Support for Raspberry PI RP2040 MCU (#18083)

2026-10-21 09:13:33 +08:00 · 2021-11-03 12:14:30 -04:00
parent 8f6fd5f37b
commit ea1ae73526
60 changed files with 5725 additions and 1 deletions
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+/* Clocking *****************************************************************/
+
+#define MHZ                     1000000
+
+#define BOARD_XOSC_FREQ         (12 * MHZ)
+#define BOARD_PLL_SYS_FREQ      (125 * MHZ)
+#define BOARD_PLL_USB_FREQ      (48 * MHZ)
+
+#define BOARD_REF_FREQ          (12 * MHZ)
+#define BOARD_SYS_FREQ          (125 * MHZ)
+#define BOARD_PERI_FREQ         (125 * MHZ)
+#define BOARD_USB_FREQ          (48 * MHZ)
+#define BOARD_ADC_FREQ          (48 * MHZ)
+#define BOARD_RTC_FREQ          46875
+
+#define BOARD_UART_BASEFREQ     BOARD_PERI_FREQ
+
+#define BOARD_TICK_CLOCK        (1 * MHZ)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
+ * omnibusf4sd.  The following definitions describe how NuttX controls the LEDs:
+ */
+
+// #define LED_STARTED       0  /* LED1 */
+// #define LED_HEAPALLOCATE  1  /* LED2 */
+// #define LED_IRQSENABLED   2  /* LED1 */
+// #define LED_STACKCREATED  3  /* LED1 + LED2 */
+// #define LED_INIRQ         4  /* LED1 */
+// #define LED_SIGNAL        5  /* LED2 */
+// #define LED_ASSERTION     6  /* LED1 + LED2 */
+// #define LED_PANIC         7  /* LED1 + LED2 */
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ * UART0TX: GPIO0
+ * UART0RX: GPIO1
+ * UART1TX: GPIO8
+ * UART1RX: GPIO9
+ */
+#define CONFIG_RP2040_UART0_GPIO	0	/* TELEM */
+
+#define CONFIG_RP2040_UART1_GPIO	8	/* GPS */
+
+/*
+ * I2C (external)
+ *
+ * I2C1SCL: GPIO7
+ * I2C1SDA: GPIO6
+ *
+ * TODO:
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ */
+#define CONFIG_RP2040_I2C1_GPIO		6
+
+/* SPI0:
+ *  SPIDEV_FLASH (probably micro sd card)
+ *  CS: GPIO5 -- should be configured in sec/spi.cpp (probably)
+ *  CLK: GPIO2
+ *  MISO: GPIO4
+ *  MOSI: GPIO3
+ */
+
+#define GPIO_SPI0_SCLK  ( 2 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI0_MISO ( 4 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI0_MOSI ( 3 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+
+/* SPI1:
+ *  MPU9250 and BMP280
+ *  CS: GPIO13 for MPU9250, GPIO14 for BMP280 -- should be configured in sec/spi.cpp (probably)
+ *  CLK: GPIO10
+ *  MISO: GPIO12
+ *  MOSI: GPIO11
+ */
+
+#define GPIO_SPI1_SCLK	( 10 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI1_MISO	( 12 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI1_MOSI	( 11 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */