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revert board config

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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
This commit is contained in:
dirksavage88
2025-07-17 08:19:52 -04:00
parent b23a7fc314
commit e5b2584da7
1 changed files with 24 additions and 36 deletions
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boards/nxp/tropic-community/src/board_config.h
+24 -36
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@@ -98,9 +98,9 @@
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B0_00 GPIO1_IO0 */ (GPIO_PORT1 | GPIO_PIN0 | CS_IOMUX)
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO29 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO30 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK)
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
@@ -112,6 +112,7 @@
#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
#define ADC1_CH(n) (n)
@@ -120,13 +121,13 @@
/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
#define PX4_ADC_GPIO \
/* BATTERY1_VOLTAGE GPIO_AD_B1_14 GPIO1 Pin 30 */ ADC1_GPIO(0, 30), \
/* BATTERY1_CURRENT GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_GPIO(0, 27)
/* BATTERY1_VOLTAGE GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_GPIO(0, 27), \
/* BATTERY1_CURRENT GPIO_AD_B1_11 GPIO1 Pin 24 */ ADC1_GPIO(0, 24)
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY_VOLTAGE_CHANNEL /* GPIO_AD_B1_14 GPIO1 Pin 30 */ ADC1_CH(3)
#define ADC_BATTERY_CURRENT_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_CH(13)
#define ADC_BATTERY_VOLTAGE_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_CH(13)
#define ADC_BATTERY_CURRENT_CHANNEL /* GPIO_AD_B1_11 GPIO1 Pin 12 */ ADC1_CH(0)
#define ADC_CHANNELS \
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
@@ -141,6 +142,7 @@
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
/* PWM
*/
@@ -160,6 +162,8 @@
#define PWM_LED_GREEN /* GPIO_B1_03 */ (GPIO_FLEXPWM2_PWMB03_4 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_BLUE /* GPIO_AD_B0_03 */ (GPIO_XBAR1_INOUT17_1 | GENERAL_OUTPUT_IOMUX)
/* Tone alarm output */
//FIXME FlexPWM TONE DRIVER
@@ -181,6 +185,12 @@
#define HRT_TIMER 1 /* use GPT1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* Safety Switch is HW version dependent on having an PX4IO
* So we init to a benign state with the _INIT definition
* and provide the the non _INIT one for the driver to make a run time
@@ -224,6 +234,9 @@ static inline int board_read_usb2_vbus_state(void)
#define BOARD_ADC_BRICK_VALID (board_read_usb2_vbus_state() == 0)
#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
/* FMUv5 never powers odd the Servo rail */
@@ -242,34 +255,13 @@ static inline int board_read_usb2_vbus_state(void)
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_MUX_SEL_PAY1, \
GPIO_MUX_SEL_PAY2, \
GPIO_MUX_SEL_PAY3, \
GPIO_MUX_SEL_PAY4, \
GPIO_ACC1_PWR, \
GPIO_ACC2_PWR, \
GPIO_MUX_SEL_FORE, \
GPIO_MUX_SEL_AFT, \
GPIO_MUX_SEL_M1, \
GPIO_MUX_SEL_M2, \
GPIO_MUX_SEL_IMU, \
GPIO_INT_I2CEXP, \
GPIO_EXT_I2CEXP, \
GPIO_FLEXCAN3_TX, \
GPIO_FLEXCAN3_RX, \
GPIO_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
/* To detect IMU */
#define BOARD_HAS_HW_VERSIONING 1
#define BOARD_HAS_HW_SPLIT_VERSIONING 1
#define HW_INFO_INIT_PREFIX "TROPIC"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
// Base/FMUM
#define TROPIC_0 HW_FMUM_ID(0x0) // ICM42688
#define TROPIC_1 HW_FMUM_ID(0x1) // ICM42688
#define TROPIC_2 HW_FMUM_ID(0x2) // ICM45686
__BEGIN_DECLS
/****************************************************************************************************
@@ -324,8 +316,6 @@ extern int imxrt1062_spi_bus_initialize(void);
*
************************************************************************************/
extern void imxrt_spiinitialize(void);
extern int imxrt_usb_initialize(void);
extern void imxrt_usbinitialize(void);
@@ -336,8 +326,6 @@ extern void fmurt1062_timer_initialize(void);
#include <px4_platform_common/board_common.h>
void imxrt_flash_romapi_initialize(void);
int imxrt_flexspi_storage_initialize(void);
#endif /* __ASSEMBLY__ */