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px4_fmu-v6xrt: Add dshot support

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This commit is contained in:
Peter van der Perk
2023-12-15 10:15:02 -05:00
committed by David Sidrane
parent 24cee81279
commit e2c027405e
12 changed files with 377 additions and 10 deletions
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boards/px4/fmu-v6xrt/default.px4board
+1
View File
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
+1
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@@ -83,6 +83,7 @@ CONFIG_IMXRT_ENET=y
CONFIG_IMXRT_FLEXCAN1=y
CONFIG_IMXRT_FLEXCAN2=y
CONFIG_IMXRT_FLEXCAN3=y
CONFIG_IMXRT_FLEXIO1=y
CONFIG_IMXRT_FLEXSPI2=y
CONFIG_IMXRT_GPIO13_IRQ=y
CONFIG_IMXRT_GPIO1_0_15_IRQ=y
boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c
+2 -2
View File
@@ -117,8 +117,8 @@ const struct clock_configuration_s g_initial_clkconfig = {
.flexio1_clk_root =
{
.enable = 1,
.div = 1,
.mux = FLEXIO1_CLK_ROOT_OSC_RC_48M_DIV2,
.div = 2,
.mux = FLEXIO1_CLK_ROOT_SYS_PLL3_DIV2,
},
.flexio2_clk_root =
{
boards/px4/fmu-v6xrt/src/timer_config.cpp
+8 -8
View File
@@ -91,14 +91,14 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOPWM(PWM::FlexPWM1, PWM::Submodule0),
initIOPWM(PWM::FlexPWM1, PWM::Submodule1),
initIOPWM(PWM::FlexPWM1, PWM::Submodule2),
initIOPWM(PWM::FlexPWM2, PWM::Submodule0),
initIOPWM(PWM::FlexPWM2, PWM::Submodule1),
initIOPWM(PWM::FlexPWM2, PWM::Submodule2),
initIOPWM(PWM::FlexPWM2, PWM::Submodule3),
initIOPWM(PWM::FlexPWM3, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
initIOPWM(PWM::FlexPWM4, PWM::Submodule0),