4_add_board( BUILD_BOOTLOADER IO px4_io-v2_default TESTING -# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN + UAVCAN_INTERFACES 2 SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS1 @@ -30,30 +30,26 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers #osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter -# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate -# all arch dependant code there pwm_out_sim pwm_out px4io roboclaw + rpm telemetry # all available telemetry drivers test_ppm tone_alarm -# uavcan - No H7 or FD can support in UAVCAN yet + #uavcan MODULES airspeed_selector attitude_estimator_q @@ -62,6 +58,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -77,12 +74,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -90,6 +90,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -116,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake index f95d07c493..2277baf8e5 100644 --- a/boards/modalai/fc-v1/default.cmake +++ b/boards/modalai/fc-v1/default.cmake @@ -28,7 +28,7 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm42688p irlock - lights/blinkm + #lights/blinkm lights/rgbled lights/rgbled_ncp5623c magnetometer # all available magnetometer drivers @@ -43,6 +43,7 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm @@ -71,12 +72,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -84,6 +88,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -110,6 +115,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/ctrl-zero-f7-oem/default.cmake b/boards/mro/ctrl-zero-f7-oem/default.cmake index 559593c587..8d94ef6b21 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.cmake +++ b/boards/mro/ctrl-zero-f7-oem/default.cmake @@ -17,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -25,7 +26,7 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps #heater #imu # all available imu drivers @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -47,6 +47,7 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm @@ -60,6 +61,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -82,6 +84,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +93,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -115,6 +120,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake index a118d5ba1c..f02794d086 100644 --- a/boards/mro/ctrl-zero-f7/default.cmake +++ b/boards/mro/ctrl-zero-f7/default.cmake @@ -17,6 +17,7 @@ px4_add_board( #CONSOLE:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -25,7 +26,7 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps #heater #imu # all available imu drivers @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -47,6 +47,7 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm @@ -60,6 +61,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -82,6 +84,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +93,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -115,6 +120,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/ctrl-zero-h7-oem/default.cmake b/boards/mro/ctrl-zero-h7-oem/default.cmake index a569dac5c2..1ade3ac99c 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.cmake +++ b/boards/mro/ctrl-zero-h7-oem/default.cmake @@ -48,7 +48,6 @@ px4_add_board( rc_input roboclaw rpm - #safety_button TODO telemetry # all available telemetry drivers test_ppm tone_alarm @@ -107,23 +106,26 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top topic_listener tune_control + uorb usb_connected ver work_queue EXAMPLES + fake_gps fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink b/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink +++ b/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h index 2e7a6a031f..a53970d9d2 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h @@ -187,7 +187,7 @@ * Note: look at Table 54 in ST Manual */ #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ -#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ @@ -222,34 +222,35 @@ /* UART/USART */ -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ -#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ -#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ -#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */ -#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */ +#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ +#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ +#define GPIO_USART6_TX 0 +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */ -#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ /* CAN */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ -#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ -#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ + +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ /* SPI */ @@ -265,15 +266,15 @@ #define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ -#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ -#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h index 10011ed371..bc99132dcd 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h @@ -37,8 +37,5 @@ #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ - -#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */ -#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */ +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld b/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld index 3fb4cc1f33..234b8c70d2 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld @@ -196,6 +196,11 @@ SECTIONS _ebss = ABSOLUTE(.); } > AXI_SRAM + /* Emit the the D3 power domain section for locating BDMA data */ + .SRAM4 (NOLOAD) : + { + } > SRAM4 + /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/mro/ctrl-zero-h7-oem/src/board_config.h b/boards/mro/ctrl-zero-h7-oem/src/board_config.h index 6538ff0d8a..3008f3c050 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/board_config.h +++ b/boards/mro/ctrl-zero-h7-oem/src/board_config.h @@ -77,14 +77,14 @@ /* CAN Silence: Silent mode control */ #define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) -#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) +//#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 #define DIRECT_INPUT_TIMER_CHANNELS 8 /* Power supply control and monitoring GPIOs */ -#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ #define BOARD_NUMBER_BRICKS 1 @@ -109,7 +109,7 @@ /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 @@ -148,20 +148,11 @@ #define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - -#define BOARD_HAS_STATIC_MANIFEST 1 - #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - #define BOARD_NUM_IO_TIMERS 3 - #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; - +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ +#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ @@ -171,9 +162,15 @@ GPIO_CAN2_TX, \ GPIO_CAN2_RX, \ GPIO_CAN1_SILENT_S0, \ - GPIO_CAN2_SILENT_S0, \ + GPIO_LEVEL_SHIFTER_OE, \ + GPIO_PWM_VOLT_SEL, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c index 0c8f4cf157..9b5548eae1 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/init.c +++ b/boards/mro/ctrl-zero-h7-oem/src/init.c @@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } - /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/mro/ctrl-zero-h7-oem/src/usb.c b/boards/mro/ctrl-zero-h7-oem/src/usb.c index e60a93bb59..1f5ad71abe 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/usb.c +++ b/boards/mro/ctrl-zero-h7-oem/src/usb.c @@ -37,21 +37,10 @@ * Board-specific USB functions. */ -#include - -#include -#include -#include -#include - +#include "board_config.h" #include #include - -#include -#include -#include #include -#include "board_config.h" /************************************************************************************ * Name: stm32_usbsuspend @@ -63,19 +52,6 @@ * while the USB is suspended. * ************************************************************************************/ -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32H7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} - - - __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); diff --git a/boards/mro/ctrl-zero-h7/default.cmake b/boards/mro/ctrl-zero-h7/default.cmake index 19858431b7..a42a13142c 100644 --- a/boards/mro/ctrl-zero-h7/default.cmake +++ b/boards/mro/ctrl-zero-h7/default.cmake @@ -48,7 +48,6 @@ px4_add_board( rc_input roboclaw rpm - #safety_button TODO telemetry # all available telemetry drivers test_ppm tone_alarm @@ -107,23 +106,26 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top topic_listener tune_control + uorb usb_connected ver work_queue EXAMPLES + fake_gps fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/ctrl-zero-h7/init/rc.board_mavlink b/boards/mro/ctrl-zero-h7/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/ctrl-zero-h7/init/rc.board_mavlink +++ b/boards/mro/ctrl-zero-h7/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h index 7dbde2d7d4..2c43f5a88a 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7/nuttx-config/include/board.h @@ -187,6 +187,7 @@ * Note: look at Table 54 in ST Manual */ #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ @@ -221,32 +222,32 @@ /* UART/USART */ -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ +#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ -#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ -#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ -#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */ -#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */ +#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ +#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ +#define GPIO_USART6_TX 0 +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ -#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */ -#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */ +#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ +#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ /* CAN */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ /* SPI */ @@ -262,7 +263,7 @@ #define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ /* I2C */ diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h b/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h index 10011ed371..bc99132dcd 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h +++ b/boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h @@ -37,8 +37,5 @@ #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */ - -#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */ -#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */ +#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */ +#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */ diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld b/boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld index 3fb4cc1f33..234b8c70d2 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld +++ b/boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld @@ -196,6 +196,11 @@ SECTIONS _ebss = ABSOLUTE(.); } > AXI_SRAM + /* Emit the the D3 power domain section for locating BDMA data */ + .SRAM4 (NOLOAD) : + { + } > SRAM4 + /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/mro/ctrl-zero-h7/src/board_config.h b/boards/mro/ctrl-zero-h7/src/board_config.h index c38b6796aa..d8216ba6f3 100644 --- a/boards/mro/ctrl-zero-h7/src/board_config.h +++ b/boards/mro/ctrl-zero-h7/src/board_config.h @@ -76,14 +76,17 @@ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* CAN Silence: Silent mode control */ -#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) +#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) + +#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3) +#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 #define DIRECT_INPUT_TIMER_CHANNELS 8 /* Power supply control and monitoring GPIOs */ -#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ #define BOARD_NUMBER_BRICKS 1 @@ -108,7 +111,7 @@ /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 @@ -147,20 +150,11 @@ #define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ -#define BOARD_HAS_ON_RESET 1 - -#define BOARD_HAS_STATIC_MANIFEST 1 - #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - #define BOARD_NUM_IO_TIMERS 3 - #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; - +#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ +#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ @@ -168,8 +162,15 @@ GPIO_CAN1_TX, \ GPIO_CAN1_RX, \ GPIO_CAN1_SILENT_S0, \ + GPIO_LEVEL_SHIFTER_OE, \ + GPIO_PWM_VOLT_SEL, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ + PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c index 0c8f4cf157..9b5548eae1 100644 --- a/boards/mro/ctrl-zero-h7/src/init.c +++ b/boards/mro/ctrl-zero-h7/src/init.c @@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); } - /* initial LED state */ drv_led_start(); led_off(LED_RED); @@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif /* CONFIG_MMCSD */ /* Configure the HW based on the manifest */ - px4_platform_configure(); return OK; diff --git a/boards/mro/ctrl-zero-h7/src/usb.c b/boards/mro/ctrl-zero-h7/src/usb.c index e60a93bb59..1f5ad71abe 100644 --- a/boards/mro/ctrl-zero-h7/src/usb.c +++ b/boards/mro/ctrl-zero-h7/src/usb.c @@ -37,21 +37,10 @@ * Board-specific USB functions. */ -#include - -#include -#include -#include -#include - +#include "board_config.h" #include #include - -#include -#include -#include #include -#include "board_config.h" /************************************************************************************ * Name: stm32_usbsuspend @@ -63,19 +52,6 @@ * while the USB is suspended. * ************************************************************************************/ -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32H7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} - - - __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); diff --git a/boards/mro/pixracerpro/default.cmake b/boards/mro/pixracerpro/default.cmake index 3726a6365d..4a071a521f 100644 --- a/boards/mro/pixracerpro/default.cmake +++ b/boards/mro/pixracerpro/default.cmake @@ -11,12 +11,13 @@ px4_add_board( TESTING UAVCAN_INTERFACES 2 SERIAL_PORTS - TEL1:/dev/ttyS0 - TEL2:/dev/ttyS1 - GPS1:/dev/ttyS2 - #RC:/dev/ttyS3 - #CONSOLE:/dev/ttyS4 - #FRSKY:/dev/ttyS5 + #SPARE:/dev/ttyS0 + TEL1:/dev/ttyS1 + TEL2:/dev/ttyS2 + GPS1:/dev/ttyS3 + #RC:/dev/ttyS4 + #CONSOLE:/dev/ttyS5 + #FRSKY:/dev/ttyS6 DRIVERS adc/board_adc #barometer # all available barometer drivers @@ -94,6 +95,7 @@ px4_add_board( hardfault_log i2cdetect led_control + mft mixer motor_ramp motor_test @@ -105,6 +107,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -116,14 +119,15 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/pixracerpro/init/rc.board_extras b/boards/mro/pixracerpro/init/rc.board_extras new file mode 100644 index 0000000000..ccf9223a5b --- /dev/null +++ b/boards/mro/pixracerpro/init/rc.board_extras @@ -0,0 +1,10 @@ +#!/bin/sh +# +# board specific extras init +#------------------------------------------------------------------------------ + +# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already +if param compare TEL_FRSKY_CONFIG 0 +then + frsky_telemetry start -d /dev/ttyS6 -t 15 +fi diff --git a/boards/mro/pixracerpro/init/rc.board_mavlink b/boards/mro/pixracerpro/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/pixracerpro/init/rc.board_mavlink +++ b/boards/mro/pixracerpro/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/pixracerpro/init/rc.board_sensors b/boards/mro/pixracerpro/init/rc.board_sensors index bb25512841..111e3eb044 100644 --- a/boards/mro/pixracerpro/init/rc.board_sensors +++ b/boards/mro/pixracerpro/init/rc.board_sensors @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific sensors init +# board specific sensors init #------------------------------------------------------------------------------ board_adc start diff --git a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig index c1fadaf531..1924174d23 100644 --- a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig @@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y CONFIG_BOARDCTL_RESET=y CONFIG_BOARD_INITTHREAD_PRIORITY=254 CONFIG_BOARD_LATE_INITIALIZE=y -CONFIG_BOARD_LOOPSPERMSEC=22114 +CONFIG_BOARD_LOOPSPERMSEC=95150 CONFIG_BOARD_RESET_ON_ASSERT=2 CONFIG_C99_BOOL8=y CONFIG_CDCACM=y diff --git a/boards/mro/pixracerpro/nuttx-config/include/board.h b/boards/mro/pixracerpro/nuttx-config/include/board.h index 9cda26cb73..b2765d81d2 100644 --- a/boards/mro/pixracerpro/nuttx-config/include/board.h +++ b/boards/mro/pixracerpro/nuttx-config/include/board.h @@ -237,8 +237,8 @@ #define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ #define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ -//#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ -//#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX 0 +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ #define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ #define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ @@ -252,7 +252,7 @@ #define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ -#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ /* SPI */ diff --git a/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h b/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h index ebbf689254..7155880520 100644 --- a/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h +++ b/boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 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 @@ -37,9 +37,6 @@ #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */ #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */ -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */ - #define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */ #define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */ diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig index d020ae771b..f5be02aac7 100644 --- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig @@ -141,7 +141,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -198,6 +198,7 @@ CONFIG_STM32H7_UART8=y CONFIG_STM32H7_USART1=y CONFIG_STM32H7_USART2=y CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y CONFIG_STM32H7_USART_BREAKS=y CONFIG_STM32H7_USART_INVERT=y CONFIG_STM32H7_USART_SINGLEWIRE=y @@ -227,6 +228,9 @@ CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld index 77c46f01a3..50ac18d578 100644 --- a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld +++ b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld @@ -111,6 +111,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ @@ -167,6 +168,7 @@ SECTIONS _einit = ABSOLUTE(.); } > FLASH + .ARM.extab : { *(.ARM.extab*) } > FLASH @@ -201,6 +203,7 @@ SECTIONS { } > SRAM4 + /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/mro/pixracerpro/src/board_config.h b/boards/mro/pixracerpro/src/board_config.h index 28d730206f..26fe7d87d7 100644 --- a/boards/mro/pixracerpro/src/board_config.h +++ b/boards/mro/pixracerpro/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 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 @@ -58,29 +58,30 @@ /* PA2 */ GPIO_ADC12_INP14, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ - /* PC1 */ GPIO_ADC123_INN10 + /* PC1 */ GPIO_ADC123_INP11 -/* Define Channel numbers must match above GPIO pin */ -#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ -#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ -#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ -#define ADC_RSSI_IN_CHANNEL 10 /* PC1 */ +/* Define Channel numbers must match above GPIO pins */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ +#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ +#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ +#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_RSSI_IN_CHANNEL)) + (1 << ADC_RC_RSSI_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* CAN Silence: Silent mode control */ -#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11) -#define GPIO_CAN2_SILENT_S0 /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14) +#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11) +#define GPIO_CAN2_SILENT_S0 /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14) -#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3) -#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6) +#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3) +#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 @@ -118,7 +119,7 @@ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 /* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS3" +#define RC_SERIAL_PORT "/dev/ttyS4" #define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) @@ -148,7 +149,7 @@ #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; +#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_ENABLE_CONSOLE_BUFFER @@ -162,6 +163,7 @@ GPIO_CAN1_SILENT_S0, \ GPIO_CAN2_SILENT_S0, \ GPIO_LEVEL_SHIFTER_OE, \ + GPIO_VDD_3V3_SENSORS_EN, \ GPIO_PWM_VOLT_SEL, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c index c9107bd4ff..9b5548eae1 100644 --- a/boards/mro/pixracerpro/src/init.c +++ b/boards/mro/pixracerpro/src/init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 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 @@ -193,5 +193,8 @@ __EXPORT int board_app_initialize(uintptr_t arg) sdio_mediachange(sdio_dev, true); #endif /* CONFIG_MMCSD */ + /* Configure the HW based on the manifest */ + px4_platform_configure(); + return OK; } diff --git a/boards/mro/pixracerpro/src/spi.cpp b/boards/mro/pixracerpro/src/spi.cpp index af19682fe9..bd94a18d26 100644 --- a/boards/mro/pixracerpro/src/spi.cpp +++ b/boards/mro/pixracerpro/src/spi.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2020-2021 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 @@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), - }, {GPIO::PortE, GPIO::Pin3}), + }), initSPIBus(SPI::Bus::SPI2, { initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}), initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}), diff --git a/boards/mro/x21-777/default.cmake b/boards/mro/x21-777/default.cmake index fad6a148d9..1b8e4a3d96 100644 --- a/boards/mro/x21-777/default.cmake +++ b/boards/mro/x21-777/default.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE:/dev/tty5 # OSD:/dev/tty6 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -83,6 +83,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -117,6 +119,7 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello diff --git a/boards/mro/x21/default.cmake b/boards/mro/x21/default.cmake index 2384034f1a..fb1a832e92 100644 --- a/boards/mro/x21/default.cmake +++ b/boards/mro/x21/default.cmake @@ -16,6 +16,7 @@ px4_add_board( TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -23,7 +24,7 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps #heater #imu # all available imu drivers @@ -31,14 +32,12 @@ px4_add_board( imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out #power_monitor/ina226 #protocol_splitter pwm_input @@ -46,6 +45,7 @@ px4_add_board( pwm_out px4io roboclaw + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -58,6 +58,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -80,6 +81,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -87,6 +90,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -113,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake index 31d6556a5b..3788bf6825 100644 --- a/boards/nxp/fmuk66-v3/default.cmake +++ b/boards/nxp/fmuk66-v3/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -30,21 +31,20 @@ px4_add_board( imu/fxas21002c imu/fxos8701cq irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers #test_ppm # NOT Portable YET @@ -58,6 +58,7 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control @@ -73,12 +74,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -86,7 +90,7 @@ px4_add_board( #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + gpio i2cdetect led_control mft @@ -112,6 +116,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake index 46c7d70f33..2a9d65b3ad 100644 --- a/boards/omnibus/f4sd/default.cmake +++ b/boards/omnibus/f4sd/default.cmake @@ -3,6 +3,7 @@ px4_add_board( PLATFORM nuttx VENDOR omnibus MODEL f4sd + LABEL default TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 CONSTRAINED_MEMORY @@ -24,7 +25,6 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/mpu6000 #irlock - #lights/blinkm lights/rgbled #magnetometer # all available magnetometer drivers magnetometer/hmc5883 @@ -46,6 +46,7 @@ px4_add_board( commander dataman ekf2 + #esc_battery events flight_mode_manager #fw_att_control @@ -61,12 +62,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update #rover_pos_control sensors #sih #temperature_compensation + #uuv_att_control + #uuv_pos_control #vmount #vtol_att_control SYSTEMCMDS @@ -74,6 +78,7 @@ px4_add_board( dmesg dumpfile esc_calib + #gpio hardfault_log i2cdetect led_control @@ -89,6 +94,7 @@ px4_add_board( reboot reflect sd_bench + #system_time #tests # tests and test runner top #topic_listener @@ -99,6 +105,8 @@ px4_add_board( work_queue EXAMPLES #fake_gps + #fake_gyro + #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello #hwtest # Hardware test diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake index 207b06d22a..488ffead8a 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -33,25 +33,21 @@ px4_add_board( gps #heater #imu # all available imu drivers - #imu/analog_devices/adis16448 - #imu/adis16477 - #imu/adis16497 imu/l3gd20 imu/lsm303d #imu/invensense/icm20608g #imu/invensense/icm20948 imu/invensense/mpu6000 #imu/invensense/mpu9250 - #iridiumsbd #irlock - #lights/blinkm + #lights # all available light drivers lights/rgbled #magnetometer # all available magnetometer drivers magnetometer/hmc5883 #optical_flow # all available optical flow drivers - #optical_flow/px4flow #osd #pca9685 + #pca9685_pwm_out #power_monitor/ina226 #protocol_splitter #pwm_input @@ -59,6 +55,7 @@ px4_add_board( pwm_out px4io #roboclaw + #rpm #telemetry # all available telemetry drivers #test_ppm tone_alarm @@ -94,6 +91,8 @@ px4_add_board( sensors #sih #temperature_compensation + #uuv_att_control + #uuv_pos_control #vmount #vtol_att_control SYSTEMCMDS @@ -101,6 +100,7 @@ px4_add_board( #dmesg #dumpfile #esc_calib + #gpio hardfault_log #i2cdetect #led_control @@ -116,7 +116,7 @@ px4_add_board( reboot #reflect #sd_bench - #shutdown + #system_time #tests # tests and test runner top #topic_listener @@ -127,6 +127,8 @@ px4_add_board( #work_queue EXAMPLES #fake_gps + #fake_gyro + #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello #hwtest # Hardware test diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake index 963ab40edf..19a8d155c5 100644 --- a/boards/px4/fmu-v3/default.cmake +++ b/boards/px4/fmu-v3/default.cmake @@ -1,6 +1,4 @@ -# FMUv3 is FMUv2 with access to the full 2MB flash - px4_add_board( PLATFORM nuttx VENDOR px4 @@ -19,8 +17,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS6 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -32,8 +30,6 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/l3gd20 imu/lsm303d imu/invensense/icm20608g @@ -41,13 +37,10 @@ px4_add_board( imu/invensense/mpu6000 imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 pca9685_pwm_out #power_monitor/ina226 @@ -57,6 +50,7 @@ px4_add_board( pwm_out px4io roboclaw + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -92,6 +86,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -126,6 +122,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake index 1c4704fd5f..bfe8a7cfe7 100644 --- a/boards/px4/fmu-v4/default.cmake +++ b/boards/px4/fmu-v4/default.cmake @@ -15,10 +15,9 @@ px4_add_board( TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 WIFI:/dev/ttyS0 - DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -30,28 +29,24 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20608g - imu/invensense/icm40609d - imu/invensense/mpu6500 imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out + power_monitor/ina226 #protocol_splitter pwm_input pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button telemetry # all available telemetry drivers test_ppm diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake index 0fea0c5f52..d94c5753a6 100644 --- a/boards/px4/fmu-v4pro/default.cmake +++ b/boards/px4/fmu-v4pro/default.cmake @@ -18,8 +18,8 @@ px4_add_board( TEL3:/dev/ttyS0 TEL4:/dev/ttyS6 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -30,26 +30,25 @@ px4_add_board( gps #heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/invensense/icm20602 imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 pca9685_pwm_out - power_monitor/ina226 + #power_monitor/ina226 #protocol_splitter pwm_input pwm_out_sim pwm_out px4io roboclaw + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -94,6 +93,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -120,6 +120,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake index 56de57d909..a9ff061896 100644 --- a/boards/px4/fmu-v5/default.cmake +++ b/boards/px4/fmu-v5/default.cmake @@ -16,8 +16,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -29,19 +29,14 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c - lights/rgbled_pwm + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out power_monitor/ina226 diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake index 44d09fb55b..dbbd1d12d4 100644 --- a/boards/px4/fmu-v5x/default.cmake +++ b/boards/px4/fmu-v5x/default.cmake @@ -18,8 +18,8 @@ px4_add_board( TEL3:/dev/ttyS1 GPS2:/dev/ttyS7 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -31,19 +31,15 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20602 imu/invensense/icm42688p irlock - #lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd - #pca9685 + osd + pca9685 pca9685_pwm_out power_monitor/ina226 #protocol_splitter @@ -89,6 +85,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -124,6 +122,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v6u/default.cmake b/boards/px4/fmu-v6u/default.cmake index f1b05c2ebf..f9bf35f919 100644 --- a/boards/px4/fmu-v6u/default.cmake +++ b/boards/px4/fmu-v6u/default.cmake @@ -28,6 +28,7 @@ px4_add_board( gps heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/bosch/bmi088 imu/invensense/icm20602 imu/invensense/icm42605 @@ -117,7 +118,8 @@ px4_add_board( work_queue EXAMPLES fake_gps - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello #hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v6x/default.cmake b/boards/px4/fmu-v6x/default.cmake index 63b7878fd0..3ad0bc5937 100644 --- a/boards/px4/fmu-v6x/default.cmake +++ b/boards/px4/fmu-v6x/default.cmake @@ -10,7 +10,7 @@ px4_add_board( BUILD_BOOTLOADER IO px4_io-v2_default TESTING -# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN + UAVCAN_INTERFACES 2 SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS6 @@ -30,8 +30,6 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20649 irlock @@ -44,8 +42,7 @@ px4_add_board( pca9685 power_monitor/ina226 #protocol_splitter -# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate -# all arch dependant code there + #pwm_input - Need to create arch/stm32 arch/stm32h7 pwm_out_sim pwm_out px4io @@ -56,10 +53,11 @@ px4_add_board( telemetry # all available telemetry drivers test_ppm tone_alarm -# uavcan - No H7 or FD can support in UAVCAN yet + uavcan MODULES airspeed_selector attitude_estimator_q + #battery_status camera_feedback commander dataman @@ -94,6 +92,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -109,6 +108,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -118,7 +118,6 @@ px4_add_board( usb_connected ver work_queue - serial_test EXAMPLES fake_gps fake_magnetometer diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake index fc2da63c8a..5cab65fbe8 100644 --- a/boards/px4/sitl/default.cmake +++ b/boards/px4/sitl/default.cmake @@ -88,6 +88,7 @@ px4_add_board( EXAMPLES dyn_hello # dynamically loading modules example fake_gps + fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello diff --git a/src/drivers/lights/CMakeLists.txt b/src/drivers/lights/CMakeLists.txt index 5a16eb1ab0..0d084d04b5 100644 --- a/src/drivers/lights/CMakeLists.txt +++ b/src/drivers/lights/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2018 PX4 Development Team. All rights reserved. +# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,6 +32,7 @@ ############################################################################ add_subdirectory(blinkm) +#add_subdirectory(neopixel) # requiers board support (BOARD_HAS_N_S_RGB_LED) add_subdirectory(rgbled) add_subdirectory(rgbled_ncp5623c) #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)