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MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after (#18733)

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* Make board_id compatible with ardupilot
 * Initialize outputs for CAM1/CAM2 and Vsw pad
 * Correct board type 1013 in bootloader to match AP
 * Change usb vendor string to "Matek"
 * Change cdcacm pid to 1013
 * Comment out FLASH_BASED_PARAMS because of #15331
This commit is contained in:
Viktor Vladic 2022-02-08 01:55:49 +01:00 committed by GitHub
parent 490a0c473b
commit f4d02a2937
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 41 additions and 16 deletions
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BIN
boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin
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Binary file not shown.

6
boards/matek/h743-slim/firmware.prototype
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@ -1,10 +1,10 @@
{
"board_id": 139,
"board_id": 1013,
"magic": "PX4FWv1",
"description": "Firmware for the MatekH743-slim board",
"description": "Firmware for the MatekH743 board",
"image": "",
"build_time": 0,
"summary": "MatekH743-slim",
"summary": "MatekH743",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1966080,

6
boards/matek/h743-slim/nuttx-config/bootloader/defconfig
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@ -30,11 +30,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x004b
CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
CONFIG_CDCACM_PRODUCTID=0x1013
CONFIG_CDCACM_PRODUCTSTR="MatekH743"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3162
CONFIG_CDCACM_VENDORID=0x1209
CONFIG_CDCACM_VENDORSTR="Matek"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y

8
boards/matek/h743-slim/nuttx-config/nsh/defconfig
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@ -46,12 +46,12 @@ CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0036
CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
CONFIG_CDCACM_PRODUCTID=0x1013
CONFIG_CDCACM_PRODUCTSTR="MatekH743"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x1B8C
CONFIG_CDCACM_VENDORSTR="PX4"
CONFIG_CDCACM_VENDORID=0x1209
CONFIG_CDCACM_VENDORSTR="Matek"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y

8
boards/matek/h743-slim/src/board_config.h
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@ -119,9 +119,9 @@
/* Spare GPIO */
// #define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
// #define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
#define GPIO_VIDEO_PWR /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10)
#define GPIO_VIDEO_CAM /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11)
// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
/* Tone alarm output */
@ -174,6 +174,8 @@
GPIO_nLED_BLUE, \
GPIO_nLED_GREEN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_VIDEO_PWR, \
GPIO_VIDEO_CAM, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER

2
boards/matek/h743-slim/src/hw_config.h
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@ -96,7 +96,7 @@
#define INTERFACE_USART 1
#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600"
#define BOOT_DELAY_ADDRESS 0x000001a0
#define BOARD_TYPE 139
#define BOARD_TYPE 1013
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
#define BOARD_FLASH_SECTORS (15)
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)

23
boards/matek/h743-slim/src/init.c
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@ -60,6 +60,10 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_dma_alloc.h>
// # if defined(FLASH_BASED_PARAMS)
// # include <parameters/flashparams/flashfs.h>
// #endif
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
@ -174,6 +178,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
// #if defined(FLASH_BASED_PARAMS)
// static sector_descriptor_t params_sector_map[] = {
// {6, 128 * 1024, 0x081C0000},
// {7, 128 * 1024, 0x081E0000},
// {0, 0, 0},
// };
// /* Initialize the flashfs layer to use heap allocated memory */
// int result = parameter_flashfs_init(params_sector_map, NULL, 0);
// if (result != OK) {
// syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
// led_on(LED_BLUE);
// return -ENODEV;
// }
// #endif
/* Configure the HW based on the manifest */
px4_platform_configure();

4
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
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@ -436,8 +436,8 @@ uint8_t MPU6000::RegisterRead(Register reg)
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
@ -445,8 +445,8 @@ void MPU6000::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
}
void MPU6000::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)