The fix ix in nuttx. This is just the defconfig changes to use
it.
There were 2 problems. The first was that the interrupt did
test DINT and raise a completion events. But since DINT is
just an indication of DMA completion, TC is a valid way to
determine that the transfer is complete.
The second problem is that Software Reset For DAT Line
SDHC_SYSCTL[RSTD] clears the bits 24-0 in SDHC_PROTO
this looses the wide bus setting DTW
Flash programing on the K66 has to be units of 8 bytes. So we cache
the write of words until there are 2 written. Then the 2 words are
written to FLASH. This change ensure the bin file has an even
number of (4 byte) words by padding the last section in progflash
with 0xffffffff if needed.
This is needed for companions with high baudrate and high data rate.
Tested with 1500000 Baudrate and mavlink TX rate of ~120KB/s: no drops.
I did not test the exact limit, something like 2500 might be enough. But
we (still) have enough free RAM on FMU-v5.
This fixes automatic upload. Since ed95dced0f the NuttX string
is used for device detection, but Linux uses the bootloader's USB vendor
and product strings.
So the NuttX strings must match with the ones from the bootloader.
Flight tested: ekf2 w/ mag and compass by @nathantsoi: https://logs.px4.io/plot_app?log=79b81031-cf1e-41f0-890b-d6cd7d559766
NOTE: external I2C devices need a pullup. I have tested with a 3.3v 2.2k pullup.
Working:
- mpu6000, bench tested and verified via nsh
- fmu
- all 6 ch output bench tested w/ pwm and oneshot via nsh
- ppm input bench tested
- dsm input bench tested
- bmp280, bench tested and verified via nsh
- hmc5883, bench tested and verified via nsh, but requires an external i2c pullup
- gps on uart6
- startuplog, nsh, mavlink on uart4, but params are not sent for some reason. RSSI pin is TX, MOTOR 5 is RX (normal mode, 57600 baud)
- rgbled over i2c, bench tested and workingp
- sbus via the shared sbus/ppm pin (which includes an inverter to the mcu SBUS in pin), remove the solder bridge or jumper to the ppm pin before use
Not yet implemented:
- ADC
- OSD: passthrough video is untested, use at your own risk until a basic driver is implemented.
This change fragments MAVLink packets more efficiently and therefore increases the net throughput. This in turn makes the connection significantly more stable and the Crazyflie experience overall more usable.
In the stm32f7 the configuration variable for SD card with DMA changed from CONFIG_STM32_SDIO_DMA to CONFIG_STM32F7_SDMMC_DMA
the maximum clock speed of 16MHz can now be achieved.
* Cygwin: repaired NuttX build after 1f63d85869
all the NuttX specific WINTOOL define handling was skiped in cmake Make.defs generation
The Nuttx build is makfile based and needs its cygwin treatment
Additionally the ${PX4_SOURCE_DIR}/src/include which was added through cmake needs path conversion
The two root causes for the special handling are:
- ARM GCC for Windows doesn't support cygwin paths passed as an argument
so they need to be either relative or converted via cypath tool
- Symbolic links are totally different under Windows and because NuttX uses them extensively
it has special handling scripts that need to be fed with the correct defines
* Cygwin: NuttX include paths all converted in Make.defs.in
differentiate between WINTOOL define (MSYS & cygwin) and cygwin using uname command:
- MSYS needs symbolic link handling for ARM GCC but no path conversion
- Cygwin needs both
This is a temporary workaround for equal expressions in chip/sam_xdmac.c
and can be reverted once fixed properly in NuttX. Needed for the GCC 7
upgrade in #8551.
Daniel Agar