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wip: squashed patch

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This commit is contained in:
Thomas Stastny
2022-12-19 13:12:42 +01:00
parent 283aad01fd
commit ebe0a4095c
659 changed files with 23727 additions and 8530 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/atl/mantis-edu/default.px4board
+2
View File
@@ -51,3 +51,5 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_FW_ATT_CONTROL=y
boards/atl/mantis-edu/src/board_config.h
+1 -3
View File
@@ -115,9 +115,7 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define HW_INFO_INIT_PREFIX "VAM"
#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
// #define BOARD_USE_ESC_CURRENT_REPORT
boards/av/x-v1/src/CMakeLists.txt
+1
View File
@@ -41,6 +41,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/bitcraze/crazyflie/src/mtd.cpp
+3 -1
View File
@@ -72,7 +72,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/cuav/nora/src/CMakeLists.txt
+1
View File
@@ -56,6 +56,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led
boards/cuav/x7pro/src/CMakeLists.txt
+1
View File
@@ -56,6 +56,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led
boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
BIN
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Binary file not shown.
boards/cubepilot/cubeorange/src/CMakeLists.txt
+1
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@@ -55,6 +55,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led
nuttx_arch
boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
BIN
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Binary file not shown.
boards/cubepilot/cubeyellow/src/CMakeLists.txt
+1
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@@ -42,6 +42,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/holybro/can-gps-v1/src/board_config.h
+3 -3
View File
@@ -83,9 +83,9 @@
#define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
#define HW_INFO_INIT {'C','A','N','G','P','S','x', 'x',0}
#define HW_INFO_INIT_VER 6
#define HW_INFO_INIT_REV 7
#define HW_INFO_INIT_PREFIX "CANGPS"
#define CANGPS00 HW_VER_REV(0x0,0x0) // CANGPS
#define FLASH_BASED_PARAMS
boards/holybro/can-gps-v1/src/manifest.c
+3 -3
View File
@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver/rev
{0x0000, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)},
{CANGPS00, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)},
};
/************************************************************************************
@@ -127,7 +127,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -138,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
BIN
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Binary file not shown.
boards/holybro/durandal-v1/init/rc.board_sensors
+2 -2
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@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
if ver hwtypecmp VD00
if ver hwtypecmp VD000000
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
fi
if ver hwtypecmp VD01
if ver hwtypecmp VD000001
then
# Internal SPI ICM-20602
icm20602 -R 2 -s start
boards/holybro/durandal-v1/src/CMakeLists.txt
+1
View File
@@ -59,6 +59,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
boards/holybro/durandal-v1/src/board_config.h
+3 -5
View File
@@ -152,14 +152,12 @@
#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
#define HW_INFO_INIT {'V','D','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define HW_INFO_INIT_PREFIX "VD"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
#define VD00 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0
#define VD01 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1
#define VD00000000 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0
#define VD00000001 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1
/* CAN Silence
*
boards/holybro/durandal-v1/src/init.c
+9 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019, 2022 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
@@ -206,7 +206,6 @@ stm32_boardinitialize(void)
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
@@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,7 +234,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* configure SPI interfaces (after we determined the HW version) */
/* Configure the actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
@@ -268,9 +274,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}
boards/holybro/durandal-v1/src/manifest.c
+4 -4
View File
@@ -83,8 +83,8 @@ static const px4_hw_mft_item_t hw_mft_list_durandal[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{VD00, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD01, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD00000000, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD00000001, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
};
/************************************************************************************
@@ -107,7 +107,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -118,7 +118,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/holybro/kakutef7/src/CMakeLists.txt
+1
View File
@@ -42,6 +42,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/holybro/kakuteh7/src/CMakeLists.txt
+1
View File
@@ -56,6 +56,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
boards/holybro/pix32v5/extras/px4_io-v2_default.bin
BIN
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Binary file not shown.
boards/holybro/pix32v5/src/CMakeLists.txt
+1
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@@ -47,6 +47,7 @@ add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/holybro/pix32v5/src/board_config.h
+5 -3
View File
@@ -185,9 +185,11 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define HW_INFO_INIT_PREFIX "VPIX32V5"
#define VPIX32V500 HW_VER_REV(0x0,0x0) // PIX32V5 Rev 0
#define VPIX32V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
/* CAN Silence
*
* Silent mode control \ ESC Mux select
boards/holybro/pix32v5/src/manifest.c
+4 -4
View File
@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{VPIX32V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{VPIX32V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
};
/************************************************************************************
@@ -153,7 +153,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -164,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/matek/h743-mini/src/CMakeLists.txt
+1
View File
@@ -57,6 +57,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led
boards/matek/h743-slim/src/CMakeLists.txt
+1
View File
@@ -57,6 +57,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led
boards/matek/h743/src/CMakeLists.txt
+1
View File
@@ -57,6 +57,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led
boards/modalai/fc-v1/src/CMakeLists.txt
+1
View File
@@ -46,6 +46,7 @@ add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
boards/modalai/fc-v1/src/board_config.h
+4 -3
View File
@@ -142,9 +142,10 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT {'V','1','x', 'x',0}
#define HW_INFO_INIT_VER 2 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 3 /* Offset in above string of the REV */
#define HW_INFO_INIT_PREFIX "V1"
#define V10006 HW_VER_REV(0x0,0x6) // V1006 Rev 6
#define V10100 HW_VER_REV(0x1,0x0) // V1010 Rev 0
/* PWM
*/
boards/modalai/fc-v1/src/manifest.c
+4 -4
View File
@@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
{0x0100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
{V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
{V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
};
/************************************************************************************
@@ -114,7 +114,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -125,7 +125,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/modalai/fc-v2/src/CMakeLists.txt
+1
View File
@@ -60,6 +60,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
boards/modalai/fc-v2/src/board_config.h
+2 -3
View File
@@ -182,9 +182,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT {'V','2','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define HW_INFO_INIT_PREFIX "V2"
#define V20300 HW_VER_REV(0x3,0x0)
/* PE6 is nARMED --> FCv2 this goes to TP13
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
boards/modalai/fc-v2/src/manifest.c
+3 -3
View File
@@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
{V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
};
/************************************************************************************
@@ -106,7 +106,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -117,7 +117,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/modalai/fc-v2/src/mtd.cpp
+3 -1
View File
@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/mro/ctrl-zero-f7-oem/src/CMakeLists.txt
+1
View File
@@ -43,6 +43,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/mro/ctrl-zero-f7/src/CMakeLists.txt
+1
View File
@@ -43,6 +43,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/mro/ctrl-zero-h7-oem/src/CMakeLists.txt
+1
View File
@@ -55,6 +55,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led
nuttx_arch
boards/mro/ctrl-zero-h7/src/CMakeLists.txt
+1
View File
@@ -55,6 +55,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led
nuttx_arch
boards/mro/pixracerpro/src/CMakeLists.txt
+1
View File
@@ -55,6 +55,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
drivers__led
nuttx_arch
boards/mro/x21-777/extras/px4_io-v2_default.bin
BIN
View File
Binary file not shown.
boards/mro/x21-777/nuttx-config/nsh/defconfig
+7 -7
View File
@@ -198,9 +198,9 @@ CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_RXDMA=y
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART4_RXBUFSIZE=1200
CONFIG_UART4_RXDMA=n
CONFIG_UART4_TXBUFSIZE=1200
CONFIG_UART7_BAUD=57600
CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_SERIAL_CONSOLE=y
@@ -225,10 +225,10 @@ CONFIG_USART3_RXBUFSIZE=600
CONFIG_USART3_RXDMA=y
CONFIG_USART3_TXBUFSIZE=3000
CONFIG_USART6_BAUD=57600
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_RXDMA=y
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USART6_TXDMA=y
CONFIG_USART6_RXBUFSIZE=1200
CONFIG_USART6_RXDMA=n
CONFIG_USART6_TXBUFSIZE=1200
CONFIG_USART6_TXDMA=n
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
boards/nxp/fmuk66-e/src/CMakeLists.txt
+1
View File
@@ -46,6 +46,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
boards/nxp/fmuk66-v3/src/CMakeLists.txt
+1
View File
@@ -45,6 +45,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
boards/nxp/fmurt1062-v1/src/board_config.h
+4 -3
View File
@@ -192,9 +192,10 @@
#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
#define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24)
#define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define HW_INFO_INIT_PREFIX "V5"
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V540 HW_VER_REV(0x4,0x0) // mini no can 2,3, Rev 0
/* CAN Silence
*
* Silent mode control \ ESC Mux select
boards/nxp/fmurt1062-v1/src/manifest.c
+2 -2
View File
@@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
};
/************************************************************************************
boards/nxp/ucans32k146/src/mtd.cpp
+3 -1
View File
@@ -66,7 +66,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/px4/fmu-v2/extras/px4_io-v2_default.bin
BIN
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boards/px4/fmu-v3/extras/px4_io-v2_default.bin
BIN
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boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
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boards/px4/fmu-v4pro/src/mtd.cpp
+3 -1
View File
@@ -65,7 +65,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/px4/fmu-v5/cryptotest.px4board
+2
View File
@@ -3,3 +3,5 @@ CONFIG_DRIVERS_SW_CRYPTO=y
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
CONFIG_COMMON_OPTICAL_FLOW=n
CONFIG_DRIVERS_OSD=n
boards/px4/fmu-v5/cyphal.px4board
+6
View File
@@ -1,5 +1,11 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_COMMON_TELEMETRY=n
CONFIG_DRIVERS_BATT_SMBUS=n
CONFIG_DRIVERS_CAMERA_CAPTURE=n
CONFIG_DRIVERS_CAMERA_TRIGGER=n
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
boards/px4/fmu-v5/debug.px4board
-1
View File
@@ -48,5 +48,4 @@ CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
CONFIG_DRIVERS_TEST_PPM=y
boards/px4/fmu-v5/extras/px4_io-v2_default.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v5/init/rc.board_defaults
+1 -1
View File
@@ -9,7 +9,7 @@ param set-default BAT2_V_DIV 18.1
param set-default BAT1_A_PER_V 36.367515152
param set-default BAT2_A_PER_V 36.367515152
if ver hwtypecmp V550 V552 V560 V562
if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
then
# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
# Multi-EKF (IMUs only)
boards/px4/fmu-v5/init/rc.board_sensors
+1 -1
View File
@@ -5,7 +5,7 @@
board_adc start
if ver hwtypecmp V552 V562
if ver hwtypecmp V5005002 V5006002
then
# Internal SPI bus ICM-42688-P
icm42688p -s -R 2 -q start
boards/px4/fmu-v5/protected.px4board
+1
View File
@@ -19,6 +19,7 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL_L1=n
CONFIG_MODULES_GYRO_FFT=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
boards/px4/fmu-v5/rtps.px4board
+2
View File
@@ -2,3 +2,5 @@ CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_OSD=n
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_MICRORTPS_BRIDGE=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_DRIVERS_UAVCAN=n
boards/px4/fmu-v5/src/CMakeLists.txt
+1
View File
@@ -52,6 +52,7 @@ add_dependencies(drivers_board nuttx_context)
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
arch_io_pins
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
boards/px4/fmu-v5/src/board_config.h
+2 -3
View File
@@ -188,9 +188,8 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define HW_INFO_INIT_PREFIX "V5"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V515 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
boards/px4/fmu-v5/src/manifest.c
+2 -2
View File
@@ -186,7 +186,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -197,7 +197,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/px4/fmu-v5/stackcheck.px4board
+2
View File
@@ -11,6 +11,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_GPS=n
CONFIG_COMMON_MAGNETOMETER=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
boards/px4/fmu-v5/test.px4board
+1
View File
@@ -3,6 +3,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_DRIVERS_RPM=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
boards/px4/fmu-v5/uavcanv0periph.px4board
+5
View File
@@ -2,10 +2,15 @@
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_COMMON_HYGROMETERS=n
CONFIG_COMMON_TELEMETRY=n
CONFIG_DRIVERS_BATT_SMBUS=n
CONFIG_DRIVERS_CAMERA_CAPTURE=n
CONFIG_DRIVERS_CAMERA_TRIGGER=n
CONFIG_DRIVERS_ADC_ADS1115=n
CONFIG_DRIVERS_GPS=n
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
CONFIG_COMMON_OPTICAL_FLOW=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_PCA9685=n
boards/px4/fmu-v5x/cmake/upload.cmake
+49
View File
@@ -0,0 +1,49 @@
############################################################################
#
# Copyright (c) 2020 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.
#
############################################################################
set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
add_custom_target(upload_usb
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh ${PX4_FW_NAME} --default-ip=10.41.1.1
DEPENDS ${PX4_FW_NAME}
COMMENT "uploading PX4"
USES_TERMINAL
)
add_custom_target(upload_wifi
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh ${PX4_FW_NAME}
DEPENDS ${PX4_FW_NAME}
COMMENT "uploading PX4"
USES_TERMINAL
)
boards/px4/fmu-v5x/default.px4board
+5 -1
View File
@@ -34,6 +34,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_PWM_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -77,6 +79,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_PAYLOAD_DELIVERER=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
@@ -84,6 +87,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_ACTUATOR_ENDURANCE_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -95,7 +99,6 @@ CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NETMAN=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
@@ -113,4 +116,5 @@ CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_EXAMPLES_EXT_UPDATE_CHECKER=y
CONFIG_EXAMPLES_FAKE_GPS=y
boards/px4/fmu-v5x/extras/px4_fmu-v5x_bootloader.bin
Regular → Executable
BIN
View File
Binary file not shown.
boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v5x/init/rc.board_defaults
+19 -8
View File
@@ -2,15 +2,26 @@
#
# board specific defaults
#------------------------------------------------------------------------------
#
# External components flashing
#
# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_MODE 0
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 100000
param set-default MAV_2_REMOTE_PRT 14550
param set-default MAV_2_UDP_PRT 14550
if param compare COM_EXT_COMP_EN 2
then
echo "-> Starting FAKE flasher - SUCCESS case"
update_checker fake_success
fi
if param compare COM_EXT_COMP_EN 3
then
echo "-> Starting FAKE flasher - FAIL case"
update_checker fake_fail
fi
# Probe for LW20/c by default
param set-default SENS_EN_SF1XX 6
# start a MAVLink instance on the Pixhawk Payload Bus
param set-default MAV_2_CONFIG 401
param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
boards/px4/fmu-v5x/init/rc.board_mavlink
+18 -3
View File
@@ -3,8 +3,23 @@
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
# if skynode base board is detected start Mavlink on Telem2
if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then
# Start MAVLink on the UART connected to the mission computer
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
if param compare MAV_S_FORWARD 1
then
set S_FORWARD "-f"
else
set S_FORWARD ""
fi
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z $S_FORWARD
microdds_client start -t udp -h 192.168.0.5 -p 15555 -l
# Ensure nothing else starts on TEL2 (ttyS4)
set PRT_TEL2_ 1
unset S_FORWARD
unset MAVLINK_STREAM_ONLY
fi
boards/px4/fmu-v5x/init/rc.board_sensors
+32 -28
View File
@@ -5,13 +5,14 @@
set HAVE_PM2 yes
if ver hwtypecmp V5X50 V5X51 V5X52
if ver hwtypecmp V5X005000 V5X005001 V5X005002
then
set HAVE_PM2 no
fi
if param compare -s ADC_ADS1115_EN 1
then
ads1115 start -X
board_adc start -n
else
board_adc start
fi
@@ -48,33 +49,11 @@ then
fi
fi
if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
then
#SKYNODE base fmu board orientation
if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
else
# Internal SPI bus ICM20649
icm20649 -s -R 4 start
fi
# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 8 -s start
# Internal magnetometer on I2c
bmm150 -I -R 6 start
else
#FMUv5Xbase board orientation
if ver hwtypecmp V5X00 V5X01
if ver hwtypecmp V5X000000 V5X000001
then
# Internal SPI BMI088
bmi088 -A -R 4 -s start
@@ -90,9 +69,34 @@ else
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 10 -s start
# Internal magnetometer on I2c
# Internal magnetometer on I2C
bmm150 -I start
else
#SKYNODE base fmu board orientation
if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
else
# Internal SPI bus ICM20649
icm20649 -s -R 4 start
fi
# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 8 -s start
# Internal magnetometer on I2C
bmm150 -I -R 6 start
# Auto start power monitors
pm_selector_auterion start
fi
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
@@ -104,7 +108,7 @@ ist8310 -X -b 1 -R 10 start
if param compare SENS_INT_BARO_EN 1
then
bmp388 -I -a 0x77 start
if ver hwtypecmp V5X00 V5X90 V5Xa0
if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
then
bmp388 -I start
else
@@ -112,4 +116,4 @@ then
fi
fi
unset HAVE_PM2
unset HAVE_PM2
boards/px4/fmu-v5x/manifest/mft_v0_0x0010.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
+5 -42
View File
@@ -13,9 +13,9 @@
# CONFIG_MMCSD_SPI is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_ARP is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
@@ -63,7 +63,6 @@ CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_DISABLE_MQUEUE=y
CONFIG_ETH0_PHY_LAN8742A=y
CONFIG_FAT_DMAMEMORY=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
@@ -104,33 +103,6 @@ CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NET=y
CONFIG_NETDB_DNSCLIENT=y
CONFIG_NETDB_DNSCLIENT_ENTRIES=8
CONFIG_NETDB_DNSSERVER_NOADDR=y
CONFIG_NETDEV_PHY_IOCTL=y
CONFIG_NETINIT_DHCPC=y
CONFIG_NETINIT_DNS=y
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
CONFIG_NETINIT_MONITOR=y
CONFIG_NETINIT_THREAD=y
CONFIG_NETINIT_THREAD_PRIORITY=49
CONFIG_NETUTILS_TELNETD=y
CONFIG_NET_ARP_IPIN=y
CONFIG_NET_ARP_SEND=y
CONFIG_NET_BROADCAST=y
CONFIG_NET_ETH_PKTSIZE=1518
CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_NET_SOLINGER=y
CONFIG_NET_TCP=y
CONFIG_NET_TCPBACKLOG=y
CONFIG_NET_TCP_DELAYED_ACK=y
CONFIG_NET_TCP_WRITE_BUFFERS=y
CONFIG_NET_UDP=y
CONFIG_NET_UDP_CHECKSUMS=y
CONFIG_NET_UDP_WRITE_BUFFERS=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
@@ -143,8 +115,6 @@ CONFIG_NSH_QUOTE=y
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_STRERROR=y
CONFIG_NSH_TELNET=y
CONFIG_NSH_TELNET_LOGIN=y
CONFIG_NSH_VARS=y
CONFIG_OTG_ID_GPIO_DISABLE=y
CONFIG_PIPES=y
@@ -191,21 +161,15 @@ CONFIG_STM32F7_BKPSRAM=y
CONFIG_STM32F7_DMA1=y
CONFIG_STM32F7_DMA2=y
CONFIG_STM32F7_DMACAPABLE=y
CONFIG_STM32F7_ETHMAC=y
CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
CONFIG_STM32F7_I2C1=y
CONFIG_STM32F7_I2C2=y
CONFIG_STM32F7_I2C3=y
CONFIG_STM32F7_I2C4=y
CONFIG_STM32F7_I2C_DYNTIMEO=y
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=50
CONFIG_STM32F7_I2C_DYNTIMEO_USECPERBYTE=10000
CONFIG_STM32F7_OTGFS=y
CONFIG_STM32F7_PHYADDR=0
CONFIG_STM32F7_PHYSR=31
CONFIG_STM32F7_PHYSR_100MBPS=0x8
CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x10
CONFIG_STM32F7_PHYSR_MODE=0x10
CONFIG_STM32F7_PHYSR_SPEED=0x8
CONFIG_STM32F7_PHY_POLLING=y
CONFIG_STM32F7_PROGMEM=y
CONFIG_STM32F7_PWR=y
@@ -250,7 +214,6 @@ CONFIG_STM32F7_WWDG=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_DHCPC_RENEW=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_PING=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
@@ -259,7 +222,7 @@ CONFIG_UART5_IFLOWCONTROL=y
CONFIG_UART5_OFLOWCONTROL=y
CONFIG_UART5_RXBUFSIZE=600
CONFIG_UART5_RXDMA=y
CONFIG_UART5_TXBUFSIZE=3000
CONFIG_UART5_TXBUFSIZE=10000
CONFIG_UART5_TXDMA=y
CONFIG_UART7_BAUD=57600
CONFIG_UART7_IFLOWCONTROL=y
@@ -290,5 +253,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USERMAIN_STACKSIZE=3094
CONFIG_USER_ENTRYPOINT="nsh_main"
boards/px4/fmu-v5x/nuttx-config/rtps/defconfig
+295
View File
@@ -0,0 +1,295 @@
#
# 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_DISABLE_ENVIRON is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
# CONFIG_MMCSD_MMCSUPPORT is not set
# CONFIG_MMCSD_SPI is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_ARP is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
# CONFIG_NSH_DISABLE_MKFATFS is not set
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_DISABLE_TIME is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5x/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32f7"
CONFIG_ARCH_CHIP_STM32F765II=y
CONFIG_ARCH_CHIP_STM32F7=y
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_BASEPRI_WAR=y
CONFIG_ARMV7M_DCACHE=y
CONFIG_ARMV7M_DTCM=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_ARM_MPU_EARLY_RESET=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_CRASHDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0033
CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5X.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3185
CONFIG_CDCACM_VENDORSTR="Auterion"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_ETH0_PHY_LAN8742A=y
CONFIG_FAT_DMAMEMORY=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_LFN_ALIAS_HASH=y
CONFIG_FDCLONE_STDIO=y
CONFIG_FSUTILS_IPCFG=y
CONFIG_FS_BINFS=y
CONFIG_FS_CROMFS=y
CONFIG_FS_FAT=y
CONFIG_FS_FATTIME=y
CONFIG_FS_PROCFS=y
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
CONFIG_FS_PROCFS_MAX_TASKS=64
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_FS_ROMFS=y
CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_IOB_NBUFFERS=24
CONFIG_IOB_THROTTLE=0
CONFIG_IPCFG_BINARY=y
CONFIG_IPCFG_CHARDEV=y
CONFIG_IPCFG_PATH="/fs/mtd_net"
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MMCSD_SDIO=y
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
CONFIG_MM_REGIONS=3
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NET=y
CONFIG_NETDB_DNSCLIENT=y
CONFIG_NETDB_DNSCLIENT_ENTRIES=8
CONFIG_NETDB_DNSSERVER_NOADDR=y
CONFIG_NETDEV_PHY_IOCTL=y
CONFIG_NETINIT_DHCPC=y
CONFIG_NETINIT_DNS=y
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
CONFIG_NETINIT_MONITOR=y
CONFIG_NETINIT_THREAD=y
CONFIG_NETINIT_THREAD_PRIORITY=49
CONFIG_NETUTILS_TELNETD=y
CONFIG_NET_ARP_IPIN=y
CONFIG_NET_ARP_SEND=y
CONFIG_NET_BROADCAST=y
CONFIG_NET_ETH_PKTSIZE=1518
CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_NET_SOLINGER=y
CONFIG_NET_TCP=y
CONFIG_NET_TCPBACKLOG=y
CONFIG_NET_TCP_DELAYED_ACK=y
CONFIG_NET_TCP_WRITE_BUFFERS=y
CONFIG_NET_UDP=y
CONFIG_NET_UDP_CHECKSUMS=y
CONFIG_NET_UDP_WRITE_BUFFERS=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_CMDPARMS=y
CONFIG_NSH_CROMFSETC=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=15
CONFIG_NSH_NESTDEPTH=8
CONFIG_NSH_QUOTE=y
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_STRERROR=y
CONFIG_NSH_TELNET=y
CONFIG_NSH_TELNET_LOGIN=y
CONFIG_NSH_VARS=y
CONFIG_OTG_ID_GPIO_DISABLE=y
CONFIG_PIPES=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_READLINE_TABCOMPLETION=y
CONFIG_RTC_DATETIME=y
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=249
CONFIG_SCHED_HPWORKSTACKSIZE=1280
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SDMMC2_SDIO_PULLUP=y
CONFIG_SEM_PREALLOCHOLDERS=32
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
CONFIG_SERIAL_TERMIOS=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_SIG_SIGWORK=4
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_BUFFER_SIZE=256
CONFIG_STM32F7_ADC1=y
CONFIG_STM32F7_ADC3=y
CONFIG_STM32F7_BBSRAM=y
CONFIG_STM32F7_BBSRAM_FILES=5
CONFIG_STM32F7_BKPSRAM=y
CONFIG_STM32F7_DMA1=y
CONFIG_STM32F7_DMA2=y
CONFIG_STM32F7_DMACAPABLE=y
CONFIG_STM32F7_ETHMAC=y
CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
CONFIG_STM32F7_I2C1=y
CONFIG_STM32F7_I2C2=y
CONFIG_STM32F7_I2C3=y
CONFIG_STM32F7_I2C4=y
CONFIG_STM32F7_I2C_DYNTIMEO=y
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=50
CONFIG_STM32F7_I2C_DYNTIMEO_USECPERBYTE=10000
CONFIG_STM32F7_OTGFS=y
CONFIG_STM32F7_PHYADDR=0
CONFIG_STM32F7_PHYSR=31
CONFIG_STM32F7_PHYSR_100MBPS=0x8
CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x10
CONFIG_STM32F7_PHYSR_MODE=0x10
CONFIG_STM32F7_PHYSR_SPEED=0x8
CONFIG_STM32F7_PHY_POLLING=y
CONFIG_STM32F7_PROGMEM=y
CONFIG_STM32F7_PWR=y
CONFIG_STM32F7_RTC=y
CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
CONFIG_STM32F7_RTC_MAGIC_REG=1
CONFIG_STM32F7_SAVE_CRASHDUMP=y
CONFIG_STM32F7_SDMMC2=y
CONFIG_STM32F7_SDMMC_DMA=y
CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32F7_SPI1=y
CONFIG_STM32F7_SPI1_DMA=y
CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
CONFIG_STM32F7_SPI2=y
CONFIG_STM32F7_SPI2_DMA=y
CONFIG_STM32F7_SPI2_DMA_BUFFER=4096
CONFIG_STM32F7_SPI3=y
CONFIG_STM32F7_SPI3_DMA=y
CONFIG_STM32F7_SPI3_DMA_BUFFER=1024
CONFIG_STM32F7_SPI5=y
CONFIG_STM32F7_SPI6=y
CONFIG_STM32F7_SPI_DMA=y
CONFIG_STM32F7_SPI_DMATHRESHOLD=8
CONFIG_STM32F7_TIM10=y
CONFIG_STM32F7_TIM11=y
CONFIG_STM32F7_TIM3=y
CONFIG_STM32F7_TIM9=y
CONFIG_STM32F7_UART4=y
CONFIG_STM32F7_UART5=y
CONFIG_STM32F7_UART7=y
CONFIG_STM32F7_UART8=y
CONFIG_STM32F7_USART1=y
CONFIG_STM32F7_USART2=y
CONFIG_STM32F7_USART3=y
CONFIG_STM32F7_USART6=y
CONFIG_STM32F7_USART_BREAKS=y
CONFIG_STM32F7_USART_INVERT=y
CONFIG_STM32F7_USART_SINGLEWIRE=y
CONFIG_STM32F7_USART_SWAP=y
CONFIG_STM32F7_WWDG=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_DHCPC_RENEW=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_PING=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART5_IFLOWCONTROL=y
CONFIG_UART5_OFLOWCONTROL=y
CONFIG_UART5_RXBUFSIZE=600
CONFIG_UART5_RXDMA=y
CONFIG_UART5_TXBUFSIZE=10000
CONFIG_UART5_TXDMA=y
CONFIG_UART7_BAUD=57600
CONFIG_UART7_IFLOWCONTROL=y
CONFIG_UART7_OFLOWCONTROL=y
CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_RXDMA=y
CONFIG_UART7_TXBUFSIZE=3000
CONFIG_UART8_BAUD=57600
CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y
CONFIG_USART2_OFLOWCONTROL=y
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_TXBUFSIZE=3000
CONFIG_USART3_BAUD=57600
CONFIG_USART3_RXBUFSIZE=180
CONFIG_USART3_SERIAL_CONSOLE=y
CONFIG_USART3_TXBUFSIZE=1500
CONFIG_USART6_BAUD=57600
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_RXDMA=y
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=3094
CONFIG_USER_ENTRYPOINT="nsh_main"
boards/px4/fmu-v5x/nuttx-config/scripts/script.ld
+10
View File
@@ -90,6 +90,7 @@ ENTRY(_stext)
*/
EXTERN(abort)
EXTERN(_bootdelay_signature)
EXTERN(_main_toc)
EXTERN(board_get_manifest)
SECTIONS
@@ -104,6 +105,7 @@ SECTIONS
_bootdelay_signature = ABSOLUTE(.);
FILL(0xffecc2925d7d05c5)
. += 8;
*(.main_toc)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
@@ -187,4 +189,12 @@ SECTIONS
} > ITCM_RAM AT > FLASH_AXIM
_framfuncs = LOADADDR(.ramfunc);
/* Start of the image signature. This
* has to be in the end of the image
*/
.signature : {
. = ALIGN(4);
_boot_signature = ABSOLUTE(.);
} > FLASH_AXIM
}
boards/px4/fmu-v5x/recovery.px4board
+48
View File
@@ -0,0 +1,48 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
CONFIG_BOARD_ROMFSROOT="recovery"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_ACTUATOR_ENDURANCE_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_ESC_CALIB=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_REFLECT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_EXAMPLES_EXT_UPDATE_CHECKER=y
CONFIG_EXAMPLES_FAKE_GPS=y
boards/px4/fmu-v5x/rtps.px4board
+1
View File
@@ -8,5 +8,6 @@ CONFIG_SYSTEMCMDS_REFLECT=n
CONFIG_SYSTEMCMDS_SD_BENCH=n
CONFIG_SYSTEMCMDS_SD_STRESS=n
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_MICRORTPS_BRIDGE=y
boards/px4/fmu-v5x/src/CMakeLists.txt
+15
View File
@@ -42,6 +42,7 @@ add_library(drivers_board
spi.cpp
timer_config.cpp
usb.c
toc.c
)
add_dependencies(drivers_board platform_gpio_mcp23009)
@@ -57,3 +58,17 @@ target_link_libraries(drivers_board
px4_layer
platform_gpio_mcp23009
)
set(manifest_bin_name "mft_v0_0x0010.bin" CACHE INTERNAL "MFT" FORCE)
set(manifest_bin "${PX4_BINARY_DIR}/romfs_extras/${manifest_bin_name}" CACHE FILEPATH "manifest binary path")
if(EXISTS ${PX4_BOARD_DIR}/manifest/${manifest_bin_name})
make_directory(${PX4_BINARY_DIR}/romfs_extras/)
file(COPY ${PX4_BOARD_DIR}/manifest/${manifest_bin_name} DESTINATION ${PX4_BINARY_DIR}/romfs_extras/)
file(RELATIVE_PATH manifest_bin_relative ${PX4_SOURCE_DIR} ${manifest_bin})
add_custom_command(OUTPUT ${manifest_bin}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/etc/extras/
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${manifest_bin} ${PX4_BINARY_DIR}/etc/extras/
)
add_custom_target(copy_manifest_bin DEPENDS ${manifest_bin})
endif()
boards/px4/fmu-v5x/src/board_config.h
+8 -3
View File
@@ -111,6 +111,8 @@
*
* Note that these are unshifted addresses.
*/
#define BOARD_MTD_NUM_EEPROM 2 /* MTD: base_eeprom, imu_eeprom*/
#define PX4_I2C_OBDEV_SE050 0x48
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
@@ -182,9 +184,7 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT {'V','5','X','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define HW_INFO_INIT_PREFIX "V5X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
// Base FMUM
#define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
@@ -194,12 +194,16 @@
#define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
#define V5X80 HW_VER_REV(0x8,0x0) // USB (Q), Rev 0
#define V5X81 HW_VER_REV(0x8,0x1) // USB (Q) I2C2 BMP388, Rev 1
#define V5X82 HW_VER_REV(0x8,0x2) // USB (Q) I2C2 BMP388, Rev 2
#define V5X90 HW_VER_REV(0x9,0x0) // NO USB, Rev 0
#define V5X91 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1
#define V5X92 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2
#define V5Xa0 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0
#define V5Xa1 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5Xa2 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
#define V5X101 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define UAVCAN_NUM_IFACES_RUNTIME 1
@@ -305,6 +309,7 @@
#define INPUT_CAP1_TIMER 5
#define INPUT_CAP1_CHANNEL /* T5C4 */ 4
#define GPIO_INPUT_CAP1 /* PI0 */ GPIO_TIM5_CH4IN
#define PPS_CAPTURE_CHANNEL 7 // FMU_CH8-> PI0
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
boards/px4/fmu-v5x/src/init.cpp
+14 -10
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 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
@@ -54,9 +54,7 @@
#include <errno.h>
#include <nuttx/config.h>
extern "C" {
#include <nuttx/board.h>
}
#include <nuttx/spi/spi.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
@@ -72,6 +70,7 @@ extern "C" {
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
@@ -221,6 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -230,11 +236,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
board_spi_reset(10, 0xffff);
/* configure the DMA allocator */
/* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -266,13 +274,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
int hw_version = board_get_hw_version();
if (hw_version == 0x9 || hw_version == 0xa) {
if (hw_version == 0x9 || hw_version == 0xa || hw_version == 0x8) {
static MCP23009 mcp23009{3, 0x25};
// No USB
@@ -283,7 +287,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
//ret = mcp23009.init(0xf1, 0xf0, 0x0f);
}
if (hw_version == 0xa) {
if (hw_version == 0xa || hw_version == 0x8) {
// < P6
//ret = mcp23009.init(0xf0, 0xf0, 0x0f);
// >= P6
boards/px4/fmu-v5x/src/manifest.c
+6 -2
View File
@@ -166,12 +166,16 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1
{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2
{V5X80, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q), Rev 0
{V5X81, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q) I2C2 BMP388, Rev 1
{V5X82, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q) I2C2 BMP388, Rev 2
{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0
{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2
{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0
{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
};
/************************************************************************************
@@ -194,7 +198,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -205,7 +209,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/px4/fmu-v5x/src/mtd.cpp
+12 -5
View File
@@ -71,8 +71,8 @@ static const px4_mtd_entry_t base_eeprom = {
.npart = 2,
.partd = {
{
.type = MTD_MFT,
.path = "/fs/mtd_mft",
.type = MTD_MFT_VER,
.path = "/fs/mtd_mft_ver",
.nblocks = 248
},
{
@@ -86,12 +86,17 @@ static const px4_mtd_entry_t base_eeprom = {
static const px4_mtd_entry_t imu_eeprom = {
.device = &i2c4,
.npart = 2,
.npart = 3,
.partd = {
{
.type = MTD_CALDATA,
.path = "/fs/mtd_caldata",
.nblocks = 248
.nblocks = 240
},
{
.type = MTD_MFT_REV,
.path = "/fs/mtd_mft_rev",
.nblocks = 8
},
{
.type = MTD_ID,
@@ -117,7 +122,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/px4/fmu-v5x/src/toc.c
+63
View File
@@ -0,0 +1,63 @@
/****************************************************************************
*
* Copyright (C) 2020 Technology Innovation Institute. 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 <image_toc.h>
/* (Maximum) size of the signature */
#define SIGNATURE_SIZE 64
/* Boot image starts at _vectors and ends at
* the beginning of signature
*/
extern uint32_t _vectors[];
extern const int *_boot_signature;
#define APP_ADDR_START _vectors
#define APP_ADDR_END ((const void *)(&_boot_signature-1))
/* Boot signature start and end are defined by the
* signature definition below
*/
#define MSTR_SIG_ADDR_START ((const void *)&_boot_signature)
#define MSTR_SIG_ADDR_END ((const void *)((const uint8_t *)MSTR_SIG_ADDR_START+SIGNATURE_SIZE))
/* The table of contents */
IMAGE_MAIN_TOC(2) = {
{TOC_START_MAGIC, TOC_VERSION},
{
{"MSTR", APP_ADDR_START, APP_ADDR_END, 0, 1, 0, 0, TOC_FLAG1_BOOT | TOC_FLAG1_CHECK_SIGNATURE},
{"SIG1", MSTR_SIG_ADDR_START, MSTR_SIG_ADDR_END, 0, 0, 0, 0, 0},
},
TOC_END_MAGIC
};
boards/px4/fmu-v5x/test.px4board
+1
View File
@@ -5,6 +5,7 @@ CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_RPM=n
CONFIG_EXAMPLES_FAKE_GPS=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_GYRO_FFT=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v6c/src/board_config.h
+1 -3
View File
@@ -139,9 +139,7 @@
#define GPIO_HW_VER_REV_DRIVE /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
#define GPIO_HW_REV_SENSE /* PC0 */ GPIO_ADC123_INP10
#define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11
#define HW_INFO_INIT {'V','6','C','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define HW_INFO_INIT_PREFIX "V6C"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
// Base/FMUM
boards/px4/fmu-v6c/src/manifest.c
+2 -2
View File
@@ -121,7 +121,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -132,7 +132,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/px4/fmu-v6c/src/mtd.cpp
+10 -3
View File
@@ -65,12 +65,17 @@ static const px4_mtd_entry_t fmum_fram = {
static const px4_mtd_entry_t imu_eeprom = {
.device = &i2c4,
.npart = 2,
.npart = 3,
.partd = {
{
.type = MTD_CALDATA,
.path = "/fs/mtd_caldata",
.nblocks = 248
.nblocks = 240
},
{
.type = MTD_MFT_REV,
.path = "/fs/mtd_mft_rev",
.nblocks = 8
},
{
.type = MTD_ID,
@@ -95,7 +100,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/px4/fmu-v6u/src/CMakeLists.txt
+1
View File
@@ -60,6 +60,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
boards/px4/fmu-v6u/src/board_config.h
+2 -3
View File
@@ -173,9 +173,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT {'V','6','U','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define HW_INFO_INIT_PREFIX "V6U"
#define V6U00 HW_VER_REV(0x0,0x0)
/* HEATER
* PWM in future
boards/px4/fmu-v6u/src/manifest.c
+3 -3
View File
@@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
};
/************************************************************************************
@@ -105,7 +105,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -116,7 +116,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
boards/px4/fmu-v6u/src/mtd.cpp
+3 -1
View File
@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
.mfts = {
&mtd_mft
}
};
const px4_mft_s *board_get_manifest(void)
boards/px4/fmu-v6x/cmake/upload.cmake
+49
View File
@@ -0,0 +1,49 @@
############################################################################
#
# Copyright (c) 2022 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.
#
############################################################################
set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
add_custom_target(upload_usb
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh ${PX4_FW_NAME} --default-ip=10.41.1.1
DEPENDS ${PX4_FW_NAME}
COMMENT "uploading PX4"
USES_TERMINAL
)
add_custom_target(upload_wifi
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh ${PX4_FW_NAME}
DEPENDS ${PX4_FW_NAME}
COMMENT "uploading PX4"
USES_TERMINAL
)
boards/px4/fmu-v6x/default.px4board
-4
View File
@@ -9,7 +9,6 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
@@ -34,7 +33,6 @@ CONFIG_DRIVERS_PWM_OUT_SIM=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@@ -52,7 +50,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
@@ -80,7 +77,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NETMAN=y
CONFIG_SYSTEMCMDS_NSHTERM=y
boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
BIN
View File
Binary file not shown.
boards/px4/fmu-v6x/init/rc.board_mavlink
+7
View File
@@ -0,0 +1,7 @@
#!/bin/sh
#
# PX4 FMUv6X specific board MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard -x -z
boards/px4/fmu-v6x/init/rc.board_sensors
+32 -16
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
set HAVE_PM2 yes
if ver hwtypecmp V6X50 V6X51 V6X53 V6X54
if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
then
set HAVE_PM2 no
fi
@@ -47,30 +47,44 @@ then
fi
fi
if ver hwtypecmp V6X04 V6X14 V6X54
if ver hwtypecmp V6X000000 V6X000004 V6X009000 V6X001004 V6X005004
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
# Skynode detected
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 12 -s start
# Internal magnetometer on I2c
bmm150 -I -R 6 start
else
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
fi
# v6x base detected
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
if ver hwtypecmp V6X03 V6X13 V6X04 V6X14 V6X53 V6X54
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start
fi
# Internal magnetometer on I2c
bmm150 -I start
# Internal magnetometer on I2c
bmm150 -I start
fi
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -b 1 -R 10 start
@@ -78,14 +92,16 @@ ist8310 -X -b 1 -R 10 start
# Possible internal Baro
bmp388 -I -a 0x77 start
if ver hwtypecmp V6X00 V6X10
if ver hwtypecmp V6X000000 V6X009000 V6X001000
then
# Skynode detected
bmp388 -I start
else
# v6x base detected
bmp388 -X start
fi
# Baro on I2C3
ms5611 -X start
unset HAVE_PM2
unset HAVE_PM2
boards/px4/fmu-v6x/recovery.px4board
+47
View File
@@ -0,0 +1,47 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_ROMFSROOT="recovery"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_ACTUATOR_ENDURANCE_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_ESC_CALIB=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_REFLECT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_EXAMPLES_EXT_UPDATE_CHECKER=y
CONFIG_EXAMPLES_FAKE_GPS=y
boards/px4/fmu-v6x/src/CMakeLists.txt
+1
View File
@@ -60,6 +60,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start

Some files were not shown because too many files have changed in this diff Show More