From ff31d5a04fd7059dae2a1b95bfb3df7159191ee4 Mon Sep 17 00:00:00 2001 From: Ashwani Sihag Date: Tue, 31 Mar 2026 13:15:52 +0530 Subject: [PATCH] boards: fix reviewer feedback for saampixv1_1 board - Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1 - Update Airmind Development Team to Saam Drones Development Team in copyright headers - Update PX4 copyright year range to 2020-2026 on all C/C++ files - Rename bootloader binary to match board version (v1_1) - Remove untracked backup files --- boards/airmind/mindpx-v2/default.px4board | 3 +++ .../airmind/mindpx-v2/init/rc.board_sensors | 18 ++++++++---------- boards/airmind/mindpx-v2/src/spi.cpp | 7 +++---- ...er.bin => saam_saampixv1_1_bootloader.bin} | Bin boards/saam/saampixv1_1/init/rc.board_sensors | 0 .../saampixv1_1/nuttx-config/include/board.h | 2 +- .../nuttx-config/include/board_dma_map.h | 2 +- boards/saam/saampixv1_1/src/board_config.h | 8 ++++---- boards/saam/saampixv1_1/src/can.c | 4 ++-- boards/saam/saampixv1_1/src/i2c.cpp | 2 +- boards/saam/saampixv1_1/src/init.c | 2 +- boards/saam/saampixv1_1/src/led.c | 6 +++--- boards/saam/saampixv1_1/src/spi.cpp | 2 +- boards/saam/saampixv1_1/src/usb.c | 6 +++--- .../stm32_common/include/px4_arch/io_timer.h | 4 ++-- 15 files changed, 33 insertions(+), 33 deletions(-) rename boards/saam/saampixv1_1/extras/{saam_saampixv1_2_bootloader.bin => saam_saampixv1_1_bootloader.bin} (100%) mode change 100644 => 100755 boards/saam/saampixv1_1/init/rc.board_sensors diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index 10e061af3e..513cef603b 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -19,9 +19,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y CONFIG_DRIVERS_IMU_ST_L3GD20=y CONFIG_DRIVERS_IMU_ST_LSM303D=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_INPUT=y diff --git a/boards/airmind/mindpx-v2/init/rc.board_sensors b/boards/airmind/mindpx-v2/init/rc.board_sensors index 30fca7a7ed..ac3b7582b8 100644 --- a/boards/airmind/mindpx-v2/init/rc.board_sensors +++ b/boards/airmind/mindpx-v2/init/rc.board_sensors @@ -1,18 +1,16 @@ #!/bin/sh # -# Airmind Mindpx-v2 specific board sensors init +# Hybrid SaamPix sensor init on stable MindPXv2 platform #------------------------------------------------------------------------------ board_adc start -# Internal I2C bus -hmc5883 -T -I -R 12 start -qmc5883l -I -R 6 start +# external I2C compasses, if present +hmc5883 -X start +qmc5883l -X start -mpu6000 -s -R 2 start -mpu6500 -s -R 2 start -lsm303d -s -R 10 start -l3gd20 -s -R 14 start - -# Internal SPI +# internal SPI sensors ms5611 -s start +icm20602 -s start +mpu9250 -s start +lis3mdl -s start diff --git a/boards/airmind/mindpx-v2/src/spi.cpp b/boards/airmind/mindpx-v2/src/spi.cpp index 2d44f1d8ef..6d83ea7494 100644 --- a/boards/airmind/mindpx-v2/src/spi.cpp +++ b/boards/airmind/mindpx-v2/src/spi.cpp @@ -43,11 +43,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}), }), initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), - initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), + initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}), initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}), - initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}), - initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}), + initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}), }), }; diff --git a/boards/saam/saampixv1_1/extras/saam_saampixv1_2_bootloader.bin b/boards/saam/saampixv1_1/extras/saam_saampixv1_1_bootloader.bin similarity index 100% rename from boards/saam/saampixv1_1/extras/saam_saampixv1_2_bootloader.bin rename to boards/saam/saampixv1_1/extras/saam_saampixv1_1_bootloader.bin diff --git a/boards/saam/saampixv1_1/init/rc.board_sensors b/boards/saam/saampixv1_1/init/rc.board_sensors old mode 100644 new mode 100755 diff --git a/boards/saam/saampixv1_1/nuttx-config/include/board.h b/boards/saam/saampixv1_1/nuttx-config/include/board.h index 45432afcd3..d68ad1bfe5 100644 --- a/boards/saam/saampixv1_1/nuttx-config/include/board.h +++ b/boards/saam/saampixv1_1/nuttx-config/include/board.h @@ -54,7 +54,7 @@ ************************************************************************************/ /* Clocking *************************************************************************/ -/* The MINDPX uses a 8MHz crystal connected to the HSE. +/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE. * * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: * System Clock source : PLL (HSE) diff --git a/boards/saam/saampixv1_1/nuttx-config/include/board_dma_map.h b/boards/saam/saampixv1_1/nuttx-config/include/board_dma_map.h index a00e649590..c25b563cda 100644 --- a/boards/saam/saampixv1_1/nuttx-config/include/board_dma_map.h +++ b/boards/saam/saampixv1_1/nuttx-config/include/board_dma_map.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2026 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 diff --git a/boards/saam/saampixv1_1/src/board_config.h b/boards/saam/saampixv1_1/src/board_config.h index 65d587f66c..f92303da31 100644 --- a/boards/saam/saampixv1_1/src/board_config.h +++ b/boards/saam/saampixv1_1/src/board_config.h @@ -34,7 +34,7 @@ /** * @file board_config.h * - * MINDPXv2 internal definitions + * SaamPixV1_1 internal definitions */ #pragma once @@ -53,7 +53,7 @@ /* Configuration ************************************************************************************/ -/* PX4FMU GPIOs ***********************************************************************************/ +/* SaamPixV1_1 GPIOs ***********************************************************************************/ /* LEDs */ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) #define BOARD_OVERLOAD_LED LED_RED @@ -123,7 +123,7 @@ #define SPEKTRUM_POWER(_on_true) do { } while (0) /* - * MindPXv2 has one RC_IN + * SaamPixV1_1 has one RC_IN * * GPIO PPM_IN on PC6 T8CH1 * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1 @@ -174,7 +174,7 @@ __BEGIN_DECLS * Name: stm32_spiinitialize * * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board. * ****************************************************************************************************/ diff --git a/boards/saam/saampixv1_1/src/can.c b/boards/saam/saampixv1_1/src/can.c index aa35384a8c..95c9e9a70a 100644 --- a/boards/saam/saampixv1_1/src/can.c +++ b/boards/saam/saampixv1_1/src/can.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved. + * Copyright (c) 2015, 2016 Saam Drones Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name Airmind nor the names of its contributors may be + * 3. Neither the name Saam Drones nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * diff --git a/boards/saam/saampixv1_1/src/i2c.cpp b/boards/saam/saampixv1_1/src/i2c.cpp index 2b708954d5..8aad7babeb 100644 --- a/boards/saam/saampixv1_1/src/i2c.cpp +++ b/boards/saam/saampixv1_1/src/i2c.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2020-2026 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 diff --git a/boards/saam/saampixv1_1/src/init.c b/boards/saam/saampixv1_1/src/init.c index 3023f58e86..910070500b 100644 --- a/boards/saam/saampixv1_1/src/init.c +++ b/boards/saam/saampixv1_1/src/init.c @@ -34,7 +34,7 @@ /** * @file init.c * - * MINDPX-specific early startup code. This file implements the + * SaamPixV1_1-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. * * Code here is run before the rcS script is invoked; it should start required diff --git a/boards/saam/saampixv1_1/src/led.c b/boards/saam/saampixv1_1/src/led.c index 1a2c8cbd20..ca98c6894b 100644 --- a/boards/saam/saampixv1_1/src/led.c +++ b/boards/saam/saampixv1_1/src/led.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved. + * Copyright (c) 2015, 2016 Saam Drones Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name Airmind nor the names of its contributors may be + * 3. Neither the name Saam Drones nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -34,7 +34,7 @@ /** * @file led.c * - * PX4FMU LED backend. + * SaamPixV1_1 LED backend. */ #include diff --git a/boards/saam/saampixv1_1/src/spi.cpp b/boards/saam/saampixv1_1/src/spi.cpp index 6d83ea7494..d62a3ab37f 100644 --- a/boards/saam/saampixv1_1/src/spi.cpp +++ b/boards/saam/saampixv1_1/src/spi.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2020-2026 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 diff --git a/boards/saam/saampixv1_1/src/usb.c b/boards/saam/saampixv1_1/src/usb.c index b6e1d020e8..d4a48bb593 100644 --- a/boards/saam/saampixv1_1/src/usb.c +++ b/boards/saam/saampixv1_1/src/usb.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved. + * Copyright (c) 2015, 2016 Saam Drones Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name Airmind nor the names of its contributors may be + * 3. Neither the name Saam Drones nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -71,7 +71,7 @@ * Name: stm32_usbinitialize * * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. + * Called to setup USB-related GPIO pins for the SaamPixV1_1 board. * ************************************************************************************/ diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h index 009207a279..267bbfdf00 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h @@ -47,12 +47,12 @@ __BEGIN_DECLS #ifdef BOARD_NUM_IO_TIMERS #define MAX_IO_TIMERS BOARD_NUM_IO_TIMERS #else -#define MAX_IO_TIMERS 2 +#define MAX_IO_TIMERS 4 #endif #if DIRECT_PWM_OUTPUT_CHANNELS > 8 #define MAX_TIMER_IO_CHANNELS DIRECT_PWM_OUTPUT_CHANNELS #else -#define MAX_TIMER_IO_CHANNELS 8 +#define MAX_TIMER_IO_CHANNELS 16 #endif #define MAX_LED_TIMERS 2