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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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9 Commits
| Author | SHA1 | Date | |
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@@ -0,0 +1,224 @@
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#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
|
||||
stage('Build') {
|
||||
steps {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2023-06-26",
|
||||
arm64: "px4io/px4-dev-aarch64:2022-08-12",
|
||||
base: "px4io/px4-dev-ros2-foxy:2022-08-12",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
|
||||
image: docker_images.armhf,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def arm64_builds = [
|
||||
target: ["scumaker_pilotpi_arm64"],
|
||||
image: docker_images.arm64,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def base_builds = [
|
||||
target: ["px4_sitl_default"],
|
||||
image: docker_images.base,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def nuttx_builds_archive = [
|
||||
target: [
|
||||
"3dr_ctrl-zero-h7-oem-revg_default",
|
||||
"airmind_mindpx-v2_default",
|
||||
"ark_can-flow_canbootloader",
|
||||
"ark_can-flow_default",
|
||||
"ark_can-gps_canbootloader",
|
||||
"ark_can-gps_default",
|
||||
"ark_can-rtk-gps_canbootloader",
|
||||
"ark_can-rtk-gps_default",
|
||||
"ark_cannode_canbootloader",
|
||||
"ark_cannode_default",
|
||||
"ark_fmu-v6x_bootloader",
|
||||
"ark_fmu-v6x_default",
|
||||
"ark_pi6x_bootloader",
|
||||
"ark_pi6x_default",
|
||||
"atl_mantis-edu_default",
|
||||
"av_x-v1_default",
|
||||
"bitcraze_crazyflie21_default",
|
||||
"bitcraze_crazyflie_default",
|
||||
"cuav_can-gps-v1_canbootloader",
|
||||
"cuav_can-gps-v1_default",
|
||||
"cuav_nora_default",
|
||||
"cuav_x7pro_default",
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeorangeplus_default",
|
||||
"cubepilot_cubeyellow_default",
|
||||
"diatone_mamba-f405-mk2_default",
|
||||
"flywoo_gn-f405_default",
|
||||
"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
"matek_h743-mini_default",
|
||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
||||
"micoair_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v2_default",
|
||||
"mro_ctrl-zero-classic_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
"nxp_fmuk66-e_socketcan",
|
||||
"nxp_fmuk66-v3_default",
|
||||
"nxp_fmuk66-v3_socketcan",
|
||||
"nxp_mr-canhubk3_default",
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
"nxp_ucans32k146_default",
|
||||
"omnibus_f4sd_default",
|
||||
"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
||||
"px4_fmu-v2_lto",
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_cyphal",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_rover",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v5x_rover",
|
||||
"px4_fmu-v6c_default",
|
||||
"px4_fmu-v6c_rover",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6u_rover",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_fmu-v6x_rover",
|
||||
"px4_fmu-v6xrt_bootloader",
|
||||
"px4_fmu-v6xrt_default",
|
||||
"px4_fmu-v6xrt_rover",
|
||||
"px4_io-v2_default",
|
||||
"raspberrypi_pico_default",
|
||||
"siyi_n7_default",
|
||||
"sky-drones_smartap-airlink_default",
|
||||
"spracing_h7extreme_default",
|
||||
"thepeach_k1_default",
|
||||
"thepeach_r1_default",
|
||||
"uvify_core_default",
|
||||
],
|
||||
image: docker_images.nuttx,
|
||||
archive: true
|
||||
]
|
||||
|
||||
def docker_builds = [
|
||||
armhf_builds, base_builds, nuttx_builds_archive
|
||||
]
|
||||
|
||||
for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
|
||||
for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
|
||||
build_nodes.put(docker_builds[build_type].target[build_target],
|
||||
createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
parallel build_nodes
|
||||
|
||||
} // script
|
||||
} // steps
|
||||
} // stage Build
|
||||
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
|
||||
// agent {
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
|
||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
// }
|
||||
// when {
|
||||
// anyOf {
|
||||
// branch 'master'
|
||||
// branch 'beta'
|
||||
// branch 'stable'
|
||||
// branch 'pr-jenkins' // for testing
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'echo "uploading to S3"'
|
||||
// }
|
||||
// }
|
||||
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
|
||||
timeout(time: 120, unit: 'MINUTES')
|
||||
}
|
||||
}
|
||||
|
||||
def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
return {
|
||||
|
||||
bypass_entrypoint = ''
|
||||
|
||||
node {
|
||||
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
|
||||
docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
|
||||
stage(target) {
|
||||
try {
|
||||
sh('export')
|
||||
checkout(scm)
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('git fetch --tags')
|
||||
sh('ccache -s')
|
||||
sh('make ' + target)
|
||||
sh('ccache -s')
|
||||
sh('make sizes')
|
||||
if (archive) {
|
||||
archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
|
||||
}
|
||||
sh('make ' + target + ' package')
|
||||
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
|
||||
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
|
||||
}
|
||||
catch (exc) {
|
||||
throw (exc)
|
||||
}
|
||||
finally {
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,904 @@
|
||||
#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
stage('Hardware Test') {
|
||||
|
||||
parallel {
|
||||
|
||||
stage("cubepilot_cubeorange_test") {
|
||||
stages {
|
||||
stage("build cubepilot_cubeorange_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cubepilot_cubeorange_bootloader'
|
||||
sh 'make cubepilot_cubeorange_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cubepilot_cubeorange'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cubepilot_cubeorange_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
runTests()
|
||||
|
||||
// load all airframes
|
||||
// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cuav_x7pro_bootloader'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cuav_x7pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cuav_x7pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_debug") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_stackcheck") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'nxp_fmuk66-v3'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
} // parallel
|
||||
} // stage Hardware Test
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CCACHE_NOHASHDIR = 1
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
}
|
||||
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
@@ -7,63 +7,44 @@ name: Build all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
tags:
|
||||
- 'v*'
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
group_targets:
|
||||
name: Scan for Board Targets
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
tagname: ${{ steps.set-tag.outputs.tagname }}
|
||||
branchname: ${{ steps.set-branch.outputs.branchname }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
|
||||
- name: Install Python Dependencies
|
||||
uses: py-actions/py-dependency-install@v4
|
||||
with:
|
||||
path: "./Tools/setup/requirements.txt"
|
||||
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
|
||||
|
||||
- id: set-timestamp
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
|
||||
- id: set-branch
|
||||
run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
|
||||
|
||||
- name: Debug Matrix Output
|
||||
if: runner.debug == '1'
|
||||
run: |
|
||||
echo "${{ steps.set-timestamp.outputs.timestamp }}"
|
||||
echo "${{ steps.set-branch.outputs.branchname }}"
|
||||
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
setup:
|
||||
name: Build Group [${{ matrix.group }}]
|
||||
name: ${{ matrix.group }}
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: group_targets
|
||||
strategy:
|
||||
matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
|
||||
fail-fast: false
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
steps:
|
||||
@@ -71,17 +52,17 @@ jobs:
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Setup ccache
|
||||
- name: ccache setup keys
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
|
||||
- name: Configure ccache
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
@@ -92,67 +73,18 @@ jobs:
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Building [${{ matrix.group }}]
|
||||
- name: build target group
|
||||
run: |
|
||||
./Tools/ci/build_all_runner.sh ${{matrix.targets}}
|
||||
./Tools/ci_build_all_runner.sh ${{matrix.targets}}
|
||||
|
||||
- name: Arrange Build Artifacts
|
||||
run: |
|
||||
./Tools/ci/package_build_artifacts.sh
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_${{matrix.group}}_build_artifacts
|
||||
path: artifacts/
|
||||
path: |
|
||||
build/**/*.px4
|
||||
build/**/*.bin
|
||||
compression-level: 0
|
||||
|
||||
- name: Cache Save
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
artifacts:
|
||||
name: Upload Artifacts to S3
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [setup, group_targets]
|
||||
if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Branch Name
|
||||
run: |
|
||||
echo "${{ needs.group_targets.outputs.branchname }}"
|
||||
|
||||
- name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
|
||||
uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: artifacts/
|
||||
DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
|
||||
|
||||
release:
|
||||
name: Create Release and Upload Artifacts
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Upload Binaries to Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
with:
|
||||
draft: true
|
||||
files: artifacts/*.px4
|
||||
|
||||
@@ -17,7 +17,5 @@ jobs:
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- uses: corrupt952/actions-retry-command@v1.0.7
|
||||
with:
|
||||
command: make clang-tidy-quiet
|
||||
max_attempts: 3
|
||||
- name: make clang-tidy-quiet
|
||||
run: make clang-tidy-quiet
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
name: Ubuntu environment build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and Test
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
version: ['ubuntu:22.04', 'ubuntu:24.04']
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: ${{ matrix.version }}
|
||||
volumes:
|
||||
- /github/workspace:/github/workspace
|
||||
steps:
|
||||
|
||||
- name: Fix git in container
|
||||
run: |
|
||||
# we only need this because we are running the job in a container
|
||||
# when checkout pulls git it does it in a shared volume
|
||||
# and file ownership changes between steps
|
||||
# first we install git since its missing from the base image
|
||||
# then we mark the directory as safe for other instances
|
||||
# of git to use.
|
||||
apt update && apt install git -y
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Install Deps, Build, and Make Quick Check
|
||||
run: |
|
||||
# we need to install dependencies and build on the same step
|
||||
# given the stateless nature of docker images
|
||||
./Tools/setup/ubuntu.sh
|
||||
make quick_check
|
||||
@@ -0,0 +1,56 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: ${{ matrix.container }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
@@ -1,102 +0,0 @@
|
||||
|
||||
name: Container build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: Build and Push Container
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Extract metadata (tags, labels) for Docker
|
||||
id: meta
|
||||
uses: docker/metadata-action@v5
|
||||
with:
|
||||
images: |
|
||||
ghcr.io/PX4/px4-dev
|
||||
px4io/px4-dev
|
||||
tags: |
|
||||
type=schedule
|
||||
type=semver,pattern={{version}}
|
||||
type=semver,pattern={{major}}.{{minor}}
|
||||
type=semver,pattern={{major}}
|
||||
type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
|
||||
type=ref,event=branch,suffix=,priority=500
|
||||
type=ref,event=pr
|
||||
type=sha
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
|
||||
- name: Build and load container image
|
||||
uses: docker/build-push-action@v6
|
||||
id: docker
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: ${{ steps.meta.outputs.tags }}
|
||||
labels: ${{ steps.meta.outputs.labels }}
|
||||
platforms: |
|
||||
linux/amd64
|
||||
load: true
|
||||
push: false
|
||||
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
|
||||
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
|
||||
|
||||
- name: Get Tag Name
|
||||
id: tag_name
|
||||
run: |
|
||||
echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
|
||||
|
||||
- name: make quick_check
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: ${{ steps.tag_name.outputs.tag_name }}
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_fmu-v6x_default
|
||||
|
||||
- name: Push container image
|
||||
uses: docker/build-push-action@v6
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: ${{ steps.meta.outputs.tags }}
|
||||
labels: ${{ steps.meta.outputs.labels }}
|
||||
platforms: |
|
||||
linux/amd64
|
||||
provenance: mode=max
|
||||
push: true
|
||||
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
|
||||
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
|
||||
@@ -1,118 +0,0 @@
|
||||
name: FLASH usage analysis
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
analyze_flash:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal
|
||||
strategy:
|
||||
matrix:
|
||||
target: [px4_fmu-v5x, px4_fmu-v6x]
|
||||
outputs:
|
||||
px4_fmu-v5x: ${{ steps.gen-output.outputs.output_px4_fmu-v5x }}
|
||||
px4_fmu-v6x: ${{ steps.gen-output.outputs.output_px4_fmu-v6x }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}
|
||||
|
||||
- name: Store the ELF with the change
|
||||
run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
|
||||
|
||||
- name: Clean previous build
|
||||
run: |
|
||||
make clean
|
||||
make distclean
|
||||
|
||||
- name: If it's a PR checkout the base commit
|
||||
if: ${{ github.event.pull_request }}
|
||||
run: git checkout ${{ github.event.pull_request.base.sha }}
|
||||
|
||||
- name: If it's a push checkout the previous commit
|
||||
if: github.event_name == 'push'
|
||||
run: git checkout ${{ github.event.before }}
|
||||
|
||||
- name: Update submodules
|
||||
run: make submodulesupdate
|
||||
|
||||
- name: Build
|
||||
run: make ${{ matrix.target }}
|
||||
|
||||
- name: Store the ELF before the change
|
||||
run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
|
||||
|
||||
- name: bloaty-action
|
||||
uses: carlosperate/bloaty-action@v1.1.0
|
||||
id: bloaty-step
|
||||
with:
|
||||
bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
|
||||
output-to-summary: true
|
||||
|
||||
- name: Generate output
|
||||
id: gen-output
|
||||
run: |
|
||||
EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
|
||||
echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
post_pr_comment:
|
||||
name: Publish Results
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [analyze_flash]
|
||||
if: ${{ github.event.pull_request }}
|
||||
steps:
|
||||
- name: Find Comment
|
||||
uses: peter-evans/find-comment@v3
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
comment-author: 'github-actions[bot]'
|
||||
body-includes: FLASH Analysis
|
||||
|
||||
- name: Set Build Time
|
||||
id: bt
|
||||
run: |
|
||||
echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Create or update comment
|
||||
uses: peter-evans/create-or-update-comment@v4
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body: |
|
||||
## FLASH Analysis
|
||||
<details>
|
||||
<summary>px4_fmu-v5x</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
|
||||
```
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>px4_fmu-v6x</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
|
||||
```
|
||||
</details>
|
||||
|
||||
**Updated: _${{ steps.bt.outputs.timestamp }}_**
|
||||
edit-mode: replace
|
||||
@@ -88,7 +88,7 @@ jobs:
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
@@ -103,21 +103,21 @@ jobs:
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
@@ -83,7 +83,7 @@ jobs:
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
@@ -98,21 +98,21 @@ jobs:
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
@@ -0,0 +1,133 @@
|
||||
name: Metadata
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: airframe metadata
|
||||
run: |
|
||||
make airframe_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default/docs
|
||||
# TODO: deploy to userguide gitbook
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: module documentation
|
||||
run: |
|
||||
make module_documentation
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: events metadata
|
||||
run: |
|
||||
make extract_events
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default
|
||||
mkdir _events_full || true
|
||||
cp events/all_events_full.json.xz _events_full/all_events.json.xz
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: uORB graph
|
||||
run: |
|
||||
make uorb_graphs
|
||||
cd Tools/uorb_graph
|
||||
ls -ls *
|
||||
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
|
||||
|
||||
ROS2_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
rm px4_msgs/msg/*.msg
|
||||
rm px4_msgs/srv/*.srv
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
cp srv/*.srv px4_msgs/srv/
|
||||
@@ -10,7 +10,7 @@ on:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-24.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -18,7 +18,7 @@ jobs:
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
- name: Install tools
|
||||
run: python3 -m pip install mypy types-requests flake8 --break-system-packages
|
||||
run: pip3 install --user mypy types-requests flake8
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
|
||||
@@ -16,7 +16,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
name: Testing PX4 ${{ matrix.config.model }}
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
|
||||
+4
-10
@@ -2,6 +2,10 @@
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/dronecan/libuavcan.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/jmavsim/jMAVSim"]
|
||||
path = Tools/simulation/jmavsim/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
@@ -79,13 +83,3 @@
|
||||
[submodule "boards/modalai/voxl2/libfc-sensor-api"]
|
||||
path = boards/modalai/voxl2/libfc-sensor-api
|
||||
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
|
||||
[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
|
||||
path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
|
||||
url = https://github.com/PX4/iq-module-communication-cpp.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libdronecan/dsdl"]
|
||||
path = src/drivers/uavcan/libdronecan/dsdl
|
||||
url = https://github.com/PX4/DSDL.git
|
||||
[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
|
||||
path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
|
||||
url = https://github.com/dronecan/pydronecan
|
||||
|
||||
Vendored
-50
@@ -186,16 +186,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_default
|
||||
ark_fpv_bootloader:
|
||||
short: ark_fpv_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_bootloader
|
||||
ark_fpv_default:
|
||||
short: ark_fpv_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fpv_default
|
||||
ark_pi6x_bootloader:
|
||||
short: ark_pi6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -241,11 +231,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cuav_7-nano_default:
|
||||
short: cuav_7-nano
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_7-nano_default
|
||||
cubepilot_cubeorange_test:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
@@ -306,16 +291,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_default
|
||||
micoair_h743-aio_bootloader:
|
||||
short: micoair_h743-aio_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_bootloader
|
||||
micoair_h743-aio_default:
|
||||
short: micoair_h743-aio
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -366,33 +341,8 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_tropic-community_default:
|
||||
short: nxp_tropic-community_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_tropic-community_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
zeroone_x6_default:
|
||||
short: zeroone_x6
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_default
|
||||
zeroone_x6_bootloader:
|
||||
short: zeroone_x6_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: zeroone_x6_bootloader
|
||||
x-mav_ap-h743v2_bootloader:
|
||||
short: x-mav_ap-h743v2-boot
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_bootloader
|
||||
x-mav_ap-h743v2_default:
|
||||
short: x-mav_ap-h743v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: x-mav_ap-h743v2_default
|
||||
|
||||
+6
-14
@@ -173,10 +173,9 @@ set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
find_package(Python COMPONENTS Interpreter)
|
||||
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT Python_FOUND)
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
@@ -185,7 +184,7 @@ endif()
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
if(PYTHON_COVERAGE)
|
||||
message(STATUS "python coverage enabled")
|
||||
set(Python_EXECUTABLE coverage run -p)
|
||||
set(PYTHON_EXECUTABLE coverage run -p)
|
||||
endif()
|
||||
|
||||
include(px4_config)
|
||||
@@ -409,15 +408,8 @@ include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
include(gtest)
|
||||
|
||||
# Ensure there's no -R without any filter expression since that trips newer ctest versions
|
||||
if(TESTFILTER)
|
||||
set(TESTFILTERARG "-R")
|
||||
else()
|
||||
set(TESTFILTERARG "")
|
||||
endif()
|
||||
|
||||
add_custom_target(test_results
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
@@ -482,7 +474,7 @@ foreach(module ${config_module_list})
|
||||
endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
${graph_module_list} --src-path src/lib
|
||||
--merge-depends
|
||||
--exclude-path src/examples
|
||||
@@ -503,7 +495,7 @@ include(package)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
@@ -828,7 +828,7 @@ RECURSIVE = YES
|
||||
# Note that relative paths are relative to the directory from which doxygen is
|
||||
# run.
|
||||
|
||||
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
|
||||
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
|
||||
@CMAKE_SOURCE_DIR@/src/examples \
|
||||
@CMAKE_SOURCE_DIR@/src/templates
|
||||
|
||||
|
||||
@@ -169,7 +169,7 @@ endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
ifdef PYTHON_EXECUTABLE
|
||||
override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Functions
|
||||
@@ -326,11 +326,9 @@ px4io_update:
|
||||
bootloaders_update: \
|
||||
3dr_ctrl-zero-h7-oem-revg_bootloader \
|
||||
ark_fmu-v6x_bootloader \
|
||||
ark_fpv_bootloader \
|
||||
ark_pi6x_bootloader \
|
||||
cuav_nora_bootloader \
|
||||
cuav_x7pro_bootloader \
|
||||
cuav_7-nano_bootloader \
|
||||
cubepilot_cubeorange_bootloader \
|
||||
cubepilot_cubeorangeplus_bootloader \
|
||||
hkust_nxt-dual_bootloader \
|
||||
@@ -343,7 +341,6 @@ bootloaders_update: \
|
||||
matek_h743-mini_bootloader \
|
||||
matek_h743-slim_bootloader \
|
||||
micoair_h743_bootloader \
|
||||
micoair_h743-aio_bootloader \
|
||||
modalai_fc-v2_bootloader \
|
||||
mro_ctrl-zero-classic_bootloader \
|
||||
mro_ctrl-zero-h7_bootloader \
|
||||
|
||||
@@ -63,9 +63,8 @@ Note: This is the source of truth for the active maintainers of PX4 ecosystem.
|
||||
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
|
||||
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
|
||||
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
|
||||
| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
|
||||
| Boat | x |
|
||||
|
||||
| Rover | x |
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
|
||||
|
||||
@@ -104,7 +103,7 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
@@ -119,7 +118,7 @@ These boards don't fully comply industry standards, and thus is solely maintaine
|
||||
|
||||
### Experimental
|
||||
|
||||
These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
|
||||
@@ -124,15 +124,15 @@ add_custom_command(
|
||||
${romfs_copy_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
||||
--airframes-path ${romfs_gen_root_dir}/init.d
|
||||
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
|
||||
--board ${PX4_BOARD}
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
--rc-dir ${romfs_gen_root_dir}/init.d
|
||||
--serial-ports ${board_serial_ports} ${added_arguments}
|
||||
--config-files ${module_config_files} #--verbose
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
|
||||
--rc-dir ${romfs_gen_root_dir}/init.d
|
||||
--params-file ${CONFIG_BOARD_PARAM_FILE}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
|
||||
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT romfs_pruned.stamp
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
|
||||
DEPENDS
|
||||
romfs_copy.stamp
|
||||
|
||||
@@ -19,6 +19,8 @@ param set-default SENS_EN_MAGSIM 1
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
@@ -21,6 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SIH_T_MAX 6
|
||||
param set-default SIH_MASS 0.3
|
||||
|
||||
@@ -30,6 +30,8 @@ param set-default MAV_TYPE 19
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SIH_T_MAX 2
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
|
||||
. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
|
||||
|
||||
# EKF2: Vision position and heading, no GPS
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
|
||||
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.4
|
||||
param set-default FW_RR_I 0.7
|
||||
|
||||
param set-default FW_R_RMAX 56.15
|
||||
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_P 1.3
|
||||
param set-default FW_YR_I 0.7
|
||||
|
||||
param set-default FW_PSP_OFF 0
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_T_CLMB_MAX 5
|
||||
param set-default FW_T_SINK_MAX 3.5
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -75,6 +75,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
@@ -96,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100
|
||||
|
||||
# Power Parameters
|
||||
param set-default BAT1_N_CELLS 4
|
||||
# param set-default BAT1_A_PER_V 36.364 Not found
|
||||
# param set-default BAT1_V_DIV 18.182 Not found
|
||||
|
||||
# Circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
|
||||
|
||||
@@ -16,36 +16,39 @@ param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_FF 0.08
|
||||
param set-default FW_PR_I 0.3
|
||||
param set-default FW_PR_P 0.08
|
||||
|
||||
param set-default FW_RR_FF 0.05
|
||||
param set-default FW_RR_I 0.2
|
||||
param set-default FW_RR_P 0.03
|
||||
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_I 0.4
|
||||
param set-default FW_YR_P 0.2
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
|
||||
param set-default FW_T_CLMB_R_SP 5
|
||||
param set-default FW_T_CLMB_MAX 6
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
@@ -53,6 +56,7 @@ param set-default RWTO_TKOFF 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
|
||||
@@ -13,23 +13,22 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_ACCEL 5
|
||||
param set-default RD_MAX_DECEL 10
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_MAX_ACCEL 6
|
||||
param set-default RD_MAX_JERK 30
|
||||
param set-default RD_MAX_THR_YAW_R 1.5
|
||||
param set-default RD_YAW_RATE_P 0.25
|
||||
param set-default RD_YAW_RATE_I 0.01
|
||||
param set-default RD_MAX_THR_YAW_R 5
|
||||
param set-default RD_YAW_RATE_P 0.1
|
||||
param set-default RD_YAW_RATE_I 0
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_SPEED 2
|
||||
param set-default RD_MAX_THR_SPD 2.15
|
||||
param set-default RD_SPEED_P 0.1
|
||||
param set-default RD_SPEED_I 0.01
|
||||
param set-default RD_YAW_I 0
|
||||
param set-default RD_MAX_SPEED 5
|
||||
param set-default RD_MAX_THR_SPD 7
|
||||
param set-default RD_SPEED_P 1
|
||||
param set-default RD_SPEED_I 0
|
||||
param set-default RD_MAX_YAW_RATE 180
|
||||
param set-default RD_MISS_SPD_DEF 2
|
||||
param set-default RD_MISS_SPD_DEF 5
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
param set-default RD_MAX_YAW_ACCEL 1000
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
@@ -44,13 +43,13 @@ param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 70
|
||||
param set-default SIM_GZ_WH_MAX1 130
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 70
|
||||
param set-default SIM_GZ_WH_MAX2 130
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 1 # reverse right wheel
|
||||
|
||||
@@ -21,6 +21,7 @@ param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.9
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 1
|
||||
|
||||
@@ -15,18 +15,16 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_LAT_ACCEL_I 0.01
|
||||
param set-default RA_LAT_ACCEL_P 0.1
|
||||
param set-default RA_MAX_ACCEL 3
|
||||
param set-default RA_MAX_DECEL 6
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_JERK 15
|
||||
param set-default RA_MAX_LAT_ACCEL 4
|
||||
param set-default RA_MAX_SPEED 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 360
|
||||
param set-default RA_MAX_THR_SPEED 3.1
|
||||
param set-default RA_MISS_VEL_DEF 3
|
||||
param set-default RA_MISS_VEL_GAIN 5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 0.1
|
||||
param set-default RA_SPEED_P 2
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure Pursuit parameters
|
||||
|
||||
+2
-2
@@ -1,10 +1,10 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar 2d
|
||||
# @name Gazebo x500 lidar
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_2d}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,64 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Aion Robotics R1 Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_mecanum_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
param set-default RM_MAN_YAW_SCALE 0.1
|
||||
param set-default RM_YAW_RATE_I 0
|
||||
param set-default RM_YAW_RATE_P 0.01
|
||||
param set-default RM_MAX_ACCEL 3
|
||||
param set-default RM_MAX_JERK 5
|
||||
param set-default RM_MAX_SPEED 4
|
||||
param set-default RM_MAX_THR_SPD 7
|
||||
param set-default RM_MAX_THR_YAW_R 7.5
|
||||
param set-default RM_YAW_P 5
|
||||
param set-default RM_YAW_I 0.1
|
||||
param set-default RM_MAX_YAW_RATE 180
|
||||
param set-default RM_MISS_SPD_DEF 3
|
||||
param set-default RM_MISS_VEL_GAIN 1
|
||||
param set-default RM_SPEED_I 0.01
|
||||
param set-default RM_SPEED_P 0.1
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
param set-default PP_LOOKAHD_GAIN 0.5
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
|
||||
param set-default SIM_GZ_WH_MIN3 0
|
||||
param set-default SIM_GZ_WH_MAX3 200
|
||||
param set-default SIM_GZ_WH_DIS3 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
|
||||
param set-default SIM_GZ_WH_MIN4 0
|
||||
param set-default SIM_GZ_WH_MAX4 200
|
||||
param set-default SIM_GZ_WH_DIS4 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 10
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar down
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar front
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_front}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -84,11 +84,8 @@ px4_add_romfs_files(
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover_ackermann
|
||||
4013_gz_x500_lidar_2d
|
||||
4013_gz_x500_lidar
|
||||
4014_gz_x500_mono_cam_down
|
||||
4015_gz_r1_rover_mecanum
|
||||
4016_gz_x500_lidar_down
|
||||
4017_gz_x500_lidar_front
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -29,7 +29,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_of
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
|
||||
# To display for SIH sitl
|
||||
if [ "$PX4_SIMULATOR" = "sihsim" ]; then
|
||||
|
||||
@@ -181,7 +181,7 @@ param set-default TRIG_INTERFACE 3
|
||||
param set-default SYS_FAILURE_EN 1
|
||||
# Enable low-battery actions by default for (automated) testing. Battery sim
|
||||
# does not go below 50% by default, but failure injection can trigger failsafes.
|
||||
param set-default COM_LOW_BAT_ACT 3
|
||||
param set-default COM_LOW_BAT_ACT 2
|
||||
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
@@ -190,11 +190,11 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
|
||||
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
|
||||
|
||||
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
|
||||
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
|
||||
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
|
||||
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
||||
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
||||
|
||||
|
||||
@@ -92,13 +92,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_MECANUM)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_mecanum_apps
|
||||
rc.rover_mecanum_defaults
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_UUV_ATT_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
rc.uuv_apps
|
||||
|
||||
@@ -18,6 +18,8 @@ param set UAVCAN_ENABLE 0
|
||||
# disable some checks to allow to fly
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
@@ -96,5 +96,7 @@ param set UAVCAN_ENABLE 0
|
||||
# disable some checks to allow to fly
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
@@ -20,6 +20,8 @@ param set SYS_HITL 2
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
|
||||
@@ -41,6 +41,8 @@ param set-default SYS_HITL 2
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set SIH_T_MAX 6
|
||||
param set SIH_MASS 0.3
|
||||
|
||||
@@ -63,6 +63,8 @@ param set-default SYS_HITL 2
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SENS_DPRES_OFF 0.001
|
||||
|
||||
|
||||
@@ -0,0 +1,99 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output Motor1 motor right
|
||||
# @output Motor2 motor left
|
||||
# @output Servo1 elevon right
|
||||
# @output Servo2 elevon left
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
param set-default VT_B_TRANS_DUR 5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 2
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR0_PX 0.2
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.2
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_ROTOR2_PX 0.2
|
||||
param set-default CA_ROTOR2_PY -0.2
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.2
|
||||
param set-default CA_ROTOR3_PY 0.2
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
|
||||
param set-default CA_ROTOR4_PX -0.3
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 0.5
|
||||
param set-default CA_SV_CS0_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
|
||||
param set HIL_ACT_REV 32
|
||||
|
||||
param set-default FW_AIRSPD_MAX 12
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 10
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC3 103
|
||||
param set-default HIL_ACT_FUNC4 104
|
||||
param set-default HIL_ACT_FUNC5 201
|
||||
param set-default HIL_ACT_FUNC6 202
|
||||
param set-default HIL_ACT_FUNC7 203
|
||||
param set-default HIL_ACT_FUNC8 105
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set SIH_VEHICLE_TYPE 3
|
||||
|
||||
param set-default VT_ARSP_TRANS 6
|
||||
@@ -0,0 +1,132 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Vertical Technologies DeltaQuad
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @output Motor1 motor 1
|
||||
# @output Motor2 motor 2
|
||||
# @output Motor3 motor 3
|
||||
# @output Motor4 motor 4
|
||||
# @output Servo1 Right elevon
|
||||
# @output Servo2 Left elevon
|
||||
# @output Servo3 Pusher motor
|
||||
# @output Servo4 Pusher reverse channel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_CAPACITY 23000
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_R_INTERNAL 0.0025
|
||||
|
||||
param set-default SYS_HAS_NUM_ASPD 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default EKF2_GPS_POS_X -0.12
|
||||
param set-default EKF2_IMU_POS_X -0.12
|
||||
|
||||
param set-default FW_USE_AIRSPD 0
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_PR_FF 0.7
|
||||
param set-default FW_PR_I 0.18
|
||||
param set-default FW_PR_P 0.15
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PSP_OFF 5
|
||||
param set-default FW_R_LIM 35
|
||||
param set-default FW_RR_FF 0.9
|
||||
param set-default FW_RR_I 0.08
|
||||
param set-default FW_RR_P 0.18
|
||||
param set-default FW_T_CLMB_MAX 3
|
||||
param set-default FW_T_SINK_MAX 3
|
||||
param set-default FW_T_SINK_MIN 1
|
||||
param set-default FW_THR_TRIM 0.70
|
||||
param set-default FW_THR_SLEW_MAX 1
|
||||
param set-default FW_P_LIM_MAX 15
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_P_RMAX_NEG 45
|
||||
param set-default FW_P_RMAX_POS 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_MIN 0.55
|
||||
param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
|
||||
param set-default MC_YAWRATE_MAX 20
|
||||
param set-default MC_AIRMODE 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 15
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_MAX 5
|
||||
param set-default MPC_LAND_SPEED 1.2
|
||||
param set-default MPC_TILTMAX_LND 35
|
||||
param set-default MPC_Z_VEL_MAX_UP 1.5
|
||||
param set-default MPC_TKO_RAMP_T 0.8
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TILTMAX_LND 25
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
|
||||
|
||||
param set-default SENS_BOARD_ROT 18
|
||||
|
||||
# TELEM2 config
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_RATE 5000
|
||||
param set-default MAV_1_FORWARD 1
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_PITCH_MIN 8
|
||||
param set-default VT_FW_QC_P 55
|
||||
param set-default VT_FW_QC_R 55
|
||||
param set-default VT_TRANS_MIN_TM 15
|
||||
param set-default VT_FWD_THRUST_SC 4
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1
|
||||
@@ -0,0 +1,121 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BabyShark VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Silvan Fuhrer <silvan@auterion.com>
|
||||
#
|
||||
# @output Motor1 motor 1
|
||||
# @output Motor2 motor 2
|
||||
# @output Motor3 motor 3
|
||||
# @output Motor4 motor 4
|
||||
# @output Motor5 Pusher motor
|
||||
# @output Servo1 Ailerons
|
||||
# @output Servo2 A-tail left
|
||||
# @output Servo3 A-tail right
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_PN_R_SLEW_MAX 40
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_TRIM 0.65
|
||||
param set-default FW_THR_MIN 0.3
|
||||
param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set-default MPC_Z_VEL_MAX_UP 2
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
|
||||
param set-default VT_ARSP_BLEND 10
|
||||
param set-default VT_ARSP_TRANS 21
|
||||
param set-default VT_B_DEC_MSS 1.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_FWD_THRUST_SC 1.2
|
||||
param set-default VT_F_TR_OL_TM 8
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 15
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_R 0
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 13
|
||||
param set-default CA_SV_CS2_TRQ_P 0.5
|
||||
param set-default CA_SV_CS2_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS2_TYPE 14
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 105
|
||||
param set-default PWM_MAIN_FUNC4 203
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 103
|
||||
param set-default PWM_MAIN_FUNC8 104
|
||||
|
||||
param set-default PWM_MAIN_TIM0 50
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
@@ -16,6 +16,7 @@
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
param set-default COM_PREARM_MODE 2 # always in prearm state
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default SDLOG_PROFILE 17
|
||||
param set-default SDLOG_MODE 2
|
||||
param set-default MAV_0_MODE 1
|
||||
|
||||
@@ -16,6 +16,7 @@
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
|
||||
@@ -67,6 +67,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
@@ -91,6 +92,9 @@ param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_A_PER_V 36.364
|
||||
param set-default BAT1_V_DIV 18.182
|
||||
|
||||
# Circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
|
||||
@@ -68,6 +68,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
@@ -92,6 +93,9 @@ param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_A_PER_V 36.364
|
||||
param set-default BAT1_V_DIV 18.182
|
||||
|
||||
# Circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
|
||||
@@ -42,16 +42,12 @@ param set-default CA_ROTOR3_PX -0.0762
|
||||
param set-default CA_ROTOR3_PY 0.09525
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_TIM0 -3
|
||||
param set-default DSHOT_TEL_CFG 104
|
||||
|
||||
param set-default EKF2_MIN_RNG 0.01
|
||||
param set-default EKF2_OF_POS_X 0.043
|
||||
param set-default EKF2_OF_POS_Y 0.011
|
||||
param set-default EKF2_OF_QMIN_GND 1
|
||||
param set-default EKF2_RNG_POS_X 0.043
|
||||
param set-default EKF2_RNG_POS_Y 0.0
|
||||
param set-default EKF2_RNG_A_HMAX 25.0
|
||||
|
||||
param set-default IMU_GYRO_DNF_EN 2
|
||||
|
||||
@@ -82,9 +78,3 @@ param set-default SENS_FLOW_MINHGT 0.0
|
||||
param set-default SER_TEL2_BAUD 3000000
|
||||
|
||||
param set-default UXRCE_DDS_CFG 102
|
||||
|
||||
param set-default EKF2_HGT_REF 2
|
||||
|
||||
# I saw a very sketchy extreme yaw setpoint that I cant explain
|
||||
# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
|
||||
param set-default MC_YAWRATE_MAX 100
|
||||
|
||||
@@ -23,24 +23,22 @@ param set-default RBCLW_REV 1 # reverse right wheels
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_ACCEL 3
|
||||
param set-default RD_MAX_DECEL 4
|
||||
param set-default RD_MAX_JERK 5
|
||||
param set-default RD_MAX_SPEED 1.6
|
||||
param set-default RD_MAX_THR_SPD 1.9
|
||||
param set-default RD_MAX_THR_YAW_R 0.7
|
||||
param set-default RD_MAX_YAW_ACCEL 600
|
||||
param set-default RD_MAX_YAW_RATE 250
|
||||
param set-default RD_MISS_SPD_DEF 1.5
|
||||
param set-default RD_SPEED_P 0.1
|
||||
param set-default RD_SPEED_I 0.01
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.139626
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAN_YAW_SCALE 1
|
||||
param set-default RD_MAX_ACCEL 5
|
||||
param set-default RD_MAX_JERK 10
|
||||
param set-default RD_MAX_THR_YAW_R 4
|
||||
param set-default RD_YAW_RATE_P 0.1
|
||||
param set-default RD_YAW_RATE_I 0.01
|
||||
|
||||
param set-default RD_YAW_RATE_I 0
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0
|
||||
param set-default RD_MAX_SPEED 1.8
|
||||
param set-default RD_MAX_THR_SPD 2
|
||||
param set-default RD_SPEED_P 0.5
|
||||
param set-default RD_SPEED_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 300
|
||||
param set-default RD_MISS_SPD_DEF 1.8
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
|
||||
@@ -19,18 +19,16 @@ param set-default BAT1_N_CELLS 3
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_LAT_ACCEL_I 0.01
|
||||
param set-default RA_LAT_ACCEL_P 0.1
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_DECEL 10
|
||||
param set-default RA_MAX_JERK 20
|
||||
param set-default RA_MAX_LAT_ACCEL 3
|
||||
param set-default RA_MAX_SPEED 2.5
|
||||
param set-default RA_MAX_ACCEL 0.5
|
||||
param set-default RA_MAX_JERK 10
|
||||
param set-default RA_MAX_SPEED 2.7
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 270
|
||||
param set-default RA_MAX_THR_SPEED 2.8
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 0.1
|
||||
param set-default RA_MISS_VEL_DEF 2.7
|
||||
param set-default RA_MISS_VEL_GAIN 3.5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.1
|
||||
param set-default RA_SPEED_P 0.5
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure pursuit parameters
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Rover Mecanum
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_mecanum_defaults
|
||||
@@ -23,6 +23,9 @@
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
# companion computer is connected via USB permanently
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default MAV_1_CONFIG 102
|
||||
|
||||
param set-default BAT1_A_PER_V 37.8798
|
||||
|
||||
@@ -73,6 +73,8 @@ param set-default SENS_EN_PX4FLOW 1
|
||||
param set-default SENS_EN_LL40LS 2
|
||||
param set-default SENS_FLOW_ROT 2
|
||||
|
||||
#
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default COM_DISARM_LAND 3
|
||||
|
||||
# Battery
|
||||
|
||||
@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
|
||||
1100_rc_quad_x_sih.hil
|
||||
1101_rc_plane_sih.hil
|
||||
1102_tailsitter_duo_sih.hil
|
||||
1103_standard_vtol_sih.hil
|
||||
)
|
||||
endif()
|
||||
|
||||
@@ -129,6 +130,8 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
|
||||
# [13000, 13999] VTOL
|
||||
13000_generic_vtol_standard
|
||||
13100_generic_vtol_tiltrotor
|
||||
13013_deltaquad
|
||||
13014_vtol_babyshark
|
||||
13030_generic_vtol_quad_tiltrotor
|
||||
13200_generic_vtol_tailsitter
|
||||
)
|
||||
@@ -150,13 +153,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_MECANUM)
|
||||
px4_add_romfs_files(
|
||||
# [52000, 52999] Mecanum rovers
|
||||
52000_generic_rover_mecanum
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [59000, 59999] Rover position control (deprecated)
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
#!/bin/sh
|
||||
# Standard apps for a mecanum drive rover.
|
||||
|
||||
# Start rover mecanum drive controller.
|
||||
rover_mecanum start
|
||||
|
||||
# Start Land Detector.
|
||||
land_detector start rover
|
||||
@@ -1,11 +0,0 @@
|
||||
#!/bin/sh
|
||||
# Mecanum rover parameters.
|
||||
|
||||
set VEHICLE_TYPE rover_mecanum
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
param set-default CA_AIRFRAME 13 # Rover (Mecanum)
|
||||
param set-default CA_R_REV 15 # Right and left motors reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
@@ -184,13 +184,6 @@ then
|
||||
asp5033 start -X
|
||||
fi
|
||||
|
||||
# AUAV absolute/differential pressure sensor external I2C
|
||||
if param greater -s SENS_EN_AUAVX 0
|
||||
then
|
||||
auav start -D -X
|
||||
auav start -A -X
|
||||
fi
|
||||
|
||||
# SHT3x temperature and hygrometer sensor, external I2C
|
||||
if param compare -s SENS_EN_SHT3X 1
|
||||
then
|
||||
|
||||
@@ -50,15 +50,6 @@ then
|
||||
. ${R}etc/init.d/rc.rover_ackermann_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Mecanum Rover setup.
|
||||
#
|
||||
if [ $VEHICLE_TYPE = rover_mecanum ]
|
||||
then
|
||||
# Start mecanum drive rover apps.
|
||||
. ${R}etc/init.d/rc.rover_mecanum_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL setup.
|
||||
#
|
||||
|
||||
@@ -105,6 +105,13 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ -e /fs/microsd/new ]
|
||||
then
|
||||
echo "Updating external autostart files"
|
||||
rm -r $SDCARD_EXT_PATH
|
||||
mv /fs/microsd/new $SDCARD_EXT_PATH
|
||||
fi
|
||||
|
||||
# Check for an update of the ext_autostart folder, and replace the old one with it
|
||||
if [ -e /fs/microsd/ext_autostart_new ]
|
||||
then
|
||||
|
||||
@@ -11,7 +11,7 @@ exec find boards msg src platforms test \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/ins/vectornav/libvnc -prune -o \
|
||||
-path src/drivers/uavcan/libdronecan -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
|
||||
-path src/drivers/cyphal/libcanard -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
@@ -32,5 +32,4 @@ exec find boards msg src platforms test \
|
||||
-path src/lib/cdrstream/rosidl -prune -o \
|
||||
-path src/modules/zenoh/zenoh-pico -prune -o \
|
||||
-path boards/modalai/voxl2/libfc-sensor-api -prune -o \
|
||||
-path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
|
||||
\( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
mkdir artifacts
|
||||
cp **/**/*.px4 artifacts/
|
||||
cp **/**/*.elf artifacts/
|
||||
for build_dir_path in build/*/ ; do
|
||||
build_dir=${build_dir_path#*/}
|
||||
build_dir=${build_dir::${#build_dir}-1}
|
||||
mkdir artifacts/$build_dir
|
||||
find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
|
||||
# Airframe
|
||||
cp $build_dir_path/airframes.xml artifacts/$build_dir/
|
||||
# Parameters
|
||||
cp $build_dir_path/parameters.xml artifacts/$build_dir/
|
||||
cp $build_dir_path/parameters.json artifacts/$build_dir/
|
||||
cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
|
||||
# Actuators
|
||||
cp $build_dir_path/actuators.json artifacts/$build_dir/
|
||||
cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
|
||||
# Events
|
||||
cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
|
||||
# ROS 2 msgs
|
||||
cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
|
||||
# Module Docs
|
||||
ls -la artifacts/$build_dir
|
||||
echo "----------"
|
||||
done
|
||||
|
||||
# general metadata
|
||||
mkdir artifacts/_general/
|
||||
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
|
||||
# Airframe
|
||||
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
|
||||
# Parameters
|
||||
cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
|
||||
cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
|
||||
cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
|
||||
# Actuators
|
||||
cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
|
||||
cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
|
||||
# Events
|
||||
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
|
||||
# ROS 2 msgs
|
||||
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
|
||||
# Module Docs
|
||||
ls -la artifacts/_general/
|
||||
@@ -25,16 +25,10 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
|
||||
help='Pretty output instead of a single line')
|
||||
parser.add_argument('-g', '--groups', dest='group', action='store_true',
|
||||
help='Groups targets')
|
||||
parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
|
||||
board_filter = []
|
||||
if args.filter:
|
||||
for board in args.filter.split(','):
|
||||
board_filter.append(board)
|
||||
|
||||
build_configs = []
|
||||
grouped_targets = {}
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
|
||||
@@ -117,19 +111,7 @@ if(verbose):
|
||||
print("= scanning for boards =")
|
||||
print("=======================")
|
||||
|
||||
# We also need to build metadata
|
||||
# includes:
|
||||
# - Airframe
|
||||
# - Parameters
|
||||
# - Events
|
||||
metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
|
||||
grouped_targets['base'] = {}
|
||||
grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
|
||||
grouped_targets['base']['manufacturers'] = {}
|
||||
grouped_targets['base']['manufacturers']['px4'] = []
|
||||
grouped_targets['base']['manufacturers']['px4'] += metadata_targets
|
||||
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
if not manufacturer.is_dir():
|
||||
continue
|
||||
if manufacturer.name in excluded_manufacturers:
|
||||
@@ -147,10 +129,6 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
|
||||
label = files.name[:-9]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
|
||||
if board_filter and not board_name in board_filter:
|
||||
if verbose: print(f'excluding board {board_name} ({target_name})')
|
||||
continue
|
||||
|
||||
if board_name in excluded_boards:
|
||||
if verbose: print(f'excluding board {board_name} ({target_name})')
|
||||
continue
|
||||
@@ -165,6 +143,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
|
||||
grouped_targets[target['arch']]['container'] = target['container']
|
||||
grouped_targets[target['arch']]['manufacturers'] = {}
|
||||
if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
|
||||
grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {}
|
||||
grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
|
||||
grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
|
||||
if target is not None:
|
||||
@@ -177,11 +156,6 @@ if(verbose):
|
||||
print("============================")
|
||||
pprint.pp(grouped_targets)
|
||||
|
||||
if(verbose):
|
||||
print("===================")
|
||||
print("= Generating JSON =")
|
||||
print("===================")
|
||||
|
||||
if (args.group):
|
||||
# if we are using this script for grouping builds
|
||||
# we loop trough the manufacturers list and split their targets
|
||||
@@ -199,88 +173,93 @@ if (args.group):
|
||||
# nuttx-0
|
||||
# nuttx-1
|
||||
final_groups = []
|
||||
temp_group = []
|
||||
group_number = {}
|
||||
last_man = ''
|
||||
last_arch = ''
|
||||
SPLIT_LIMIT = 10
|
||||
LOWER_LIMIT = 5
|
||||
if(verbose):
|
||||
print(f'=:Architectures: [{grouped_targets.keys()}]')
|
||||
for arch in grouped_targets:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}]')
|
||||
temp_group = []
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}]')
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
|
||||
group_name = arch + "-" + man
|
||||
targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(grouped_targets[arch]['manufacturers'][man])
|
||||
})
|
||||
elif(man_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
|
||||
group_name = arch + "-" + man + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
|
||||
temp_group.extend(grouped_targets[arch]['manufacturers'][man])
|
||||
if(last_arch == ''):
|
||||
last_arch = arch
|
||||
if(arch not in group_number):
|
||||
group_number[arch] = 0
|
||||
|
||||
temp_len = len(temp_group)
|
||||
chunk_counter = 0
|
||||
if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
if(last_arch != arch and len(temp_group) > 0):
|
||||
group_name = last_arch + "-" + str(group_number[last_arch])
|
||||
group_number[last_arch] += 1
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"container": grouped_targets[last_arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"arch": last_arch,
|
||||
"group": group_name,
|
||||
"len": temp_len
|
||||
"len": len(temp_group)
|
||||
})
|
||||
elif(temp_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(temp_group, chunk_limit):
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
last_arch = arch
|
||||
temp_group = []
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
for tar in grouped_targets[arch]['manufacturers'][man]:
|
||||
if(last_man != man):
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
group_name = arch + "-" + man
|
||||
targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
|
||||
last_man = man
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(grouped_targets[arch]['manufacturers'][man])
|
||||
})
|
||||
elif(man_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
|
||||
group_name = arch + "-" + man + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
last_man = man
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
temp_group.append(tar)
|
||||
|
||||
if(last_arch != arch and len(temp_group) > 0):
|
||||
group_name = last_arch + "-" + str(group_number[last_arch])
|
||||
group_number[last_arch] += 1
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[last_arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": last_arch,
|
||||
"group": group_name,
|
||||
"len": len(temp_group)
|
||||
})
|
||||
last_arch = arch
|
||||
temp_group = []
|
||||
if(len(temp_group) > (LOWER_LIMIT - 1)):
|
||||
group_name = arch + "-" + str(group_number[arch])
|
||||
last_arch = arch
|
||||
group_number[arch] += 1
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
"len": len(temp_group)
|
||||
})
|
||||
chunk_counter += 1
|
||||
temp_group = []
|
||||
if(verbose):
|
||||
import pprint
|
||||
print("================")
|
||||
@@ -442,7 +442,7 @@ class SourceParser(object):
|
||||
re.findall(r"\bstrcmp\b.*\bverb\b.*\"(.+)\"", contents)
|
||||
|
||||
doc_commands = module_doc.all_commands() + \
|
||||
[x for value in module_doc.all_values() for x in value.replace(' ', '|').split('|')]
|
||||
[x for value in module_doc.all_values() for x in value.split('|')]
|
||||
|
||||
for command in commands:
|
||||
if len(command) == 2 and command[0] == '-':
|
||||
|
||||
@@ -428,8 +428,7 @@ class uploader:
|
||||
|
||||
percent = (float(progress) / float(maxVal)) * 100.0
|
||||
|
||||
redraw = "\r" if sys.stdout.isatty() else "\n"
|
||||
sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
|
||||
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
|
||||
sys.stdout.flush()
|
||||
|
||||
# send the CHIP_ERASE command and wait for the bootloader to become ready
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
# PX4 base development environment
|
||||
FROM ubuntu:24.04
|
||||
LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
ENV LANG=C.UTF-8
|
||||
ENV LC_ALL=C.UTF-8
|
||||
ENV DISPLAY=:99
|
||||
ENV TERM=xterm
|
||||
ENV TZ=UTC
|
||||
|
||||
# SITL UDP PORTS
|
||||
EXPOSE 14556/udp
|
||||
EXPOSE 14557/udp
|
||||
|
||||
COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
|
||||
|
||||
# Install PX4 Requirements
|
||||
COPY requirements.txt /tmp/requirements.txt
|
||||
COPY ubuntu.sh /tmp/ubuntu.sh
|
||||
RUN touch /.dockerenv
|
||||
RUN bash /tmp/ubuntu.sh --no-sim-tools
|
||||
|
||||
RUN git config --global --add safe.directory '*'
|
||||
|
||||
# create user with id 1001 (jenkins docker workflow default)
|
||||
RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
|
||||
|
||||
ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
|
||||
|
||||
CMD ["/bin/bash"]
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
echo "[docker-entrypoint.sh] Starting entrypoint"
|
||||
# Start virtual X server in the background
|
||||
# - DISPLAY default is :99, set in dockerfile
|
||||
# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
|
||||
# running Xvfb and attach their screen
|
||||
if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
|
||||
echo "[docker-entrypoint.sh] Starting Xvfb"
|
||||
Xvfb :99 -screen 0 1600x1200x24+32 &
|
||||
fi
|
||||
|
||||
# Check if the ROS_DISTRO is passed and use it
|
||||
# to source the ROS environment
|
||||
if [ -n "${ROS_DISTRO}" ]; then
|
||||
echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
|
||||
source "/opt/ros/$ROS_DISTRO/setup.bash"
|
||||
fi
|
||||
|
||||
echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
|
||||
|
||||
# Use the LOCAL_USER_ID if passed in at runtime
|
||||
if [ -n "${LOCAL_USER_ID}" ]; then
|
||||
echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
|
||||
# modify existing user's id
|
||||
usermod -u $LOCAL_USER_ID user
|
||||
|
||||
# run as user
|
||||
# exec gosu user "$@"
|
||||
exec "$@"
|
||||
else
|
||||
exec "$@"
|
||||
fi
|
||||
@@ -1,7 +1,7 @@
|
||||
argcomplete
|
||||
cerberus
|
||||
coverage
|
||||
empy>=3.3,<4
|
||||
empy==3.3.4
|
||||
future
|
||||
jinja2>=2.8
|
||||
jsonschema
|
||||
|
||||
+112
-52
@@ -2,7 +2,7 @@
|
||||
|
||||
set -e
|
||||
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04).
|
||||
## Can also be used in docker.
|
||||
##
|
||||
## Installs:
|
||||
@@ -33,9 +33,7 @@ if [ -f /.dockerenv ]; then
|
||||
apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
|
||||
ca-certificates \
|
||||
gnupg \
|
||||
gosu \
|
||||
lsb-release \
|
||||
software-properties-common \
|
||||
lsb-core \
|
||||
sudo \
|
||||
wget \
|
||||
;
|
||||
@@ -55,7 +53,23 @@ fi
|
||||
# check ubuntu version
|
||||
# otherwise warn and point to docker?
|
||||
UBUNTU_RELEASE="`lsb_release -rs`"
|
||||
echo "Ubuntu ${UBUNTU_RELEASE}"
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
|
||||
echo "Ubuntu 14.04 is no longer supported"
|
||||
exit 1
|
||||
elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
|
||||
echo "Ubuntu 16.04 is no longer supported"
|
||||
exit 1
|
||||
elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
echo "Ubuntu 18.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
echo "Ubuntu 20.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Ubuntu 22.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
echo "Linux Mint 21.3"
|
||||
fi
|
||||
|
||||
|
||||
echo
|
||||
echo "Installing PX4 general dependencies"
|
||||
@@ -64,7 +78,6 @@ sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
astyle \
|
||||
build-essential \
|
||||
ccache \
|
||||
cmake \
|
||||
cppcheck \
|
||||
file \
|
||||
@@ -73,7 +86,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
gdb \
|
||||
git \
|
||||
lcov \
|
||||
libssl-dev \
|
||||
libfuse2 \
|
||||
libxml2-dev \
|
||||
libxml2-utils \
|
||||
make \
|
||||
@@ -92,17 +105,12 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
# Python3 dependencies
|
||||
echo
|
||||
echo "Installing PX4 Python3 dependencies"
|
||||
PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
|
||||
REQUIRED_VERSION="3.11"
|
||||
if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
|
||||
python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
|
||||
if [ -n "$VIRTUAL_ENV" ]; then
|
||||
# virtual environments don't allow --user option
|
||||
python -m pip install -r ${DIR}/requirements.txt
|
||||
else
|
||||
if [ -n "$VIRTUAL_ENV" ]; then
|
||||
# virtual environments don't allow --user option
|
||||
python -m pip install -r ${DIR}/requirements.txt
|
||||
else
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
fi
|
||||
# older versions of Ubuntu require --user option
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
fi
|
||||
|
||||
# NuttX toolchain (arm-none-eabi-gcc)
|
||||
@@ -118,26 +126,21 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
build-essential \
|
||||
flex \
|
||||
g++-multilib \
|
||||
gcc-arm-none-eabi \
|
||||
gcc-multilib \
|
||||
gdb-multiarch \
|
||||
genromfs \
|
||||
gettext \
|
||||
gperf \
|
||||
kconfig-frontends \
|
||||
libelf-dev \
|
||||
libexpat-dev \
|
||||
libgmp-dev \
|
||||
libisl-dev \
|
||||
libmpc-dev \
|
||||
libmpfr-dev \
|
||||
libncurses-dev \
|
||||
libncurses6 \
|
||||
libncursesw6 \
|
||||
libnewlib-arm-none-eabi \
|
||||
libstdc++-arm-none-eabi-newlib \
|
||||
libncurses5 \
|
||||
libncurses5-dev \
|
||||
libncursesw5-dev \
|
||||
libtool \
|
||||
libunwind-dev \
|
||||
pkg-config \
|
||||
screen \
|
||||
texinfo \
|
||||
@@ -145,11 +148,46 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
util-linux \
|
||||
vim-common \
|
||||
;
|
||||
if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
kconfig-frontends \
|
||||
;
|
||||
fi
|
||||
|
||||
|
||||
if [ -n "$USER" ]; then
|
||||
# add user to dialout group (serial port access)
|
||||
sudo usermod -aG dialout $USER
|
||||
fi
|
||||
|
||||
# arm-none-eabi-gcc
|
||||
NUTTX_GCC_VERSION="9-2020-q2-update"
|
||||
NUTTX_GCC_VERSION_SHORT="9-2020q2"
|
||||
|
||||
source $HOME/.profile # load changed path for the case the script is reran before relogin
|
||||
if [ $(which arm-none-eabi-gcc) ]; then
|
||||
GCC_VER_STR=$(arm-none-eabi-gcc --version)
|
||||
GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}" || true)
|
||||
fi
|
||||
|
||||
if [[ "$GCC_FOUND_VER" == "1" ]]; then
|
||||
echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
|
||||
|
||||
else
|
||||
echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
|
||||
wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
|
||||
sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
|
||||
|
||||
# add arm-none-eabi-gcc to user's PATH
|
||||
exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
|
||||
|
||||
if grep -Fxq "$exportline" $HOME/.profile; then
|
||||
echo "${NUTTX_GCC_VERSION} path already set.";
|
||||
else
|
||||
echo $exportline >> $HOME/.profile;
|
||||
source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
# Simulation tools
|
||||
@@ -163,8 +201,51 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
bc \
|
||||
;
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
java_version=11
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
java_version=11
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
java_version=11
|
||||
else
|
||||
java_version=14
|
||||
fi
|
||||
# Java (jmavsim)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ant \
|
||||
openjdk-$java_version-jre \
|
||||
openjdk-$java_version-jdk \
|
||||
libvecmath-java \
|
||||
;
|
||||
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Gazebo / Gazebo classic installation
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Gazebo (Harmonic) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-harmonic"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
echo "Gazebo (Garden) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-garden"
|
||||
else
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
@@ -179,32 +260,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
gazebo_classic_version=11
|
||||
gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
|
||||
fi
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
echo "Gazebo (Garden) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-garden"
|
||||
else
|
||||
# Expects Ubuntu 22.04 > by default
|
||||
echo "Gazebo (Harmonic) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-harmonic libunwind-dev"
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
|
||||
gazebo_packages="$gazebo_packages cppzmq-dev"
|
||||
fi
|
||||
fi
|
||||
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
@@ -230,3 +285,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
echo
|
||||
echo "Relogin or reboot computer before attempting to build NuttX targets"
|
||||
fi
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: c0e0751341...f1d11a6126
+1
-1
Submodule Tools/simulation/gz updated: 9e47793f2b...536305adee
@@ -1,181 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2024 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Serial firmware uploader for the Teensy
|
||||
|
||||
import sys
|
||||
import argparse
|
||||
import time
|
||||
import sys
|
||||
import usb.core
|
||||
import subprocess
|
||||
|
||||
from sys import platform as _platform
|
||||
from pymavlink import mavutil
|
||||
|
||||
try:
|
||||
import serial
|
||||
except ImportError as e:
|
||||
print("Failed to import serial: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyserial")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
# Define time to use time.time() by default
|
||||
def _time():
|
||||
return time.time()
|
||||
|
||||
class uploader(object):
|
||||
|
||||
def __init__(self, portname):
|
||||
self.mavlink = mavutil.mavlink_connection(portname)
|
||||
|
||||
def send_reboot(self):
|
||||
try:
|
||||
self.mavlink.wait_heartbeat()
|
||||
self.mavlink.reboot_autopilot(True)
|
||||
except:
|
||||
pass
|
||||
return True
|
||||
|
||||
TEENSY_BL_VENDORID = 0x16c0
|
||||
TEENSY_BL_PRODUCTID = 0x0478
|
||||
|
||||
def main():
|
||||
# Parse commandline arguments
|
||||
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
|
||||
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid')
|
||||
parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid')
|
||||
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
|
||||
args = parser.parse_args()
|
||||
|
||||
found_bootloader = False
|
||||
|
||||
# find USB devices
|
||||
dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
|
||||
# loop through devices, printing vendor and product ids in decimal and hex
|
||||
if dev is not None:
|
||||
print("Found teensy bootloader")
|
||||
found_bootloader = True
|
||||
else:
|
||||
dev = usb.core.find(idVendor=args.vendor_id, idProduct=args.product_id)
|
||||
if dev is None:
|
||||
print("No PX4 Device found try to press the button program push button")
|
||||
print("Attempting to reboot into Teensy bootloader...", end="", flush=True)
|
||||
|
||||
try:
|
||||
while True:
|
||||
portlist = []
|
||||
patterns = args.port.split(",")
|
||||
# on unix-like platforms use glob to support wildcard ports. This allows
|
||||
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
|
||||
# causing modem hangups etc
|
||||
if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
|
||||
import glob
|
||||
for pattern in patterns:
|
||||
portlist += glob.glob(pattern)
|
||||
else:
|
||||
portlist = patterns
|
||||
|
||||
for port in portlist:
|
||||
try:
|
||||
if "linux" in _platform:
|
||||
# Linux, don't open Mac OS and Win ports
|
||||
if "COM" not in port and "tty.usb" not in port:
|
||||
up = uploader(port)
|
||||
elif "darwin" in _platform:
|
||||
# OS X, don't open Windows and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port)
|
||||
elif "cygwin" in _platform:
|
||||
# Cygwin, don't open native Windows COM and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port)
|
||||
elif "win" in _platform:
|
||||
# Windows, don't open POSIX ports
|
||||
if "/" not in port:
|
||||
up = uploader(port)
|
||||
except Exception:
|
||||
# open failed, rate-limit our attempts
|
||||
time.sleep(0.05)
|
||||
|
||||
# and loop to the next port
|
||||
continue
|
||||
|
||||
while True:
|
||||
up.send_reboot()
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
time.sleep(0.25)
|
||||
|
||||
# wait for the close, without we might run into Serial I/O Error 6
|
||||
time.sleep(0.3)
|
||||
|
||||
dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
|
||||
# loop through devices, printing vendor and product ids in decimal and hex
|
||||
if dev is not None:
|
||||
print("")
|
||||
print("Found teensy bootloader")
|
||||
found_bootloader = True
|
||||
break
|
||||
|
||||
print('.', end="", flush=True)
|
||||
|
||||
if not found_bootloader:
|
||||
# Go to the next port
|
||||
continue
|
||||
|
||||
if(found_bootloader):
|
||||
while True:
|
||||
result = subprocess.Popen("teensy_loader_cli -v --mcu=TEENSY41 " + args.firmware[0], shell=True)
|
||||
text = result.communicate()[0]
|
||||
if(result.returncode == 0):
|
||||
sys.exit(0)
|
||||
|
||||
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
|
||||
time.sleep(0.05)
|
||||
|
||||
# CTRL+C aborts the upload/spin-lock by interrupt mechanics
|
||||
except KeyboardInterrupt:
|
||||
print("\n Upload aborted by user.")
|
||||
sys.exit(0)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Executable
+29
@@ -0,0 +1,29 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
EXEDIR=`pwd`
|
||||
BASEDIR=$(dirname $0)
|
||||
|
||||
SYSTYPE=`uname -s`
|
||||
|
||||
#
|
||||
# Serial port defaults.
|
||||
#
|
||||
# XXX The uploader should be smarter than this.
|
||||
#
|
||||
if [ $SYSTYPE = "Darwin" ]; then
|
||||
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "Linux" ]; then
|
||||
SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*,"
|
||||
fi
|
||||
|
||||
if [[ $SYSTYPE = *"CYGWIN"* ]]; then
|
||||
SERIAL_PORTS="/dev/ttyS*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "" ]; then
|
||||
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
|
||||
fi
|
||||
|
||||
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
|
||||
@@ -89,6 +89,7 @@ CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
@@ -196,7 +197,6 @@ CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file can.c
|
||||
* @file mindpx_can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
* @file mindpx2_init.c
|
||||
*
|
||||
* MINDPX-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
* @file mindpx2_led.c
|
||||
*
|
||||
* PX4FMU LED backend.
|
||||
*/
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
* @file mindpx_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
|
||||
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
@@ -84,7 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
Binary file not shown.
@@ -14,7 +14,6 @@ fi
|
||||
if param compare -s ADC_ADS1115_EN 1
|
||||
then
|
||||
ads1115 start -X
|
||||
board_adc start -n
|
||||
else
|
||||
board_adc start
|
||||
fi
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -1,77 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_HEATER=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
|
||||
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=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
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MAVLINK_DIALECT="development"
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
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_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=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_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
Binary file not shown.
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 59,
|
||||
"magic": "ARKFPVFWv1",
|
||||
"description": "Firmware for the ARKFPV board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "ARKFPV",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# transision from params file to flash-based params (2022-08)
|
||||
if [ -f $PARAM_FILE ]
|
||||
then
|
||||
param load $PARAM_FILE
|
||||
param save
|
||||
# create a backup
|
||||
mv $PARAM_FILE ${PARAM_FILE}.bak
|
||||
reboot
|
||||
fi
|
||||
|
||||
# TODO: Tune the following parameters
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
param set-default SENS_IMU_TEMP 10.0
|
||||
#param set-default SENS_IMU_TEMP_FF 0.0
|
||||
#param set-default SENS_IMU_TEMP_I 0.025
|
||||
#param set-default SENS_IMU_TEMP_P 1.0
|
||||
|
||||
if ver hwtypecmp ARKFPV000
|
||||
then
|
||||
param set-default SENS_TEMP_ID 3014666
|
||||
fi
|
||||
|
||||
param set-default BAT1_V_DIV 21.0
|
||||
|
||||
param set-default RC_CRSF_PRT_CFG 300
|
||||
param set-default RC_SBUS_PRT_CFG 0
|
||||
|
||||
param set-default IMU_GYRO_DNF_EN 3
|
||||
|
||||
# Single IMU
|
||||
param set-default EKF2_MULTI_IMU 0
|
||||
param set-default SENS_IMU_MODE 1
|
||||
@@ -1,18 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# ARKFPV specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
board_adc start
|
||||
|
||||
if ver hwtypecmp ARKFPV000
|
||||
then
|
||||
# Internal SPI bus IIM42653
|
||||
iim42653 -R 14 -s -b 1 start
|
||||
fi
|
||||
|
||||
# Internal magnetometer on I2C
|
||||
iis2mdc -R 0 -I -b 4 start
|
||||
|
||||
# Internal Baro on I2C
|
||||
bmp388 -I -b 2 start
|
||||
@@ -1,17 +0,0 @@
|
||||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
config BOARD_HAS_PROBES
|
||||
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
|
||||
default y
|
||||
---help---
|
||||
This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
|
||||
|
||||
config BOARD_USE_PROBES
|
||||
bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
|
||||
default n
|
||||
depends on BOARD_HAS_PROBES
|
||||
|
||||
---help---
|
||||
Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers.
|
||||
@@ -1,95 +0,0 @@
|
||||
#
|
||||
# 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_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fpv/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743II=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x003B
|
||||
CONFIG_CDCACM_PRODUCTSTR="ARK BL FPV.x"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3185
|
||||
CONFIG_CDCACM_VENDORSTR="ARK"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=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_SPI=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_SYSTEMTICK_HOOK=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART7_RXBUFSIZE=512
|
||||
CONFIG_UART7_RXDMA=y
|
||||
CONFIG_UART7_TXBUFSIZE=512
|
||||
CONFIG_UART7_TXDMA=y
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,507 +0,0 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/px4_fmu-v6x/include/board.h
|
||||
*
|
||||
* Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
|
||||
* Authors: David Sidrane <david.sidrane@nscdg.com>
|
||||
*
|
||||
* 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 NuttX 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 __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The px4_fmu-v6X board provides the following clock sources:
|
||||
*
|
||||
* X1: 16 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 16 MHz RC factory-trimmed
|
||||
* HSE: 16 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 16000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE = 16,000,000
|
||||
*
|
||||
* PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* Subject to:
|
||||
*
|
||||
* 1 <= PLLM <= 63
|
||||
* 4 <= PLLN <= 512
|
||||
* 150 MHz <= PLL_VCOL <= 420MHz
|
||||
* 192 MHz <= PLL_VCOH <= 836MHz
|
||||
*
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* CPUCLK = SYSCLK / D1CPRE
|
||||
* Subject to
|
||||
*
|
||||
* PLLP1 = {2, 4, 6, 8, ..., 128}
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_USEHSE
|
||||
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (16,000,000 / 1) * 40 = 640 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 640 MHz / 2 = 320 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 640 MHz / 4 = 160 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 640 MHz / 8 = 80 MHz
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP1EN | \
|
||||
RCC_PLLCFGR_DIVQ1EN | \
|
||||
RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(40)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 40)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP2EN | \
|
||||
RCC_PLLCFGR_DIVQ2EN | \
|
||||
RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 48)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1)
|
||||
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 160
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (80 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (80 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB3 clock (PCLK3) is HCLK/2 (80 MHz) */
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */
|
||||
#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB4 clock (PCLK4) is HCLK/4 (80 MHz) */
|
||||
|
||||
#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */
|
||||
#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timer clock frequencies */
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Kernel Clock Configuration
|
||||
*
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
|
||||
/* I2C123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
|
||||
|
||||
/* I2C4 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
|
||||
/* SPI123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
|
||||
|
||||
/* SPI45 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2
|
||||
|
||||
/* SPI6 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2
|
||||
|
||||
/* USB 1 and 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3
|
||||
|
||||
/* ADC 1 2 3 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
* Vcore MAX ACLK WAIT STATES
|
||||
* ------------ ---------- -----------
|
||||
* 1.15-1.26 V 70 MHz 0
|
||||
* (VOS1 level) 140 MHz 1
|
||||
* 210 MHz 2
|
||||
* 1.05-1.15 V 55 MHz 0
|
||||
* (VOS2 level) 110 MHz 1
|
||||
* 165 MHz 2
|
||||
* 220 MHz 3
|
||||
* 0.95-1.05 V 45 MHz 0
|
||||
* (VOS3 level) 90 MHz 1
|
||||
* 135 MHz 2
|
||||
* 180 MHz 3
|
||||
* 225 MHz 4
|
||||
* ------------ ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
|
||||
/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */
|
||||
|
||||
#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
|
||||
* div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
|
||||
* LED_RED a Red LED, that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
|
||||
* LED_RED a Red LED, that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_LED3 2
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
#define BOARD_LED3_BIT (1 << BOARD_LED3)
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ---------------------- -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/* Thus if the Green LED is statically on, NuttX has successfully booted and
|
||||
* is, apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_6 /* PH14 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_6 /* PH13 */
|
||||
|
||||
#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */
|
||||
#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */
|
||||
// GPIO_UART5_RTS No remap /* PC8 */
|
||||
//#define GPIO_UART5_CTS (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN) /* PC9 */
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */
|
||||
#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
|
||||
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to transceiver.
|
||||
*/
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
/* SPI
|
||||
* SPI1 is sensors1
|
||||
* SPI2 is sensors2
|
||||
* SPI3 is sensors3
|
||||
* SPI4 is Not Used
|
||||
* SPI5 is Not Used
|
||||
* SPI6 is EXTERNAL1
|
||||
*
|
||||
*/
|
||||
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_3 /* PG9 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
|
||||
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_2 /* PA6 */
|
||||
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */
|
||||
#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3 */
|
||||
|
||||
/* I2C
|
||||
*
|
||||
* 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 GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */
|
||||
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
|
||||
|
||||
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
|
||||
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */
|
||||
|
||||
#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
|
||||
#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
|
||||
|
||||
/* SDMMC2
|
||||
*
|
||||
* VDD 3.3
|
||||
* GND
|
||||
* SDMMC2_CK PD6
|
||||
* SDMMC2_CMD PD7
|
||||
* SDMMC2_D0 PB14
|
||||
* SDMMC2_D1 PB15
|
||||
* SDMMC2_D2 PG11
|
||||
* SDMMC2_D3 PB4
|
||||
*/
|
||||
|
||||
#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_1 /* PD6 */
|
||||
#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */
|
||||
// GPIO_SDMMC2_D0 No Remap /* PB14 */
|
||||
// GPIO_SDMMC2_D1 No Remap /* PB15 */
|
||||
#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_1 /* PG11 */
|
||||
// GPIO_SDMMC2_D3 No Remap /* PB4 */
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# include "stm32_gpio.h"
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */
|
||||
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */
|
||||
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */
|
||||
# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */
|
||||
# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */
|
||||
# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */
|
||||
# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */
|
||||
# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
|
||||
if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
|
||||
if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
|
||||
if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
|
||||
if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
|
||||
if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
#endif /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H */
|
||||
@@ -1,108 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned
|
||||
// V
|
||||
|
||||
// Timer 4 Channel 1 /* DMA1:29 TIM4CH1 */
|
||||
|
||||
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 IIM-42653 */
|
||||
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 IIM-42653 */
|
||||
|
||||
//#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 ICM-42688-P */
|
||||
//#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 ICM-42688-P */
|
||||
|
||||
#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */
|
||||
#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */
|
||||
|
||||
//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */
|
||||
//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */
|
||||
|
||||
// Timer 8 Channel 1 /* DMA1:47 TIM8CH1 */
|
||||
// Timer 8 Channel 2 /* DMA1:48 TIM8CH2 */
|
||||
// Timer 8 Channel 3 /* DMA1:49 TIM8CH3 */
|
||||
// Timer 8 Channel 4 /* DMA1:50 TIM8CH4 */
|
||||
|
||||
// Timer 5 Channel 1 /* DMA1:55 TIM5CH1 */
|
||||
// Timer 5 Channel 2 /* DMA1:56 TIM5CH2 */
|
||||
// Timer 5 Channel 3 /* DMA1:57 TIM5CH3 */
|
||||
// Timer 5 Channel 4 /* DMA1:58 TIM5CH4 */
|
||||
|
||||
// #define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 UART4 */
|
||||
// #define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 UART4 */
|
||||
|
||||
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
|
||||
// #define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
|
||||
|
||||
// Assigned in timer_config.cpp
|
||||
|
||||
// Timer 4 /* 7 DMA1:32 TIM4UP */
|
||||
// Timer 5 /* 8 DMA1:50 TIM5UP */
|
||||
|
||||
// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned
|
||||
// V
|
||||
|
||||
// Timer 4 Channel 1 /* DMA2:29 TIM4CH1 */
|
||||
|
||||
#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* 3 DMA2:43 TELEM3 */
|
||||
#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* 4 DMA2:44 TELEM3 */
|
||||
|
||||
#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 3 DMA2:45 DEBUG */
|
||||
#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 4 DMA2:46 DEBUG */
|
||||
|
||||
// Timer 8 Channel 1 /* DMA2:47 TIM8CH1 */
|
||||
// Timer 8 Channel 2 /* DMA2:48 TIM8CH2 */
|
||||
// Timer 8 Channel 3 /* DMA2:49 TIM8CH3 */
|
||||
// Timer 8 Channel 4 /* DMA2:50 TIM8CH4 */
|
||||
|
||||
// Timer 5 Channel 1 /* DMA2:55 TIM5CH1 */
|
||||
// Timer 5 Channel 2 /* DMA2:56 TIM5CH2 */
|
||||
// Timer 5 Channel 3 /* DMA2:57 TIM5CH3 */
|
||||
// Timer 5 Channel 4 /* DMA2:58 TIM5CH4 */
|
||||
|
||||
//#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* 1 DMA2:61 BMI088 */
|
||||
//#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* 2 DMA2:62 BMI088 */
|
||||
|
||||
#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 5 DMA2:65 TELEM2 */
|
||||
#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 6 DMA2:66 TELEM2 */
|
||||
|
||||
#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 7 DMA1:79 TELEM1 */
|
||||
#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 8 DMA1:80 TELEM1 */
|
||||
|
||||
// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned
|
||||
// V
|
||||
|
||||
#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */
|
||||
#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */
|
||||
@@ -1,277 +0,0 @@
|
||||
#
|
||||
# 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_DISABLE_PTHREAD 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_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_IFCONFIG is not set
|
||||
# CONFIG_NSH_DISABLE_IFUPDOWN is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TELNETD is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fpv/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743II=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
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_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95751
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x003B
|
||||
CONFIG_CDCACM_PRODUCTSTR="ARK FPV.x"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3185
|
||||
CONFIG_CDCACM_VENDORSTR="ARK"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=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_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
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=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
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_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_EMULATE_PAGE_SHIFT=5
|
||||
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
|
||||
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_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=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_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLASH_OVERRIDE_I=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC2=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI1_DMA=y
|
||||
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI6=y
|
||||
CONFIG_STM32H7_SPI6_DMA=y
|
||||
CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_TIM12=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM2=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM5=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART5=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=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_UART7_TXDMA=y
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_RXDMA=y
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART1_TXDMA=y
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART2_TXDMA=y
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=180
|
||||
CONFIG_USART3_RXDMA=y
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART3_TXDMA=y
|
||||
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_WATCHDOG=y
|
||||
@@ -1,215 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
|
||||
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
|
||||
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743II also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader uses the first sector of the flash, which is 128K in length.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,229 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
|
||||
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
|
||||
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743II also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
|
||||
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
|
||||
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
EXTERN(board_get_manifest)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > FLASH
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > FLASH
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,77 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 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.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
add_compile_definitions(BOOTLOADER)
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
init.c
|
||||
usb.c
|
||||
timer_config.cpp
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer #gpio
|
||||
arch_io_pins # iotimer
|
||||
bootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
mtd.cpp
|
||||
sdio.c
|
||||
spi.cpp
|
||||
spix_sync.c
|
||||
spix_sync.h
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
)
|
||||
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
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -1,397 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016-2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* ARK FPV internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
#undef TRACE_PINS
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
# define BOARD_HAS_USB_VALID 1
|
||||
# define BOARD_HAS_NBAT_V 1
|
||||
# define BOARD_HAS_NBAT_I 1
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
|
||||
/* Trace Clock and D0-D3 are available on the trace connector
|
||||
*
|
||||
* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
|
||||
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
|
||||
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
|
||||
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
|
||||
* TRACED3 PE6 - nARMED - Trace Connector Pin 8
|
||||
|
||||
*/
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
|
||||
|
||||
#if !defined(TRACE_PINS)
|
||||
# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||
# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
|
||||
|
||||
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
# define BOARD_OVERLOAD_LED LED_RED
|
||||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
#else
|
||||
|
||||
# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
|
||||
# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
|
||||
# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
|
||||
# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
|
||||
# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
|
||||
//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
|
||||
|
||||
# undef BOARD_HAS_CONTROL_STATUS_LEDS
|
||||
# undef BOARD_OVERLOAD_LED
|
||||
# undef BOARD_ARMED_STATE_LED
|
||||
|
||||
# define GPIO_nLED_RED GPIO_TRACED0
|
||||
# define GPIO_nLED_GREEN GPIO_TRACED1
|
||||
# define GPIO_nLED_BLUE GPIO_TRACED2
|
||||
# define GPIO_nARMED GPIO_TRACED3
|
||||
# define GPIO_nARMED_INIT GPIO_TRACED3
|
||||
#endif
|
||||
|
||||
/* SPI */
|
||||
|
||||
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
|
||||
#define SPI6_RESET(on_true) px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
/* Devices on the onboard buses.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_SE050 0x48
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
|
||||
/* N.B. there is no offset mapping needed for ADC3 because */
|
||||
#define ADC3_CH(n) (n)
|
||||
|
||||
/* We are only use ADC3 for REV/VER.
|
||||
* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
|
||||
* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
|
||||
* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
|
||||
* PA0SO of 0.
|
||||
*
|
||||
* 0 Analog switch closed (pads are connected through the analog switch)
|
||||
*
|
||||
* So ADC3_INP0 is GPIO_ADC123_INP12
|
||||
* ADC3_INP1 is GPIO_ADC12_INP13
|
||||
*/
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PA0 */ GPIO_ADC1_INP16, \
|
||||
/* PA4 */ GPIO_ADC12_INP18, \
|
||||
/* PB0 */ GPIO_ADC12_INP9, \
|
||||
/* PB1 */ GPIO_ADC12_INP5, \
|
||||
/* PC2 */ GPIO_ADC123_INP12, \
|
||||
/* PC3 */ GPIO_ADC12_INP13, \
|
||||
/* PF12 */ GPIO_ADC1_INP6, \
|
||||
/* PH3 */ GPIO_ADC3_INP14, \
|
||||
/* PH4 */ GPIO_ADC3_INP15
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PB0 */ ADC1_CH(9)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* PC2 */ ADC3_CH(12)
|
||||
#define ADC_SCALED_12V_CHANNEL /* PA4 */ ADC1_CH(18)
|
||||
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PA0 */ ADC1_CH(16)
|
||||
#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
|
||||
#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
|
||||
#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
|
||||
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
|
||||
(1 << ADC_SCALED_V5_CHANNEL) | \
|
||||
(1 << ADC_SCALED_12V_CHANNEL))
|
||||
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (21.0f) // (20k + 1k) / 1k = 21
|
||||
|
||||
#define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
|
||||
|
||||
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
||||
|
||||
#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
|
||||
|
||||
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
|
||||
|
||||
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||||
|
||||
/* HW Version and Revision drive signals Default to 1 to detect */
|
||||
#define BOARD_HAS_HW_SPLIT_VERSIONING
|
||||
|
||||
#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_PREFIX "ARKFPV"
|
||||
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
|
||||
// Base/FMUM
|
||||
#define ARKFPV_0 HW_FMUM_ID(0x0) // ARKFPV, Sensor Set Rev 0
|
||||
#define ARKFPV_1 HW_FMUM_ID(0x1) // ARKFPV, Sensor Set Rev 1
|
||||
|
||||
#define UAVCAN_NUM_IFACES_RUNTIME 1
|
||||
|
||||
/* HEATER
|
||||
* PWM in future
|
||||
*/
|
||||
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
|
||||
|
||||
/* PE6 is nARMED
|
||||
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
|
||||
* While armed it shall be configured at a GPIO OUT set LOW
|
||||
*/
|
||||
#if !defined(TRACE_PINS)
|
||||
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
|
||||
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
|
||||
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
|
||||
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
|
||||
#endif
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
|
||||
#define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
|
||||
#define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
|
||||
#define GPIO_FMU_CH3 /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
|
||||
#define GPIO_FMU_CH4 /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
|
||||
#define GPIO_FMU_CH5 /* PI5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
|
||||
#define GPIO_FMU_CH6 /* PI6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
|
||||
#define GPIO_FMU_CH7 /* PI7 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
|
||||
#define GPIO_FMU_CH8 /* PI2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
|
||||
#define GPIO_FMU_CH9 /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
|
||||
|
||||
#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
|
||||
#define GPIO_VDD_5V_PGOOD /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
|
||||
#define GPIO_VDD_12V_PGOOD /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
|
||||
#define GPIO_5V_ON_BATTERY /* PG1 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTG|GPIO_PIN1)
|
||||
#define GPIO_VDD_12V_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
|
||||
|
||||
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
|
||||
#define BOARD_NUMBER_BRICKS 1
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
|
||||
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
|
||||
#define PAYLOAD_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_12V_EN, (on_true))
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 3 /* use timer3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
|
||||
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
|
||||
/* ARKFPV never powers off the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_5V_PGOOD))
|
||||
#define BOARD_GPIO_PAYOLOAD_V_VALID (px4_arch_gpioread(GPIO_VDD_12V_PGOOD))
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#if defined(TRACE_PINS)
|
||||
#define GPIO_TRACE \
|
||||
GPIO_TRACECLK1, \
|
||||
GPIO_TRACED0, \
|
||||
GPIO_TRACED1, \
|
||||
GPIO_TRACED2, \
|
||||
GPIO_TRACED3
|
||||
#else
|
||||
#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
|
||||
#endif
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
GPIO_TRACE, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_HW_VER_REV_DRIVE, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_HEATER_OUTPUT, \
|
||||
GPIO_VDD_5V_PGOOD, \
|
||||
GPIO_VDD_12V_PGOOD, \
|
||||
GPIO_VDD_12V_EN, \
|
||||
GPIO_5V_ON_BATTERY, \
|
||||
GPIO_VDD_3V3_SD_CARD_EN, \
|
||||
GPIO_nARMED_INIT, \
|
||||
SPI6_nRESET_EXTERNAL1, \
|
||||
GPIO_FMU_CH1, \
|
||||
GPIO_FMU_CH2, \
|
||||
GPIO_FMU_CH3, \
|
||||
GPIO_FMU_CH4, \
|
||||
GPIO_FMU_CH5, \
|
||||
GPIO_FMU_CH6, \
|
||||
GPIO_FMU_CH7, \
|
||||
GPIO_FMU_CH8, \
|
||||
GPIO_FMU_CH9, \
|
||||
GPIO_SPIX_SYNC \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 3
|
||||
#define BOARD_SPIX_SYNC_FREQ 32000
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,85 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bootloader_main.c
|
||||
*
|
||||
* FMU-specific early startup code for bootloader
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "bl.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
|
||||
extern int sercon_main(int c, char **argv);
|
||||
|
||||
__EXPORT void board_on_reset(int status) {}
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure pins */
|
||||
const uint32_t list[] = PX4_GPIO_INIT_LIST;
|
||||
|
||||
for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
|
||||
if (list[gpio] != 0) {
|
||||
px4_arch_configgpio(list[gpio]);
|
||||
}
|
||||
}
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
}
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
extern void sys_tick_handler(void);
|
||||
void board_timerhook(void)
|
||||
{
|
||||
sys_tick_handler();
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user