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Code Issues Packages Projects Releases Wiki Activity

nxp_ucans32k146:Add Can Bootloader build

Browse Source 
nxp_ucans32k146:Relocation for Bootloader

nxp_ucans32k146:can_boot enable CAN

nxp_ucans32k146:Save Space use Non Optimize memcpy

nxp_ucans32k146:Increase to 24K

nxp/ucans32k146:Canbootloader LED Driver

nxp_ucans32k146:Can bootloader shut down CAN

nxp_ucans32k146:Use NVMEEPROM for Paramaters

nxp_ucans32k146:Use bootloader AppDescriptor

px4 mtd:Support onchip emulated eeprom
This commit is contained in:
David Sidrane 2021-02-17 06:57:28 -08:00 committed by Lorenz Meier
parent 62c0c96749
commit dd3c3098f2
18 changed files with 921 additions and 63 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ROMFS/cannode/init.d/rcS
View File

@ -30,14 +30,16 @@ sercon
#
ver all
#
# Set the parameter file if mtd starts successfully.
#
if mtd start
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
then
set PARAM_FILE /dev/eeeprom0
fi
#
# Load parameters.
#

13
boards/nxp/ucans32k146/canbootloader.cmake Normal file
View File

@ -0,0 +1,13 @@
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
VENDOR nxp
MODEL ucans32k146
LABEL canbootloader
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
CONSTRAINED_MEMORY
DRIVERS
bootloaders
)

26
boards/nxp/ucans32k146/default.cmake
View File

@ -1,22 +1,4 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.nxp.ucans32k146\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
@ -33,7 +15,7 @@ px4_add_board(
DRIVERS
#adc/board_adc
#barometer # all available barometer drivers
#bootloaders
bootloaders
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
#dshot
@ -63,10 +45,12 @@ px4_add_board(
i2cdetect
led_control
mixer
mtd
mft
#motor_ramp
#motor_test
#nshterm
#param
param
#perf
pwm
reboot

2
boards/nxp/ucans32k146/firmware.prototype
View File

@ -1,5 +1,5 @@
{
"board_id": 10000,
"board_id": 34,
"magic": "PX4FWv1",
"description": "Firmware for the ucans32k146 board",
"image": "",

73
boards/nxp/ucans32k146/nuttx-config/canbootloader/defconfig Normal file
View File

@ -0,0 +1,73 @@
#
# 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_LOWPUTC is not set
# CONFIG_DEV_CONSOLE is not set
# CONFIG_SERIAL is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="s32k1xx"
CONFIG_ARCH_CHIP_S32K146=y
CONFIG_ARCH_CHIP_S32K14X=y
CONFIG_ARCH_CHIP_S32K1XX=y
CONFIG_ARCH_INTERRUPTSTACK=4096
CONFIG_ARCH_SIZET_LONG=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BINFMT_DISABLE=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=3997
CONFIG_C99_BOOL8=y
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_EXPERIMENTAL=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIB_BOARDCTL=y
CONFIG_MAX_TASKS=0
CONFIG_NAME_MAX=0
CONFIG_NUNGET_CHARS=0
CONFIG_NXFONTS_DISABLE_16BPP=y
CONFIG_NXFONTS_DISABLE_1BPP=y
CONFIG_NXFONTS_DISABLE_24BPP=y
CONFIG_NXFONTS_DISABLE_2BPP=y
CONFIG_NXFONTS_DISABLE_32BPP=y
CONFIG_NXFONTS_DISABLE_4BPP=y
CONFIG_NXFONTS_DISABLE_8BPP=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=126976
CONFIG_RAM_START=0x1fff0000
CONFIG_RAW_BINARY=y
CONFIG_SDCLONE_DISABLE=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_SYSLOG_DEFAULT=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=4096

6
boards/nxp/ucans32k146/nuttx-config/nsh/defconfig
View File

@ -54,6 +54,9 @@ CONFIG_LPUART1_SERIAL_CONSOLE=y
CONFIG_LPUART1_TXBUFSIZE=128
CONFIG_MAX_TASKS=16
CONFIG_MOTOROLA_SREC=y
CONFIG_MTD=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_PARTITION_NAMES=y
CONFIG_NET=y
CONFIG_NETDEV_IFINDEX=y
CONFIG_NET_CAN=y
@ -80,8 +83,7 @@ CONFIG_RAM_START=0x1fff0000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_RTC=y
# CONFIG_RTC_FREQUENCY=32768
# CONFIG_RTC_HIRES=y
CONFIG_S32K1XX_EEEPROM=y
CONFIG_S32K1XX_FLEXCAN0=y
CONFIG_S32K1XX_FLEXCAN1=y
CONFIG_S32K1XX_LPI2C0=y

158
boards/nxp/ucans32k146/nuttx-config/scripts/canbootloader_script.ld Normal file
View File

@ -0,0 +1,158 @@
/****************************************************************************
* nuttx-config/scripts/canbootloader_script.ld
*
* Copyright (C) 2021 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 S32K146 has 1Mb of FLASH beginning at address 0x0000:0000 and
* 124Kb of SRAM beginning at address 0x1fff:0000 (plus 4Kb of FlexRAM)
*
* The on-chip RAM is split in two regions: SRAM_L and SRAM_U. The RAM is
* implemented such that the SRAM_L and SRAM_U ranges form a contiguous
* block in the memory map
*
* SRAM_L 1fff0000 - 1fffffff 64Kb
* SRAM_U 20000000 - 2000efff 60Kb
*/
/* 6 4Kib Sectors 24 Kib for the bootloader
* paramater storace is in eeprom (dflash)
*/
MEMORY
{
vflash (rx) : ORIGIN = 0x00000000, LENGTH = 1K
pflash (rx) : ORIGIN = 0x00000400, LENGTH = 16
pflash1 (rx) : ORIGIN = 0x00000410, LENGTH = 24K-(1K + 16)
dflash (rx) : ORIGIN = 0x10000000, LENGTH = 64K
sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
EXTERN(g_flashcfg)
ENTRY(_stext)
SECTIONS
{
.vectors :
{
_stext = ABSOLUTE(.);
*(.vectors)
} > vflash
.flashcfg :
{
*(.flashcfg)
} > pflash
.text :
{
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > pflash1
.init_section :
{
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > pflash1
.ARM.extab :
{
*(.ARM.extab*)
} >pflash1
.ARM.exidx :
{
__exidx_start = ABSOLUTE(.);
*(.ARM.exidx*)
__exidx_end = ABSOLUTE(.);
} >pflash1
.data :
{
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
. = ALIGN(4);
_edata = ABSOLUTE(.);
} > sram AT > pflash1
_eronly = LOADADDR(.data);
.ramfunc ALIGN(4):
{
_sramfuncs = ABSOLUTE(.);
*(.ramfunc .ramfunc.*)
_eramfuncs = ABSOLUTE(.);
} > sram AT > pflash1
_framfuncs = LOADADDR(.ramfunc);
.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) }
}

48
boards/nxp/ucans32k146/nuttx-config/scripts/script.ld
View File

@ -44,17 +44,24 @@
* SRAM_U 20000000 - 2000efff 60Kb
*/
/* 6 4Kib Sectors 24 Kib for the bootloader
* paramater storace is in eeprom (dflash)
*/
MEMORY
{
vflash (rx) : ORIGIN = 0x00000000, LENGTH = 1K
pflash (rx) : ORIGIN = 0x00000400, LENGTH = 16
dflash (rx) : ORIGIN = 0x00000410, LENGTH = 1023K-16
sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K
vflash (rx) : ORIGIN = 0x00006000, LENGTH = 1K
pflash (rx) : ORIGIN = 0x00006400, LENGTH = 16
pflash1 (rx) : ORIGIN = 0x00006410, LENGTH = 1024K-(24K + 1K + 16)
dflash (rx) : ORIGIN = 0x10000000, LENGTH = 64K
sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
EXTERN(g_flashcfg)
EXTERN(board_get_manifest)
ENTRY(_stext)
SECTIONS
@ -62,7 +69,7 @@ SECTIONS
.vectors :
{
_stext = ABSOLUTE(.);
*(.vectors)
KEEP(*(.vectors))
} > vflash
.flashcfg :
@ -72,6 +79,15 @@ SECTIONS
.text :
{
. = 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)
@ -83,27 +99,29 @@ SECTIONS
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > dflash
. = ALIGN(8);
FILL(0xff)
. += 8;
} > pflash1 = 0xff
.init_section :
{
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > dflash
} > pflash1
.ARM.extab :
{
*(.ARM.extab*)
} >dflash
} >pflash1
.ARM.exidx :
{
__exidx_start = ABSOLUTE(.);
*(.ARM.exidx*)
__exidx_end = ABSOLUTE(.);
} >dflash
} >pflash1
.data :
{
@ -113,7 +131,10 @@ SECTIONS
CONSTRUCTORS
. = ALIGN(4);
_edata = ABSOLUTE(.);
} > sram AT > dflash
. = ALIGN(8);
FILL(0xff)
. += 8;
} > sram AT > pflash1 = 0xff
_eronly = LOADADDR(.data);
@ -122,7 +143,10 @@ SECTIONS
_sramfuncs = ABSOLUTE(.);
*(.ramfunc .ramfunc.*)
_eramfuncs = ABSOLUTE(.);
} > sram AT > dflash
. = ALIGN(8);
FILL(0xff)
. += 8;
} > sram AT > pflash1 = 0xff
_framfuncs = LOADADDR(.ramfunc);

65
boards/nxp/ucans32k146/src/CMakeLists.txt
View File

@ -30,26 +30,49 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
add_library(drivers_board
autoleds.c
boot.c
bringup.c
buttons.c
clockconfig.c
# i2c.cpp # TODO
init.c
periphclocks.c
spi.c
timer_config.cpp
userleds.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
px4_layer
arch_io_pins
add_library(drivers_board
can_boot.c
led.cpp
clockconfig.c
periphclocks.c
timer_config.cpp
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
canbootloader
arch_io_pins
arch_led_pwm
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
else()
add_library(drivers_board
autoleds.c
boot.c
bringup.c
buttons.c
clockconfig.c
# i2c.cpp # TODO
init.c
mtd.cpp
periphclocks.c
spi.c
timer_config.cpp
userleds.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
px4_layer
arch_io_pins
)
endif()

128
boards/nxp/ucans32k146/src/boot_config.h Normal file
View File

@ -0,0 +1,128 @@
/****************************************************************************
*
* 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>
/****************************************************************************
* 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 5000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
#undef S_RGB_LED_DMA // use the poled one
/*
* 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 0
#define OPT_ENABLE_WD 1
#define OPT_RESTART_TIMEOUT_MS 20000
/* Reserved for the Booloader */
#define OPT_BOOTLOADER_SIZE_IN_K (24 * 1024)
/* 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 0
#define FLASH_SIZE (1024*1024)
#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)))
#define OPT_USE_YIELD
#define OPT_LATER_FLAHSED_WORDS 2
/* Bootloader Option*****************************************************************
*
*/
#define GPIO_GETNODEINFO_JUMPER (PIN_PTC14)

11
boards/nxp/ucans32k146/src/bringup.c
View File

@ -57,6 +57,10 @@
# include "s32k1xx_lpi2c.h"
#endif
#ifdef CONFIG_S32K1XX_EEEPROM
# include "s32k1xx_eeeprom.h"
#endif
#include "board_config.h"
/****************************************************************************
@ -114,6 +118,12 @@ int s32k1xx_bringup(void)
#endif
#ifdef CONFIG_S32K1XX_EEEPROM
/* Register EEEPROM block device */
s32k1xx_eeeprom_register(0, 4096);
#endif
#ifdef CONFIG_S32K1XX_LPSPI
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak
* function s32k1xx_spidev_initialize() has been brought into the link.
@ -141,6 +151,5 @@ int s32k1xx_bringup(void)
#endif
#endif
return ret;
}

214
boards/nxp/ucans32k146/src/can_boot.c Normal file
View File

@ -0,0 +1,214 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david.sidrane@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 "led.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
#include "s32k1xx_periphclocks.h"
#include "s32k1xx_flexcan.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 s32k1xx_board_initialize(void)
{
struct peripheral_clock_config_s c;
c.clkname = FLEXCAN0_CLK,
c.clkgate = true,
// CAN clocking
s32k1xx_periphclocks(1, &c);
// Can GPIO
s32k1xx_pinconfig(PIN_CAN0_TX);
s32k1xx_pinconfig(PIN_CAN0_RX);
s32k1xx_pinconfig(PIN_CAN0_ENABLE | GPIO_OUTPUT_ZERO);
//s32k1xx_gpiowrite
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
s32k1xx_pinconfig(GPIO_GETNODEINFO_JUMPER);
#endif
ucans32k_timer_initialize();
}
/************************************************************************************
* Name: stm32_boarddeinitialize
*
* 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 stm32_boarddeinitialize(void)
{
uint32_t regval = getreg32(S32K1XX_CAN0_MCR);
regval |= CAN_MCR_MDIS;
putreg32(regval, S32K1XX_CAN0_MCR);
do {
regval = getreg32(S32K1XX_CAN0_MCR);
up_udelay(10);
} while ((regval & CAN_MCR_LPMACK) == 0);
s32k1xx_pinconfig(PIN_CAN0_ENABLE | GPIO_OUTPUT_ONE);
}
/****************************************************************************
* 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 {
uint16_t red : 5;
uint16_t green : 6;
uint16_t blue : 5;
uint8_t hz;
} end_packed_struct led_t;
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 10, 63, 31, 255),
led(2, autobaud_start, 0, 63, 0, 1),
led(3, autobaud_end, 0, 63, 0, 2),
led(4, allocation_start, 0, 0, 31, 2),
led(5, allocation_end, 0, 63, 31, 3),
led(6, fw_update_start, 15, 63, 31, 3),
led(7, fw_update_erase_fail, 15, 63, 15, 3),
led(8, fw_update_invalid_response, 31, 0, 0, 1),
led(9, fw_update_timeout, 31, 0, 0, 2),
led(a, fw_update_invalid_crc, 31, 0, 0, 4),
led(b, jump_to_app, 0, 63, 0, 10),
};
void board_indicate(uiindication_t indication)
{
rgb_led(i2l[indication].red << 3,
i2l[indication].green << 2,
i2l[indication].blue << 3,
i2l[indication].hz);
}
#include <drivers/drv_watchdog.h>
// Stubs
void watchdog_init(void)
{
}
void watchdog_pet(void)
{
}

94
boards/nxp/ucans32k146/src/led.cpp Normal file
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@ -0,0 +1,94 @@
/****************************************************************************
*
* Copyright (C) 2021 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.
*
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <arch/board/board.h>
#include "led.h"
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include "s32k1xx_pin.h"
#include "hardware/s32k1xx_ftm.h"
#define REG(offset) (*(volatile uint32_t *)(S32K1XX_FTM0_BASE + (offset)))
#define rSC() REG(S32K1XX_FTM_SC_OFFSET)
#define rCNT() REG(S32K1XX_FTM_CNT_OFFSET)
#define rMOD() REG(S32K1XX_FTM_MOD_OFFSET)
#define FTM_SRC_CLOCK_FREQ 8000000
#define LED_PWM_FREQ 1000000
extern int led_pwm_servo_set(unsigned channel, uint8_t value);
extern int led_pwm_servo_init(void);
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = FTM_SRC_CLOCK_FREQ;
long prescale = 128;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
long p = freqs == 0 ? p1s : p1s / freqs;
static bool once = false;
if (!once) {
once = true;
led_pwm_servo_init();
}
irqstate_t flags = px4_enter_critical_section();
uint32_t save = rSC();
rSC() = save & ~(FTM_SC_CLKS_MASK);
rMOD() = p;
rSC() = save | FTP_SC_PS_DIV128;
px4_leave_critical_section(flags);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
led_pwm_servo_set(0, r * p);
led_pwm_servo_set(1, g * p);
led_pwm_servo_set(2, b * p);
if (freqs == 0) {
rSC() |= FTM_SC_CLKS_DIS;
} else {
rSC() &= ~FTM_SC_CLKS_DIS;
}
}

37
boards/nxp/ucans32k146/src/led.h Normal file
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@ -0,0 +1,37 @@
/****************************************************************************
*
* Copyright (C) 2021 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

75
boards/nxp/ucans32k146/src/mtd.cpp Normal file
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@ -0,0 +1,75 @@
/****************************************************************************
*
* 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 <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t eerom = { // Emulated EEPROB 4K
.bus_type = px4_mft_device_t::ONCHIP,
};
static const px4_mtd_entry_t fmum_eeprom = {
.device = &eerom,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/dev/eeeprom0",
.nblocks = 1
}
},
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 1,
.entries = {
&fmum_eeprom
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
};
const px4_mft_s *board_get_manifest(void)
{
return &mft;
}

17
boards/nxp/ucans32k146/uavcan_board_identity Normal file
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@ -0,0 +1,17 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
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 34)
set(uavcanblid_name "\"org.nxp.ucans32k146\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)

1
platforms/common/include/px4_platform_common/px4_manifest.h
View File

@ -48,6 +48,7 @@ typedef struct {
enum px4_bus_type {
I2C = 0,
SPI = 1,
ONCHIP = 2,
} bus_type;
uint32_t devid;

6
platforms/nuttx/src/px4/common/px4_mtd.cpp
View File

@ -334,8 +334,12 @@ memoryout:
if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) {
rv = at24xxx_attach(instances[i]);
} else {
} else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::SPI) {
rv = ramtron_attach(instances[i]);
} else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::ONCHIP) {
instances[i].n_partitions_current++;
return 0;
}
if (rv != 0) {