mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 07:03:34 +08:00
Support for Raspberry PI RP2040 MCU (#18083)
This commit is contained in:
Vatsal Asitkumar Joshi
@@ -0,0 +1,25 @@
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#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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config RP2040_FLASH_BOOT
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bool "flash boot"
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default y
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---help---
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If y, the built binary can be used for flash boot.
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If not, the binary is for SRAM boot.
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config RP2040_FLASH_CHIP
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string "flash chip name"
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default "w25q080"
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---help---
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Name of NOR flash device connected to RP2040 SoC.
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(Used to choose the secondary boot loader.)
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Basically this option should not be changed.
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config RP2040_UF2_BINARY
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bool "uf2 binary format"
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default y
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---help---
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Create nuttx.uf2 binary format used on RP2040 based arch.
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@@ -0,0 +1,129 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* 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
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||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* 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
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||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* 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.
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||||
*
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||||
****************************************************************************/
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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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/* Clocking *****************************************************************/
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#define MHZ 1000000
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#define BOARD_XOSC_FREQ (12 * MHZ)
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#define BOARD_PLL_SYS_FREQ (125 * MHZ)
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#define BOARD_PLL_USB_FREQ (48 * MHZ)
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#define BOARD_REF_FREQ (12 * MHZ)
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#define BOARD_SYS_FREQ (125 * MHZ)
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#define BOARD_PERI_FREQ (125 * MHZ)
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#define BOARD_USB_FREQ (48 * MHZ)
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#define BOARD_ADC_FREQ (48 * MHZ)
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#define BOARD_RTC_FREQ 46875
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#define BOARD_UART_BASEFREQ BOARD_PERI_FREQ
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#define BOARD_TICK_CLOCK (1 * MHZ)
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/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
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* omnibusf4sd. The following definitions describe how NuttX controls the LEDs:
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*/
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// #define LED_STARTED 0 /* LED1 */
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// #define LED_HEAPALLOCATE 1 /* LED2 */
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// #define LED_IRQSENABLED 2 /* LED1 */
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// #define LED_STACKCREATED 3 /* LED1 + LED2 */
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// #define LED_INIRQ 4 /* LED1 */
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// #define LED_SIGNAL 5 /* LED2 */
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// #define LED_ASSERTION 6 /* LED1 + LED2 */
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// #define LED_PANIC 7 /* LED1 + LED2 */
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/* Alternate function pin selections ************************************************/
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/*
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* UARTs.
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* UART0TX: GPIO0
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* UART0RX: GPIO1
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* UART1TX: GPIO8
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* UART1RX: GPIO9
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*/
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#define CONFIG_RP2040_UART0_GPIO 0 /* TELEM */
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#define CONFIG_RP2040_UART1_GPIO 8 /* GPS */
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/*
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* I2C (external)
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*
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* I2C1SCL: GPIO7
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* I2C1SDA: GPIO6
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*
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* TODO:
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||||
* The optional _GPIO configurations allow the I2C driver to manually
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* reset the bus to clear stuck slaves. They match the pin configuration,
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* but are normally-high GPIOs.
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*/
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#define CONFIG_RP2040_I2C1_GPIO 6
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/* SPI0:
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* SPIDEV_FLASH (probably micro sd card)
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* CS: GPIO5 -- should be configured in sec/spi.cpp (probably)
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* CLK: GPIO2
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* MISO: GPIO4
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* MOSI: GPIO3
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*/
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#define GPIO_SPI0_SCLK ( 2 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI0_MISO ( 4 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI0_MOSI ( 3 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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/* SPI1:
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||||
* MPU9250 and BMP280
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* CS: GPIO13 for MPU9250, GPIO14 for BMP280 -- should be configured in sec/spi.cpp (probably)
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* CLK: GPIO10
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* MISO: GPIO12
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* MOSI: GPIO11
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*/
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#define GPIO_SPI1_SCLK ( 10 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI1_MISO ( 12 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI1_MOSI ( 11 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#endif /* __ARCH_BOARD_BOARD_H */
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@@ -0,0 +1,118 @@
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#
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||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
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||||
#
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||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
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||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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||||
# modifications.
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||||
#
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# CONFIG_DEV_CONSOLE is not set
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# CONFIG_RP2040_SPI_DRIVER is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="rp2040"
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CONFIG_ARCH_CHIP_RP2040=y
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CONFIG_ARCH_INTERRUPTSTACK=512
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CONFIG_BOARDCTL_RESET=y
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CONFIG_BOARD_LOOPSPERMSEC=10450
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_BUILTIN=y
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||||
CONFIG_C99_BOOL8=y
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CONFIG_CDCACM=y
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CONFIG_CDCACM_PRODUCTSTR="PX4 RaspberryPi Pico"
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CONFIG_CDCACM_RXBUFSIZE=600
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||||
CONFIG_CDCACM_TXBUFSIZE=2000
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CONFIG_CLOCK_MONOTONIC=y
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||||
CONFIG_DEBUG_SYMBOLS=y
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||||
CONFIG_DEV_FIFO_SIZE=0
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||||
CONFIG_DEV_PIPE_SIZE=70
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CONFIG_DISABLE_MQUEUE=y
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CONFIG_DISABLE_POSIX_TIMERS=y
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CONFIG_FAT_DMAMEMORY=y
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||||
CONFIG_FAT_LCNAMES=y
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||||
CONFIG_FAT_LFN=y
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CONFIG_FAT_LFN_ALIAS_HASH=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_FS_BINFS=y
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||||
CONFIG_FS_CROMFS=y
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CONFIG_FS_FAT=y
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||||
CONFIG_FS_FATTIME=y
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||||
CONFIG_FS_PROCFS=y
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CONFIG_FS_PROCFS_REGISTER=y
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||||
CONFIG_FS_ROMFS=y
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||||
CONFIG_GRAN=y
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||||
CONFIG_GRAN_INTR=y
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CONFIG_HAVE_CXX=y
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||||
CONFIG_HAVE_CXXINITIALIZE=y
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||||
CONFIG_IDLETHREAD_STACKSIZE=750
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||||
CONFIG_LIBC_FLOATINGPOINT=y
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||||
CONFIG_LIBC_STRERROR=y
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CONFIG_MEMSET_64BIT=y
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||||
CONFIG_MEMSET_OPTSPEED=y
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||||
CONFIG_NSH_ARCHINIT=y
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||||
CONFIG_NSH_ARCHROMFS=y
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||||
CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_CROMFSETC=y
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CONFIG_NSH_DISABLE_IFCONFIG=y
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||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
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CONFIG_NSH_DISABLE_REBOOT=y
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||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_FATDEVNO=0
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CONFIG_NSH_FILEIOSIZE=512
|
||||
CONFIG_NSH_LINELEN=128
|
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CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_READLINE=y
|
||||
CONFIG_NSH_ROMFSETC=y
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CONFIG_NSH_ROMFSSECTSIZE=128
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||||
CONFIG_NSH_STRERROR=y
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||||
CONFIG_NSH_USBCONSOLE=y
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||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
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||||
CONFIG_PRIORITY_INHERITANCE=y
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CONFIG_PTHREAD_STACK_MIN=512
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||||
CONFIG_RAM_SIZE=270336
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CONFIG_RAM_START=0x20000000
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||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RP2040_I2C1=y
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CONFIG_RP2040_I2C=y
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CONFIG_RP2040_SPI0=y
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CONFIG_RP2040_SPI1=y
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||||
CONFIG_RP2040_SPI=y
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||||
CONFIG_RP2040_UART1=y
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||||
CONFIG_SCHED_ATEXIT=y
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||||
CONFIG_SCHED_HPWORK=y
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||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
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||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
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||||
CONFIG_SCHED_WAITPID=y
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||||
CONFIG_SDCLONE_DISABLE=y
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||||
CONFIG_SEM_NNESTPRIO=8
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||||
CONFIG_SEM_PREALLOCHOLDERS=0
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CONFIG_SERIAL_TERMIOS=y
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||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
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||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
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||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USBDEV=y
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||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
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||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/rp2040/raspberrypi-pico/scripts/raspberrypi-pico-flash.ld
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x10000000, LENGTH = 2048K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 264K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
EXTERN(bootStr)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.flash_begin : {
|
||||
__flash_binary_start = .;
|
||||
} > flash
|
||||
|
||||
.boot2 : {
|
||||
__boot2_start__ = .;
|
||||
KEEP (*(.boot2))
|
||||
__boot2_end__ = .;
|
||||
} > flash
|
||||
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP (*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.ram_vectors (COPY) : {
|
||||
*(.ram_vectors)
|
||||
} > sram
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
. = ALIGN(4);
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.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) }
|
||||
}
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/rp2040/raspberrypi-pico/scripts/raspberrypi-pico-flash.ld
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x10000000, LENGTH = 2048K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 264K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
EXTERN(bootStr)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.flash_begin : {
|
||||
__flash_binary_start = .;
|
||||
} > flash
|
||||
|
||||
.boot2 : {
|
||||
__boot2_start__ = .;
|
||||
KEEP (*(.boot2))
|
||||
__boot2_end__ = .;
|
||||
} > flash
|
||||
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP (*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.ram_vectors (COPY) : {
|
||||
*(.ram_vectors)
|
||||
} > sram
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
. = ALIGN(4);
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.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) }
|
||||
}
|
||||
Reference in New Issue
Block a user