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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Igor Mišić
|
76d09c8638 |
@@ -0,0 +1,230 @@
|
||||
#!/usr/bin/env groovy
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|
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pipeline {
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agent none
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stages {
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stage('Build') {
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steps {
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script {
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def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2023-06-26",
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arm64: "px4io/px4-dev-aarch64:2022-08-12",
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base: "px4io/px4-dev-ros2-foxy:2022-08-12",
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nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
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]
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def armhf_builds = [
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target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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archive: false
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]
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def arm64_builds = [
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target: ["scumaker_pilotpi_arm64"],
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image: docker_images.arm64,
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archive: false
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]
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def base_builds = [
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target: ["px4_sitl_default"],
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image: docker_images.base,
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archive: false
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]
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def nuttx_builds_archive = [
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target: [
|
||||
"3dr_ctrl-zero-h7-oem-revg_default",
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
|
||||
"ark_can-gps_canbootloader",
|
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"ark_can-gps_default",
|
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"ark_can-rtk-gps_canbootloader",
|
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"ark_can-rtk-gps_default",
|
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"ark_cannode_canbootloader",
|
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"ark_cannode_default",
|
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"ark_fmu-v6x_bootloader",
|
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"ark_fmu-v6x_default",
|
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"ark_fpv_bootloader",
|
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"ark_fpv_default",
|
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"ark_pi6x_bootloader",
|
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"ark_pi6x_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie21_default",
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"bitcraze_crazyflie_default",
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"cuav_7-nano_default",
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"cuav_can-gps-v1_canbootloader",
|
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_x7pro_default",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeorangeplus_default",
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"cubepilot_cubeyellow_default",
|
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"diatone_mamba-f405-mk2_default",
|
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"flywoo_gn-f405_default",
|
||||
"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
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"holybro_durandal-v1_default",
|
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"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
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"holybro_kakuteh7mini_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_pix32v5_default",
|
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"matek_gnss-m9n-f4_canbootloader",
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"matek_gnss-m9n-f4_default",
|
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"matek_h743-mini_default",
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||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
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"micoair_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v2_default",
|
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"mro_ctrl-zero-classic_default",
|
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"mro_ctrl-zero-f7-oem_default",
|
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"mro_ctrl-zero-f7_default",
|
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"mro_ctrl-zero-h7-oem_default",
|
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"mro_ctrl-zero-h7_default",
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"mro_pixracerpro_default",
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"mro_x21-777_default",
|
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
|
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"nxp_fmuk66-v3_socketcan",
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"nxp_mr-canhubk3_default",
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"nxp_ucans32k146_canbootloader",
|
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"nxp_ucans32k146_default",
|
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"omnibus_f4sd_default",
|
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"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
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"px4_fmu-v2_lto",
|
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"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v3_default",
|
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"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
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"px4_fmu-v5_cyphal",
|
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"px4_fmu-v5_debug",
|
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"px4_fmu-v5_default",
|
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"px4_fmu-v5_lto",
|
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"px4_fmu-v5_rover",
|
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"px4_fmu-v5_stackcheck",
|
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"px4_fmu-v5_uavcanv0periph",
|
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"px4_fmu-v5x_default",
|
||||
"px4_fmu-v5x_rover",
|
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"px4_fmu-v6c_default",
|
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"px4_fmu-v6c_rover",
|
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"px4_fmu-v6u_default",
|
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"px4_fmu-v6u_rover",
|
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"px4_fmu-v6x_default",
|
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"px4_fmu-v6x_rover",
|
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"px4_fmu-v6xrt_bootloader",
|
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"px4_fmu-v6xrt_default",
|
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"px4_fmu-v6xrt_rover",
|
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"px4_io-v2_default",
|
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"raspberrypi_pico_default",
|
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"siyi_n7_default",
|
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"sky-drones_smartap-airlink_default",
|
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"spracing_h7extreme_default",
|
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"thepeach_k1_default",
|
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"thepeach_r1_default",
|
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"uvify_core_default",
|
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"x-mav_ap-h743v2_default",
|
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"zeroone_x6_bootloader",
|
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"zeroone_x6_default",
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],
|
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image: docker_images.nuttx,
|
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archive: true
|
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]
|
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|
||||
def docker_builds = [
|
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armhf_builds, base_builds, nuttx_builds_archive
|
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]
|
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|
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for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
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for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
|
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build_nodes.put(docker_builds[build_type].target[build_target],
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createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
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)
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}
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}
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parallel build_nodes
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} // script
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} // steps
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} // stage Build
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// }
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// options {
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// skipDefaultCheckout()
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// }
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// when {
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||||
// anyOf {
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// branch 'master'
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// branch 'beta'
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// branch 'stable'
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// branch 'pr-jenkins' // for testing
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// }
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// }
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// steps {
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// sh 'echo "uploading to S3"'
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// }
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// }
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} // stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
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timeout(time: 120, unit: 'MINUTES')
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}
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||||
}
|
||||
|
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def createBuildNode(Boolean archive, String docker_image, String target) {
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return {
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bypass_entrypoint = ''
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node {
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docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
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docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
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stage(target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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sh('ccache -s')
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sh('make sizes')
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if (archive) {
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archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
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}
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sh('make ' + target + ' package')
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
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}
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catch (exc) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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}
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}
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}
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||||
}
|
||||
}
|
||||
}
|
||||
}
|
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@@ -0,0 +1,904 @@
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#!/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'
|
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}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cubepilot_cubeorange_bootloader'
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||||
sh 'make cubepilot_cubeorange_test'
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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 .'
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||||
}
|
||||
}
|
||||
} // 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
|
||||
}
|
||||
@@ -6,6 +6,11 @@
|
||||
name: Build all targets
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
tag:
|
||||
required: true
|
||||
description: release version
|
||||
push:
|
||||
tags:
|
||||
- 'v*'
|
||||
@@ -22,7 +27,7 @@ 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: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
@@ -31,10 +36,6 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
|
||||
- name: Install Python Dependencies
|
||||
uses: py-actions/py-dependency-install@v4
|
||||
with:
|
||||
@@ -46,24 +47,34 @@ jobs:
|
||||
- id: set-timestamp
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
|
||||
# This job is also triggered with versioned tags
|
||||
# Creating a and pushing a tag starting with "v" just as "v1.0.0"
|
||||
# will trigger this workflow and when all builds are done create a Github Release
|
||||
# then it will upload all binaries built as assets
|
||||
# Additionally, we can also trigger this step manually
|
||||
# From the Github Actions tab for this repository:
|
||||
# https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
|
||||
# You can now click a "Run Workflow" button that will prompt you for a tag name
|
||||
# This tag name has to match an existing tag otherwise the new release will be detached
|
||||
# Note: Only developers with "write" permission to the repository can use this feature
|
||||
- id: set-tag
|
||||
if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
|
||||
run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
|
||||
|
||||
- id: set-branch
|
||||
run: echo "::set-output name=branchname::${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)"
|
||||
run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
setup:
|
||||
name: Build Group [${{ 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: ${{ matrix.container }}
|
||||
steps:
|
||||
@@ -112,7 +123,7 @@ jobs:
|
||||
artifacts:
|
||||
name: Upload Artifacts to S3
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [setup, group_targets]
|
||||
if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
|
||||
steps:
|
||||
@@ -141,18 +152,22 @@ jobs:
|
||||
release:
|
||||
name: Create Release and Upload Artifacts
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Arrange Binaries
|
||||
run: |
|
||||
mkdir artifacts
|
||||
cp **/**/*.px4 artifacts/
|
||||
|
||||
- name: Upload Binaries to Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
with:
|
||||
name: ${{ needs.group_targets.outputs.tagname }}
|
||||
tag_name: ${{ needs.group_targets.outputs.tagname }}
|
||||
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 $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Install Deps, Build, and Make Quick Check
|
||||
run: |
|
||||
# we need to install dependencies and build on the same step
|
||||
# given the stateless nature of docker images
|
||||
./Tools/setup/ubuntu.sh
|
||||
make quick_check
|
||||
@@ -1,102 +0,0 @@
|
||||
|
||||
name: Container build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: Build and Push Container
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ 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
|
||||
@@ -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
|
||||
|
||||
Vendored
-15
@@ -306,16 +306,6 @@ 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
|
||||
@@ -366,11 +356,6 @@ 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
|
||||
|
||||
+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 ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
@@ -169,7 +169,7 @@ endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
ifdef PYTHON_EXECUTABLE
|
||||
override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Functions
|
||||
@@ -343,7 +343,6 @@ 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 \
|
||||
|
||||
@@ -104,7 +104,7 @@ 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)
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar down
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${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}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -84,11 +84,9 @@ px4_add_romfs_files(
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover_ackermann
|
||||
4013_gz_x500_lidar_2d
|
||||
4013_gz_x500_lidar
|
||||
4014_gz_x500_mono_cam_down
|
||||
4015_gz_r1_rover_mecanum
|
||||
4016_gz_x500_lidar_down
|
||||
4017_gz_x500_lidar_front
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -190,11 +190,11 @@ if [ -n "$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
|
||||
|
||||
|
||||
@@ -0,0 +1,131 @@
|
||||
#!/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 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
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -129,6 +129,8 @@ 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
|
||||
)
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
@@ -147,10 +141,6 @@ 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
|
||||
@@ -199,6 +189,8 @@ if (args.group):
|
||||
# nuttx-0
|
||||
# nuttx-1
|
||||
final_groups = []
|
||||
temp_group = []
|
||||
group_number = {}
|
||||
last_man = ''
|
||||
last_arch = ''
|
||||
SPLIT_LIMIT = 10
|
||||
@@ -207,80 +199,88 @@ if (args.group):
|
||||
print(f'=:Architectures: [{grouped_targets.keys()}]')
|
||||
for arch in grouped_targets:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}]')
|
||||
temp_group = []
|
||||
print(f'=:Processing: [{arch}] Last: [{last_arch}]')
|
||||
|
||||
if(last_arch == ''):
|
||||
last_arch = arch
|
||||
if(arch not in group_number):
|
||||
group_number[arch] = 0
|
||||
|
||||
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)
|
||||
if(verbose):
|
||||
print(f'=:Orphan: [{arch}][{last_arch}][{targets}]')
|
||||
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 = []
|
||||
|
||||
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
|
||||
for tar in grouped_targets[arch]['manufacturers'][man]:
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
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])
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}][{tar}]')
|
||||
if(last_man != man):
|
||||
# if(verbose):
|
||||
# print(f'=:Processing: [{arch}][{man}][{tar}][{man_len}]')
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
if(verbose):
|
||||
print(f'=:Processing: ==Manufacturers can have their own group')
|
||||
print(f'=:Processing: Limits[{LOWER_LIMIT}][{SPLIT_LIMIT}]')
|
||||
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)
|
||||
|
||||
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)
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": temp_len
|
||||
})
|
||||
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)
|
||||
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("================")
|
||||
|
||||
@@ -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
|
||||
|
||||
+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
|
||||
Binary file not shown.
@@ -1,21 +1,21 @@
|
||||
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_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
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_DISTANCE_SENSOR_VL53L0X=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
|
||||
@@ -31,10 +31,6 @@ 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
|
||||
|
||||
Binary file not shown.
@@ -213,13 +213,13 @@ 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_TIM12=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART5=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
@@ -239,8 +239,8 @@ 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_RXBUFSIZE=600
|
||||
CONFIG_UART5_TXBUFSIZE=10000
|
||||
CONFIG_UART5_TXDMA=y
|
||||
CONFIG_UART7_BAUD=57600
|
||||
@@ -251,15 +251,15 @@ 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_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART2_TXDMA=y
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=180
|
||||
CONFIG_USART3_RXDMA=y
|
||||
@@ -267,8 +267,10 @@ 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_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
|
||||
@@ -105,11 +105,6 @@
|
||||
# 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.
|
||||
@@ -159,7 +154,7 @@
|
||||
|
||||
/* 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_BATTERY_CURRENT_CHANNEL /* PC2 */ ADC3_CH(0)
|
||||
#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)
|
||||
@@ -332,7 +327,6 @@
|
||||
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, \
|
||||
|
||||
@@ -69,7 +69,7 @@
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 1
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,921600"
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS5,921600"
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 59
|
||||
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
|
||||
|
||||
@@ -112,7 +112,6 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
|
||||
PAYLOAD_POWER_EN(false);
|
||||
board_control_spi_sensors_power(false, 0xffff);
|
||||
SPI6_RESET(true);
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
@@ -123,9 +122,6 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
/* switch the peripheral rail back on */
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
PAYLOAD_POWER_EN(true);
|
||||
|
||||
/* Release SPI6 Reset */
|
||||
SPI6_RESET(false);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
@@ -210,8 +206,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
/* Power on Interfaces */
|
||||
PAYLOAD_POWER_EN(true);
|
||||
|
||||
SPI6_RESET(false);
|
||||
|
||||
/* Need hrt running before using the ADC */
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
@@ -40,16 +40,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBusExternal(SPI::Bus::SPI6, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
|
||||
initSPIBus(SPI::Bus::SPI6, {
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
|
||||
}),
|
||||
}),
|
||||
initSPIFmumID(ARKFPV_1, { // Placeholder
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBusExternal(SPI::Bus::SPI6, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
|
||||
initSPIBus(SPI::Bus::SPI6, {
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
|
||||
}),
|
||||
}),
|
||||
};
|
||||
|
||||
@@ -37,9 +37,8 @@
|
||||
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
|
||||
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
|
||||
|
||||
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
|
||||
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
|
||||
|
||||
#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */
|
||||
#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */
|
||||
|
||||
// DMAMUX2
|
||||
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */
|
||||
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */
|
||||
|
||||
@@ -95,7 +95,7 @@
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(4)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(8)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(5)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
|
||||
@@ -34,6 +34,7 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_EKF2_EXTERNAL_VISION=y
|
||||
# CONFIG_EKF2_AUXVEL is not set
|
||||
# CONFIG_EKF2_BARO_COMPENSATION is not set
|
||||
# CONFIG_EKF2_DRAG_FUSION is not set
|
||||
|
||||
@@ -14,9 +14,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
@@ -34,6 +34,7 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_EKF2_EXTERNAL_VISION=y
|
||||
# CONFIG_EKF2_AUXVEL is not set
|
||||
# CONFIG_EKF2_BARO_COMPENSATION is not set
|
||||
# CONFIG_EKF2_DRAG_FUSION is not set
|
||||
|
||||
@@ -69,7 +69,7 @@
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 1058
|
||||
#define BOARD_TYPE 1054
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
@@ -34,6 +34,7 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_EKF2_EXTERNAL_VISION=y
|
||||
# CONFIG_EKF2_AUXVEL is not set
|
||||
# CONFIG_EKF2_BARO_COMPENSATION is not set
|
||||
# CONFIG_EKF2_DRAG_FUSION is not set
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -1,85 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_URT6="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_DPS310=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_TAP_ESC=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
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_PAYLOAD_DELIVERER=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_FAILURE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=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_SERIAL_PASSTHRU=y
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
Binary file not shown.
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 1176,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the MicoAir743AIO board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "MicoAir743AIO",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
param set-default BAT1_A_PER_V 14.14
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_V_CHARGED 4.2
|
||||
param set-default BAT1_V_DIV 21.12
|
||||
param set-default BAT1_V_EMPTY 3.2
|
||||
|
||||
param set-default SYS_HAS_MAG 0
|
||||
param set-default PWM_MAIN_TIM0 -4
|
||||
param set-default RC_INPUT_PROTO -1
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
param set-default SYS_AUTOSTART 4001
|
||||
param set-default MC_PITCHRATE_K 0.4
|
||||
param set-default MC_ROLLRATE_K 0.35
|
||||
param set-default MC_YAWRATE_K 1.2
|
||||
param set-default MC_YAWRATE_MAX 360
|
||||
param set-default MAV_TYPE 2
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific extras init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# enable onboard OSD chip
|
||||
# atxxxx start -s
|
||||
@@ -1,16 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
board_adc start
|
||||
|
||||
# # Internal SPI bus BMI088 accel/gyro
|
||||
bmi088 -s -b 2 -A -R 6 start
|
||||
bmi088 -s -b 2 -G -R 6 start
|
||||
|
||||
# # Internal SPI bus BMI270 accel/gyro
|
||||
bmi270 -s -b 2 -R 0 start
|
||||
|
||||
# Internal baro
|
||||
dps310 -I start -a 118
|
||||
@@ -1,85 +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_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/micoair/h743-aio/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=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=0x004b
|
||||
CONFIG_CDCACM_PRODUCTSTR="MicoAir743AIO"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3162
|
||||
CONFIG_CDCACM_VENDORSTR="MicoAir"
|
||||
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_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=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_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_TIM1=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_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,415 +0,0 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/px4_fmu-v6u/include/board.h
|
||||
*
|
||||
* Copyright (C) 2016-2019 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_MICOAIR743AIO_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_MICOAIR743AIO_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 MicoAir743 board provides the following clock sources:
|
||||
*
|
||||
* X1: 8 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 64 MHz RC factory-trimmed
|
||||
* HSE: 8 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 8000000ul
|
||||
|
||||
#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 = 8,000,000
|
||||
*
|
||||
* 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 = (8,000,000 / 1) * 120 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 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(120)
|
||||
#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) * 120)
|
||||
#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(2)
|
||||
#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 / 2) * 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(2)
|
||||
#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 / 2) * 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 = 240
|
||||
*/
|
||||
|
||||
#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 (120 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 (120 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 (120 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 (120 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_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 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 480kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */
|
||||
|
||||
#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* 20 MHz Max for now - more reliable on some boards than 25 MHz
|
||||
* 20 MHz = PLL1Q/(2*div), div = PLL1Q/(2*freq), div = 6 = 240 / 40
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (6 << 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 (6 << 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 board has two, LED_GREEN a Green LED and LED_BLUE a Blue 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_2 /* PA10 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1 /* PA2 */
|
||||
|
||||
#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_2 /* PA1 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
|
||||
|
||||
#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_3 /* PE7 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
|
||||
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
|
||||
/* SPI
|
||||
*
|
||||
|
||||
*/
|
||||
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */
|
||||
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */
|
||||
|
||||
|
||||
|
||||
/* I2C
|
||||
*
|
||||
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */
|
||||
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
|
||||
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
|
||||
#endif /*__NUTTX_CONFIG_MICOAIR743AIO_INCLUDE_BOARD_H */
|
||||
@@ -1,36 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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
|
||||
#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
|
||||
#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
|
||||
@@ -1,244 +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_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_EXIT 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_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_PRINTF 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_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/micoair/h743-aio/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=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_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0036
|
||||
CONFIG_CDCACM_PRODUCTSTR="MicoAir743AIO"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1B8C
|
||||
CONFIG_CDCACM_VENDORSTR="MicoAir"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=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_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_NCHAINS=24
|
||||
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_IOB=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
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_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=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_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
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_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=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_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI2_DMA=y
|
||||
CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
|
||||
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=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_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -1,213 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 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 Durandal-v1 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 Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI 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 (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
|
||||
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) }
|
||||
}
|
||||
@@ -1,228 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2020 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 board uses an STM32H743II and 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
|
||||
*
|
||||
* There's a switch on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI 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
|
||||
|
||||
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)
|
||||
|
||||
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) }
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
bootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
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
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -1,199 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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
|
||||
*
|
||||
* Board 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
|
||||
****************************************************************************************************/
|
||||
|
||||
// #define FLASH_BASED_PARAMS
|
||||
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
# define GPIO_nLED_RED /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
|
||||
# define GPIO_nLED_GREEN /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
|
||||
# define GPIO_nLED_BLUE /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
# define BOARD_OVERLOAD_LED LED_RED
|
||||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
|
||||
/*
|
||||
* 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 SYSTEM_ADC_BASE STM32_ADC1_BASE
|
||||
#define ADC1_CH(n) (n)
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC0 */ GPIO_ADC123_INP10, \
|
||||
/* PC1 */ GPIO_ADC123_INP11
|
||||
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11)
|
||||
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
// #define BOARD_BATTERY1_A_PER_V (40.0f)
|
||||
// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 9
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_TONE_ALARM_GPIO /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA8 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
|
||||
#define GPIO_OTGFS_VBUS /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 2 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
|
||||
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
/* SD Card */
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* 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
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
|
||||
__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 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
|
||||
@@ -1,135 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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
|
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016:
|
||||
* To simplify the ripple effect on the tools, we will be using
|
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
|
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL "
|
||||
* in the USBDEVICESTRING
|
||||
* This Change will be made in an upcoming BL release
|
||||
****************************************************************************/
|
||||
/*
|
||||
* Define usage to configure a bootloader
|
||||
*
|
||||
*
|
||||
* Constant example Usage
|
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
|
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
|
||||
* BOARD_FMUV2
|
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
|
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
|
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
|
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig
|
||||
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
|
||||
* delay provided by an APP FW
|
||||
* BOARD_TYPE 9 - Must match .prototype boad_id
|
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
|
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
|
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
|
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
|
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
|
||||
* programmatically
|
||||
*
|
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
|
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
|
||||
* during a FW upgrade.
|
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
|
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device.
|
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined
|
||||
* in the table.
|
||||
*
|
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
|
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from
|
||||
* BOARD_FLASH_SIZE to determine the size of the App FW
|
||||
* and hence the address space of FLASH to erase and program.
|
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
|
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
|
||||
*
|
||||
* * Other defines are somewhat self explanatory.
|
||||
*/
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
|
||||
#define APP_LOAD_ADDRESS 0x08020000
|
||||
#define BOOTLOADER_DELAY 5000
|
||||
#define INTERFACE_USB 1
|
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
|
||||
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 1
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200"
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 1176
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
|
||||
#define BOARD_LED_ON 0
|
||||
#define BOARD_LED_OFF 1
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH)
|
||||
# define ARCH_SN_MAX_LENGTH 12
|
||||
#endif
|
||||
|
||||
#if !defined(APP_RESERVATION_SIZE)
|
||||
# define APP_RESERVATION_SIZE 0
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
|
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
|
||||
#endif
|
||||
|
||||
#if !defined(USB_DATA_ALIGN)
|
||||
# define USB_DATA_ALIGN
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION
|
||||
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB
|
||||
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
@@ -1,39 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(2),
|
||||
};
|
||||
@@ -1,203 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 init.c
|
||||
*
|
||||
* FMU-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX;
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Need hrt running before using the ADC */
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_BLUE);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
int ret = stm32_sdio_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_BLUE);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// TODO：internal flash store parameters
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{15, 128 * 1024, 0x081E0000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1,114 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from arm_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
GPIO_nLED_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
|
||||
}
|
||||
@@ -1,177 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014, 2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present;
|
||||
|
||||
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
@@ -1,47 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin5}, SPI::DRDY{GPIO::PortD, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin2}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -1,55 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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 usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
#include <stm32_otg.h>
|
||||
#include <debug.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_OSD_ATXXXX=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
|
||||
@@ -12,7 +12,7 @@ param set-default SYS_HAS_MAG 1
|
||||
param set-default PWM_MAIN_TIM0 -4
|
||||
param set-default RC_INPUT_PROTO -1
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 80
|
||||
param set-default IMU_GYRO_RATEMAX 2000
|
||||
param set-default SYS_AUTOSTART 4001
|
||||
param set-default MC_PITCHRATE_K 0.4
|
||||
param set-default MC_ROLLRATE_K 0.35
|
||||
|
||||
@@ -4,4 +4,4 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# enable onboard OSD chip
|
||||
# atxxxx start -s
|
||||
atxxxx start -s
|
||||
|
||||
@@ -391,9 +391,9 @@
|
||||
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
//#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
//#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
//#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */
|
||||
|
||||
@@ -194,6 +194,7 @@ CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI2_DMA=y
|
||||
CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
|
||||
|
||||
@@ -37,6 +37,9 @@
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin5}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortD, GPIO::Pin4}),
|
||||
|
||||
Submodule boards/modalai/voxl2/libfc-sensor-api updated: 85151aaf6b...ca16e99074
@@ -1,44 +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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
|
||||
|
||||
add_custom_target(upload_teensy
|
||||
COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
|
||||
DEPENDS ${PX4_FW_NAME}
|
||||
COMMENT "uploading px4"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
)
|
||||
@@ -1,99 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ETHERNET=y
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_BOARD_PARAM_FILE="/fs/microsd/mtd_params"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=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_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_COMMON_UWB=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=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_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
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_MODE_NAVIGATOR_VTOL_TAKEOFF=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_NETMAN=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_SERIAL_TEST=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 36,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the TROPIC Community board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "TROPIC Community",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,34 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Mavlink ethernet (CFG 1000)
|
||||
param set-default MAV_2_CONFIG 1000
|
||||
param set-default MAV_2_BROADCAST 1
|
||||
param set-default MAV_2_MODE 0
|
||||
param set-default MAV_2_RADIO_CTL 0
|
||||
param set-default MAV_2_RATE 100000
|
||||
param set-default MAV_2_REMOTE_PRT 14550
|
||||
param set-default MAV_2_UDP_PRT 14550
|
||||
|
||||
param set-default SENS_EN_INA238 0
|
||||
param set-default SENS_EN_INA228 0
|
||||
param set-default SENS_EN_INA226 0
|
||||
|
||||
param set-default BAT1_V_DIV 18.000000000
|
||||
param set-default BAT1_A_PER_V 38.462030303
|
||||
|
||||
if [ -f "/fs/microsd/ipcfg-eth0" ]
|
||||
then
|
||||
else
|
||||
netman update -i eth0
|
||||
fi
|
||||
|
||||
rgbled_pwm start
|
||||
safety_button start
|
||||
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
ifup can0
|
||||
fi
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Tropic Community specific board MAVLink startup script.
|
||||
#------------------------------------------------------------------------------
|
||||
@@ -1,74 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# PX4 board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# UART mapping on Tropic Community:
|
||||
#
|
||||
# LPUART5 /dev/ttyS0 CONSOLE
|
||||
# LPUART3 /dev/ttyS1 GPS
|
||||
# LPUART2 /dev/ttyS2 TELEM1
|
||||
# LPUART4 /dev/ttyS3 TELEM2
|
||||
# LPUART8 /dev/ttyS4 RC
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
set INA_CONFIGURED no
|
||||
|
||||
if param compare -s ADC_ADS1115_EN 1
|
||||
then
|
||||
ads1115 start -X
|
||||
else
|
||||
board_adc start
|
||||
fi
|
||||
|
||||
|
||||
if param compare SENS_EN_INA226 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina226 -X -b 1 -t 1 -k start
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
if param compare SENS_EN_INA228 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina228 -X -b 1 -t 1 -k start
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
if param compare SENS_EN_INA238 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
ina238 -X -b 1 -t 1 -k start
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
if [ $INA_CONFIGURED = no ]
|
||||
then
|
||||
# INA226, INA228, INA238 auto-start
|
||||
i2c_launcher start -b 1
|
||||
fi
|
||||
|
||||
# Internal SPI bus ICM42688p
|
||||
icm42688p -R 2 -b 3 -s start
|
||||
|
||||
# Internal on IMU SPI BMI088
|
||||
bmi088 -A -R 2 -b 4 -s start
|
||||
bmi088 -G -R 2 -b 4 -s start
|
||||
|
||||
# Internal magnetometer on I2c
|
||||
bmm150 -I -b 4 -R 6 -a 18 start
|
||||
|
||||
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
|
||||
ist8310 -X -b 1 -R 10 start
|
||||
|
||||
# Possible internal Baro
|
||||
|
||||
# Disable startup of internal baros if param is set to false
|
||||
if param compare SENS_INT_BARO_EN 1
|
||||
then
|
||||
bmp388 -I -b 4 start
|
||||
fi
|
||||
|
||||
unset INA_CONFIGURED
|
||||
@@ -1,4 +0,0 @@
|
||||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see the file kconfig-language.txt in the NuttX tools repository.
|
||||
#
|
||||
@@ -1,391 +0,0 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/nxp/nxp_tropic-community/include/board.h
|
||||
*
|
||||
* Copyright (C) 2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: Gregory Nutt <gnutt@nuttx.org>
|
||||
* David Sidrane <david_s5@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_NXP_TROPIC_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
|
||||
/* Set VDD_SOC to 1.25V */
|
||||
|
||||
#define IMXRT_VDD_SOC (0x12)
|
||||
|
||||
/* Set Arm PLL (PLL1) to fOut = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
|
||||
* 576Mhz = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
|
||||
* ARM_PLL_DIV_SELECT = 96
|
||||
* ARM_PODF_DIVISOR = 2
|
||||
* 576Mhz = (24Mhz * 96/2) / 2
|
||||
*
|
||||
* AHB_CLOCK_ROOT = PLL1fOut / IMXRT_AHB_PODF_DIVIDER
|
||||
* 1Hz to 600 Mhz = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER
|
||||
* IMXRT_ARM_CLOCK_DIVIDER = 1
|
||||
* 576Mhz = 576Mhz / 1
|
||||
*
|
||||
* PRE_PERIPH_CLK_SEL = PRE_PERIPH_CLK_SEL_PLL1
|
||||
* PERIPH_CLK_SEL = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1)
|
||||
* PERIPH_CLK = 576Mhz
|
||||
*
|
||||
* IPG_CLOCK_ROOT = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER
|
||||
* IMXRT_IPG_PODF_DIVIDER = 4
|
||||
* 144Mhz = 576Mhz / 4
|
||||
*
|
||||
* PRECLK_CLOCK_ROOT = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER
|
||||
* IMXRT_PERCLK_PODF_DIVIDER = 1
|
||||
* 16Mhz = 144Mhz / 9
|
||||
*
|
||||
* SEMC_CLK_ROOT = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2)
|
||||
* IMXRT_SEMC_PODF_DIVIDER = 8
|
||||
* 72Mhz = 576Mhz / 8
|
||||
*
|
||||
* Set Sys PLL (PLL2) to fOut = (24Mhz * (20+(2*(DIV_SELECT)))
|
||||
* 528Mhz = (24Mhz * (20+(2*(1)))
|
||||
*
|
||||
* Set USB1 PLL (PLL3) to fOut = (24Mhz * 20)
|
||||
* 480Mhz = (24Mhz * 20)
|
||||
*
|
||||
* Set LPSPI PLL3 PFD0 to fOut = (480Mhz / 12 * 18)
|
||||
* 720Mhz = (480Mhz / 12 * 18)
|
||||
* 90Mhz = (720Mhz / LSPI_PODF_DIVIDER)
|
||||
*
|
||||
* Set LPI2C PLL3 / 8 to fOut = (480Mhz / 8)
|
||||
* 60Mhz = (480Mhz / 8)
|
||||
* 12Mhz = (60Mhz / LSPI_PODF_DIVIDER)
|
||||
*
|
||||
* Set USDHC1 PLL2 PFD2 to fOut = (528Mhz / 24 * 18)
|
||||
* 396Mhz = (528Mhz / 24 * 18)
|
||||
* 198Mhz = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER)
|
||||
*/
|
||||
|
||||
#define BOARD_XTAL_FREQUENCY 24000000
|
||||
#define IMXRT_PRE_PERIPH_CLK_SEL CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1
|
||||
#define IMXRT_PERIPH_CLK_SEL CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH
|
||||
#define IMXRT_ARM_PLL_DIV_SELECT 96
|
||||
#define IMXRT_ARM_PODF_DIVIDER 2
|
||||
#define IMXRT_AHB_PODF_DIVIDER 1
|
||||
#define IMXRT_IPG_PODF_DIVIDER 4
|
||||
#define IMXRT_PERCLK_CLK_SEL CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT
|
||||
#define IMXRT_PERCLK_PODF_DIVIDER 9
|
||||
#define IMXRT_SEMC_PODF_DIVIDER 8
|
||||
#define IMXRT_CAN_CLK_SELECT CCM_CSCMR2_CAN_CLK_SEL_PLL3_SW_80
|
||||
#define IMXRT_CAN_PODF_DIVIDER 1
|
||||
|
||||
#define IMXRT_LPSPI_CLK_SELECT CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0
|
||||
#define IMXRT_LSPI_PODF_DIVIDER 8
|
||||
|
||||
#define IMXRT_LPI2C_CLK_SELECT CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
|
||||
#define IMXRT_LSI2C_PODF_DIVIDER 5
|
||||
|
||||
#define IMXRT_USDHC1_CLK_SELECT CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0
|
||||
#define IMXRT_USDHC1_PODF_DIVIDER 2
|
||||
|
||||
#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20
|
||||
|
||||
#define IMXRT_SYS_PLL_SELECT CCM_ANALOG_PLL_SYS_DIV_SELECT_22
|
||||
|
||||
#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20
|
||||
|
||||
#define BOARD_CPU_FREQUENCY \
|
||||
(BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER
|
||||
|
||||
#define BOARD_GPT_FREQUENCY \
|
||||
(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
|
||||
|
||||
|
||||
/* 108Mhz clock for FlexIO using PLL3 PFD2 @ 520 */
|
||||
#define CONFIG_FLEXIO1_CLK 1
|
||||
#define CONFIG_FLEXIO1_PRED_DIVIDER 5
|
||||
#define CONFIG_FLEXIO1_PODF_DIVIDER 1
|
||||
#define CONFIG_PLL3_PFD2_FRAC 16
|
||||
#define BOARD_FLEXIO_PREQ 108000000
|
||||
|
||||
/* Define this to enable tracing */
|
||||
#if CONFIG_USE_TRACE
|
||||
# define IMXRT_TRACE_PODF_DIVIDER 1
|
||||
# define IMXRT_TRACE_CLK_SELECT CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0
|
||||
#endif
|
||||
|
||||
/* SDIO *****************************************************************************/
|
||||
|
||||
/* Pin drive characteristics */
|
||||
|
||||
#define USDHC1_DATAX_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
#define USDHC1_CMD_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
#define USDHC1_CLK_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_SPEED_MAX)
|
||||
#define USDHC1_CD_IOMUX (IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
|
||||
|
||||
#define PIN_USDHC1_D0 (GPIO_USDHC1_DATA0_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_02 */
|
||||
#define PIN_USDHC1_D1 (GPIO_USDHC1_DATA1_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_03 */
|
||||
#define PIN_USDHC1_D2 (GPIO_USDHC1_DATA2_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_04 */
|
||||
#define PIN_USDHC1_D3 (GPIO_USDHC1_DATA3_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_05 */
|
||||
#define PIN_USDHC1_DCLK (GPIO_USDHC1_CLK_1 | USDHC1_CLK_IOMUX) /* GPIO_SD_B0_01 */
|
||||
#define PIN_USDHC1_CMD (GPIO_USDHC1_CMD_1 | USDHC1_CMD_IOMUX) /* GPIO_SD_B0_00 */
|
||||
#define PIN_USDHC1_CD (PIN_USDHC1_D3)
|
||||
|
||||
/* Ideal 400Khz for initial inquiry.
|
||||
* Given input clock 198 Mhz.
|
||||
* 386.71875 KHz = 198 Mhz / (256 * 2)
|
||||
*/
|
||||
|
||||
#define BOARD_USDHC_IDMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV256
|
||||
#define BOARD_USDHC_IDMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(2)
|
||||
|
||||
/* Ideal 25 Mhz for other modes
|
||||
* Given input clock 198 Mhz.
|
||||
* 24.75 MHz = 198 Mhz / (8 * 1)
|
||||
*/
|
||||
|
||||
#define BOARD_USDHC_MMCMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_MMCMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
#define BOARD_USDHC_SD1MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_SD1MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
#define BOARD_USDHC_SD4MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8
|
||||
#define BOARD_USDHC_SD4MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1)
|
||||
|
||||
/* ETH Disambiguation *******************************************************/
|
||||
|
||||
/* Ethernet Interrupt: GPIO_B0_15
|
||||
*
|
||||
* This pin has a week pull-up within the PHY, is open-drain, and requires
|
||||
* an external 1k ohm pull-up resistor (present on the EVK). A falling
|
||||
* edge then indicates a change in state of the PHY.
|
||||
*/
|
||||
|
||||
#define GPIO_ENET_INT (IOMUX_ENET_INT_DEFAULT | \
|
||||
GPIO_PORT2 | GPIO_PIN15) /* B0_15 */
|
||||
#define GPIO_ENET_IRQ IMXRT_IRQ_GPIO2_15
|
||||
|
||||
/* Ethernet Reset: GPIO_B0_14
|
||||
*
|
||||
* The #RST uses inverted logic. The initial value of zero will put the
|
||||
* PHY into the reset state.
|
||||
*/
|
||||
|
||||
#define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
|
||||
GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
|
||||
|
||||
#define GPIO_ENET_TX_DATA00 (GPIO_ENET_TX_DATA00_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_07 */
|
||||
#define GPIO_ENET_TX_DATA01 (GPIO_ENET_TX_DATA01_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_08 */
|
||||
#define GPIO_ENET_RX_DATA00 (GPIO_ENET_RX_DATA00_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_04 */
|
||||
#define GPIO_ENET_RX_DATA01 (GPIO_ENET_RX_DATA01_1| \
|
||||
IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_05 */
|
||||
#define GPIO_ENET_MDIO (GPIO_ENET_MDIO_1|IOMUX_ENET_MDIO_DEFAULT) /* GPIO_B1_15 */
|
||||
#define GPIO_ENET_MDC (GPIO_ENET_MDC_1|IOMUX_ENET_MDC_DEFAULT) /* GPIO_B1_14 */
|
||||
#define GPIO_ENET_RX_EN (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_06 */
|
||||
#define GPIO_ENET_RX_ER (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */
|
||||
#define GPIO_ENET_TX_CLK (GPIO_ENET_REF_CLK_2|\
|
||||
IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_B1_10 */
|
||||
#define GPIO_ENET_TX_EN (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_09 */
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The nxp fmutr1062 board has numerous LEDs but only 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.
|
||||
*/
|
||||
|
||||
/* PIO Disambiguation ***************************************************************/
|
||||
/* LPUARTs
|
||||
*/
|
||||
#define LPUART_IOMUX (IOMUX_PULL_UP_22K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW | IOMUX_SPEED_LOW | IOMUX_SCHMITT_TRIGGER)
|
||||
#define IOMUX_UART_CTS_DEFAULT (IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW)
|
||||
|
||||
/* Debug */
|
||||
|
||||
#define GPIO_LPUART5_RX (GPIO_LPUART5_RX_1 | LPUART_IOMUX) /* GPIO_B1_13 */
|
||||
#define GPIO_LPUART5_TX (GPIO_LPUART5_TX_1 | LPUART_IOMUX) /* GPIO_B1_12 */
|
||||
|
||||
/* AUX */
|
||||
|
||||
#define GPIO_LPUART4_RX (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
|
||||
#define GPIO_LPUART4_TX (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */
|
||||
|
||||
/* GPS 1 */
|
||||
|
||||
#define GPIO_LPUART2_RX (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_03 */
|
||||
#define GPIO_LPUART2_TX (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_02 */
|
||||
|
||||
/* Telem 1 */
|
||||
|
||||
#define HS_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K)
|
||||
#define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP)
|
||||
|
||||
#define GPIO_LPUART3_RX (GPIO_LPUART3_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_07 */
|
||||
#define GPIO_LPUART3_TX (GPIO_LPUART3_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_06 */
|
||||
#define GPIO_LPUART3_CTS (GPIO_LPUART3_CTS_1 | IOMUX_UART_CTS_DEFAULT | PADMUX_SION) /* GPIO_AD_B1_04 GPIO1_IO20 (GPIO only, no HW Flow control) */
|
||||
#define GPIO_LPUART3_RTS (GPIO_PORT1 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_AD_B1_05 GPIO1_IO21 (GPIO only, no HW Flow control) */
|
||||
//TODO check RT7 partial HW handshake
|
||||
|
||||
/* RC INPUT single wire mode on TX, RX is not used */
|
||||
|
||||
#define GPIO_LPUART8_RX (GPIO_LPUART8_RX_2 | LPUART_IOMUX) /* WRONG!! */
|
||||
#define GPIO_LPUART8_TX (GPIO_LPUART8_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_10 */
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to transceiver.
|
||||
* CAN2 is routed to transceiver.
|
||||
* CAN3 is routed to transceiver.
|
||||
*/
|
||||
#define FLEXCAN_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MEDIUM)
|
||||
|
||||
#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_37 */
|
||||
#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_36 */
|
||||
|
||||
/* LPSPI */
|
||||
#define LPSPI_IOMUX (IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MAX)
|
||||
|
||||
|
||||
#define GPIO_LPSPI3_SCK (GPIO_LPSPI3_SCK_1 | LPSPI_IOMUX) /* GPIO_AD_B1_15 */
|
||||
#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDI_1 | LPSPI_IOMUX) /* GPIO_AD_B1_13 */
|
||||
#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDO_1 | LPSPI_IOMUX) /* GPIO_AD_B1_14 */
|
||||
|
||||
#define GPIO_LPSPI4_SCK (GPIO_LPSPI4_SCK_2 | LPSPI_IOMUX) /* GPIO_B0_03 */
|
||||
#define GPIO_LPSPI4_MISO (GPIO_LPSPI4_SDI_2 | LPSPI_IOMUX) /* GPIO_B0_01 */
|
||||
#define GPIO_LPSPI4_MOSI (GPIO_LPSPI4_SDO_2 | LPSPI_IOMUX) /* GPIO_B0_02 */
|
||||
|
||||
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
|
||||
|
||||
/* LPI2Cs */
|
||||
|
||||
#define LPI2C_IOMUX (IOMUX_SPEED_MEDIUM | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | GPIO_SION_ENABLE)
|
||||
#define LPI2C_IO_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_OPENDRAIN | IOMUX_PULL_NONE)
|
||||
|
||||
#define GPIO_LPI2C1_SDA (GPIO_LPI2C1_SDA_2 | LPI2C_IOMUX) /* EVK J24-9 R276 */ /* GPIO_AD_B1_01 */
|
||||
#define GPIO_LPI2C1_SCL (GPIO_LPI2C1_SCL_2 | LPI2C_IOMUX) /* EVK J24-10 R277 */ /* GPIO_AD_B1_00 */
|
||||
|
||||
#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_01 GPIO1_IO17 */
|
||||
#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT1 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_00 GPIO1_IO16 */
|
||||
|
||||
#define GPIO_LPI2C4_SDA (GPIO_LPI2C4_SDA_1 | LPI2C_IOMUX) /* GPIO_AD_B0_13 */
|
||||
#define GPIO_LPI2C4_SCL (GPIO_LPI2C4_SCL_1 | LPI2C_IOMUX) /* GPIO_AD_B0_12 */
|
||||
|
||||
#define GPIO_LPI2C4_SDA_RESET (GPIO_PORT1 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_13 */
|
||||
#define GPIO_LPI2C4_SCL_RESET (GPIO_PORT1 | GPIO_PIN12 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_12 */
|
||||
|
||||
/* Board doesn't provide GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#define PROBE_INIT(mask)
|
||||
#define PROBE(n,s)
|
||||
#define PROBE_MARK(n)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H */
|
||||
@@ -1,235 +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_NSH_DISABLE_MB is not set
|
||||
# CONFIG_NSH_DISABLE_MH is not set
|
||||
# CONFIG_NSH_DISABLE_MW is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/tropic-community/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="imxrt"
|
||||
CONFIG_ARCH_CHIP_IMXRT=y
|
||||
CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=2048
|
||||
CONFIG_ARCH_RAMVECTORS=y
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_ITCM=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU=y
|
||||
CONFIG_ARM_MPU_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_LOOPSPERMSEC=114325
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_PRODUCTID=0x0024
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 TROPIC Community"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1FC9
|
||||
CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
|
||||
CONFIG_DEBUG_ERROR=y
|
||||
CONFIG_DEBUG_FEATURES=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_ETH0_PHY_DP83825I=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FSUTILS_IPCFG=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_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=2048
|
||||
CONFIG_IMXRT_EDMA=y
|
||||
CONFIG_IMXRT_EDMA_EDBG=y
|
||||
CONFIG_IMXRT_EDMA_ELINK=y
|
||||
CONFIG_IMXRT_EDMA_NTCD=64
|
||||
CONFIG_IMXRT_ENET=y
|
||||
CONFIG_IMXRT_ENET_NTXBUFFERS=8
|
||||
CONFIG_IMXRT_ENET_PHYINIT=y
|
||||
CONFIG_IMXRT_FLEXCAN3=y
|
||||
CONFIG_IMXRT_FLEXCAN_TXMB=1
|
||||
CONFIG_IMXRT_GPIO1_0_15_IRQ=y
|
||||
CONFIG_IMXRT_GPIO1_16_31_IRQ=y
|
||||
CONFIG_IMXRT_GPIO2_0_15_IRQ=y
|
||||
CONFIG_IMXRT_GPIO2_16_31_IRQ=y
|
||||
CONFIG_IMXRT_GPIO_IRQ=y
|
||||
CONFIG_IMXRT_INIT_FLEXRAM=y
|
||||
CONFIG_IMXRT_ITCM=384
|
||||
CONFIG_IMXRT_LPI2C1=y
|
||||
CONFIG_IMXRT_LPI2C4=y
|
||||
CONFIG_IMXRT_LPI2C_DMA=y
|
||||
CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16
|
||||
CONFIG_IMXRT_LPI2C_DYNTIMEO=y
|
||||
CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_IMXRT_LPSPI3=y
|
||||
CONFIG_IMXRT_LPSPI3_DMA=y
|
||||
CONFIG_IMXRT_LPSPI4=y
|
||||
CONFIG_IMXRT_LPSPI4_DMA=y
|
||||
CONFIG_IMXRT_LPSPI_DMA=y
|
||||
CONFIG_IMXRT_LPUART2=y
|
||||
CONFIG_IMXRT_LPUART3=y
|
||||
CONFIG_IMXRT_LPUART4=y
|
||||
CONFIG_IMXRT_LPUART5=y
|
||||
CONFIG_IMXRT_LPUART8=y
|
||||
CONFIG_IMXRT_LPUART_INVERT=y
|
||||
CONFIG_IMXRT_LPUART_SINGLEWIRE=y
|
||||
CONFIG_IMXRT_SNVS_LPSRTC=y
|
||||
CONFIG_IMXRT_USBDEV=y
|
||||
CONFIG_IMXRT_USDHC1=y
|
||||
CONFIG_IMXRT_USDHC1_INVERT_CD=y
|
||||
CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INTELHEX_BINARY=y
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_IPCFG_BINARY=y
|
||||
CONFIG_IPCFG_PATH="/fs/microsd"
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LPI2C1_DMA=y
|
||||
CONFIG_LPI2C4_DMA=y
|
||||
CONFIG_LPUART2_RXDMA=y
|
||||
CONFIG_LPUART2_TXDMA=y
|
||||
CONFIG_LPUART3_BAUD=57600
|
||||
CONFIG_LPUART3_IFLOWCONTROL=y
|
||||
CONFIG_LPUART3_OFLOWCONTROL=y
|
||||
CONFIG_LPUART3_RXBUFSIZE=600
|
||||
CONFIG_LPUART3_RXDMA=y
|
||||
CONFIG_LPUART3_TXBUFSIZE=3000
|
||||
CONFIG_LPUART3_TXDMA=y
|
||||
CONFIG_LPUART5_BAUD=57600
|
||||
CONFIG_LPUART5_SERIAL_CONSOLE=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NET=y
|
||||
CONFIG_NETDB_DNSCLIENT=y
|
||||
CONFIG_NETDB_DNSSERVER_NOADDR=y
|
||||
CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
|
||||
CONFIG_NETDEV_CAN_FILTER_IOCTL=y
|
||||
CONFIG_NETDEV_LATEINIT=y
|
||||
CONFIG_NETDEV_PHY_IOCTL=y
|
||||
CONFIG_NETINIT_DHCPC=y
|
||||
CONFIG_NETINIT_DNS=y
|
||||
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_RETRY_MOUNTPATH=10
|
||||
CONFIG_NETINIT_THREAD=y
|
||||
CONFIG_NETINIT_THREAD_PRIORITY=49
|
||||
CONFIG_NETUTILS_TELNETD=y
|
||||
CONFIG_NET_ARP_IPIN=y
|
||||
CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_EXTID=y
|
||||
CONFIG_NET_CAN_NOTIFIER=y
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
CONFIG_NET_TCP_DELAYED_ACK=y
|
||||
CONFIG_NET_TCP_WRITE_BUFFERS=y
|
||||
CONFIG_NET_TIMESTAMP=y
|
||||
CONFIG_NET_UDP=y
|
||||
CONFIG_NET_UDP_CHECKSUMS=y
|
||||
CONFIG_NET_UDP_WRITE_BUFFERS=y
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_READLINE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_TELNET_LOGIN=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=1048576
|
||||
CONFIG_RAM_START=0x20200000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1800
|
||||
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=2032
|
||||
CONFIG_SDIO_BLOCKSETUP=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_SPI=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_CLE=y
|
||||
CONFIG_SYSTEM_DHCPC_RENEW=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_SYSTEM_PING=y
|
||||
CONFIG_SYSTEM_SYSTEM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_DUALSPEED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -1,767 +0,0 @@
|
||||
/* Auto-generated */
|
||||
*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
|
||||
*(.text._ZN13MavlinkStream6updateERKy)
|
||||
*(.text._ZN7Mavlink16update_rate_multEv)
|
||||
*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
|
||||
*(.text._ZN13MavlinkStream12get_size_avgEv)
|
||||
*(.text._ZN16ControlAllocator3RunEv)
|
||||
*(.text._ZN22MulticopterRateControl3RunEv.part.0)
|
||||
*(.text._ZN7Mavlink9task_mainEiPPc)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
|
||||
*(.text._ZN4uORB12Subscription9subscribeEv.part.0)
|
||||
*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
|
||||
*(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
|
||||
*(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
|
||||
*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
|
||||
*(.text._Z12get_orb_meta6ORB_ID)
|
||||
*(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
|
||||
*(.text._ZN3px49WorkQueue3RunEv)
|
||||
*(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
|
||||
*(.text._ZN4EKF23RunEv)
|
||||
*(.text._ZN7sensors10VehicleIMU7PublishEv)
|
||||
*(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
|
||||
*(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
|
||||
*(.text._ZN9ICM42688P8FIFOReadERKyh)
|
||||
*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
|
||||
*(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
|
||||
*(.text._ZN4uORB12Subscription10advertisedEv)
|
||||
*(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
|
||||
*(.text._ZN7sensors10VehicleIMU11UpdateAccelEv)
|
||||
*(.text.perf_set_elapsed.part.0)
|
||||
*(.text._ZN4uORB12Subscription6updateEPv)
|
||||
*(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
|
||||
*(.text._ZN7sensors10VehicleIMU3RunEv)
|
||||
*(.text.__aeabi_l2f)
|
||||
*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
|
||||
*(.text.pthread_mutex_timedlock)
|
||||
*(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
|
||||
*(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
|
||||
*(.text._ZN6device3SPI9_transferEPhS1_j)
|
||||
*(.text._ZN15OutputPredictor21calculateOutputStatesEyRKN6matrix7Vector3IfEEfS4_f)
|
||||
*(.text._ZN7sensors18VotedSensorsUpdate7imuPollER17sensor_combined_s)
|
||||
*(.text._Z9rotate_3i8RotationRsS0_S0_)
|
||||
*(.text.fs_getfilep)
|
||||
*(.text.MEM_DataCopy0_1)
|
||||
*(.text._ZN7sensors19VehicleAcceleration3RunEv)
|
||||
*(.text.uart_ioctl)
|
||||
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|
||||
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|
||||
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||||
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|
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
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|
||||
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||||
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||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
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||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
*(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)
|
||||
*(.text._ZN4cdevL9cdev_readEP4filePcj)
|
||||
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|
||||
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|
||||
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|
||||
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE6copyToEPf)
|
||||
*(.text._ZN6Report13healthFailureIJhEEEv8NavModes20HealthComponentIndexmRKN6events9LogLevelsEPKcDpT_.isra.0.constprop.0)
|
||||
*(.text._ZN13BatteryChecks16rtlEstimateCheckERK7ContextR6Reportf)
|
||||
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|
||||
*(.text.nx_read)
|
||||
@@ -1,119 +0,0 @@
|
||||
/* Static */
|
||||
*(.text.arm_ack_irq)
|
||||
*(.text.arm_doirq)
|
||||
*(.text.arm_svcall)
|
||||
*(.text.arm_switchcontext)
|
||||
*(.text.board_autoled_on)
|
||||
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|
||||
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|
||||
*(.text.flexio_irq_handler)
|
||||
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|
||||
*(.text.hrt_call_enter)
|
||||
*(.text.hrt_tim_isr)
|
||||
*(.text.imxrt_configwaitints)
|
||||
*(.text.imxrt_dma_callback)
|
||||
*(.text.imxrt_dmach_interrupt)
|
||||
*(.text.imxrt_dmach_xfrsetup)
|
||||
*(.text.imxrt_dmaterminate)
|
||||
*(.text.imxrt_dispatch)
|
||||
*(.text.imxrt_edma_interrupt)
|
||||
*(.text.imxrt_endwait)
|
||||
*(.text.imxrt_enet_interrupt)
|
||||
*(.text.imxrt_enet_interrupt_work)
|
||||
*(.text.imxrt_gpio3_16_31_interrupt)
|
||||
*(.text.imxrt_interrupt)
|
||||
*(.text.imxrt_lpi2c_isr)
|
||||
*(.text.imxrt_lpspi_exchange)
|
||||
*(.text.imxrt_recvdma)
|
||||
*(.text.imxrt_tcd_free)
|
||||
*(.text.imxrt_timerisr)
|
||||
*(.text.imxrt_transmit)
|
||||
*(.text.imxrt_txdone)
|
||||
*(.text.imxrt_txtimeout_work)
|
||||
*(.text.imxrt_txtimeout_expiry)
|
||||
*(.text.imxrt_txpoll)
|
||||
*(.text.imxrt_txringfull)
|
||||
*(.text.imxrt_txavail_work)
|
||||
*(.text.imxrt_txavail)
|
||||
*(.text.imxrt_usbinterrupt)
|
||||
*(.text.irq_dispatch)
|
||||
*(.text.ioctl)
|
||||
*(.text.memcpy)
|
||||
*(.text.memset)
|
||||
*(.text.nxsched_add_blocked)
|
||||
*(.text.nxsched_add_prioritized)
|
||||
*(.text.nxsched_add_readytorun)
|
||||
*(.text.nxsched_get_files)
|
||||
*(.text.nxsched_get_tcb)
|
||||
*(.text.nxsched_merge_pending)
|
||||
*(.text.nxsched_process_timer)
|
||||
*(.text.nxsched_remove_blocked)
|
||||
*(.text.nxsched_remove_readytorun)
|
||||
*(.text.nxsched_resume_scheduler)
|
||||
*(.text.nxsched_suspend_scheduler)
|
||||
*(.text.nxsem_add_holder)
|
||||
*(.text.nxsem_add_holder_tcb)
|
||||
*(.text.nxsem_clockwait)
|
||||
*(.text.nxsem_foreachholder)
|
||||
*(.text.nxsem_freecount0holder)
|
||||
*(.text.nxsem_freeholder)
|
||||
*(.text.nxsem_post)
|
||||
*(.text.nxsem_release_holder)
|
||||
*(.text.nxsem_restore_baseprio)
|
||||
*(.text.nxsem_tickwait)
|
||||
*(.text.nxsem_timeout)
|
||||
*(.text.nxsem_trywait)
|
||||
*(.text.nxsem_wait)
|
||||
*(.text.nxsem_wait_uninterruptible)
|
||||
*(.text.nxsig_timedwait)
|
||||
*(.text.sched_lock)
|
||||
*(.text.sched_note_resume)
|
||||
*(.text.sched_note_suspend)
|
||||
*(.text.sched_unlock)
|
||||
*(.text.strcmp)
|
||||
*(.text.sq_addafter)
|
||||
*(.text.sq_addlast)
|
||||
*(.text.sq_rem)
|
||||
*(.text.sq_remafter)
|
||||
*(.text.sq_remfirst)
|
||||
*(.text.uart_connected)
|
||||
*(.text.up_block_task)
|
||||
*(.text.up_unblock_task)
|
||||
*(.text.wd_timer)
|
||||
*(.text.wd_start)
|
||||
*(.text.work_thread)
|
||||
*(.text.work_queue)
|
||||
*(.text._do_memcpy)
|
||||
|
||||
/* Tropic Eth tune */
|
||||
*(.text.devif_poll)
|
||||
*(.text.devif_poll_tcp_connections)
|
||||
*(.text.tcp_poll)
|
||||
*(.text.devif_poll_udp_connections)
|
||||
*(.text.udp_nextconn)
|
||||
*(.text.udp_poll)
|
||||
*(.text.udp_ipv4_select)
|
||||
*(.text.udp_callback)
|
||||
*(.text.udp_datahandler)
|
||||
*(.text.udp_send)
|
||||
*(.text.udp_active)
|
||||
*(.text.udp_ipv4_active)
|
||||
*(.text.psock_udp_sendto)
|
||||
*(.text.sendto_eventhandler)
|
||||
*(.text.net_dataevent)
|
||||
*(.text.devif_conn_event)
|
||||
*(.text.devif_event_trigger)
|
||||
*(.text.devif_poll_icmp)
|
||||
*(.text.icmp_poll)
|
||||
*(.text.devif_packet_conversion)
|
||||
*(.text.arp_out)
|
||||
*(.text.arp_find)
|
||||
*(.text.arp_format)
|
||||
*(.text.net_ipv4addr_hdrcmp)
|
||||
*(.text.net_ipv4addr_copy)
|
||||
*(.text.net_ipv4addr_broadcast)
|
||||
*(.text.wd_start)
|
||||
*(.text.arp_arpin)
|
||||
*(.text.ipv4_input)
|
||||
*(.text.work_thread)
|
||||
*(.text.work_queue)
|
||||
@@ -1,179 +0,0 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/scripts/flash.ld
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* Specify the memory areas */
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x60000000, LENGTH = 7936K
|
||||
sram (rwx) : ORIGIN = 0x20200000, LENGTH = 512K
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 384K
|
||||
dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
EXTERN(g_flash_config)
|
||||
EXTERN(g_image_vector_table)
|
||||
EXTERN(g_boot_data)
|
||||
|
||||
ENTRY(_stext)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* Image Vector Table and Boot Data for booting from external flash */
|
||||
|
||||
.boot_hdr : ALIGN(4)
|
||||
{
|
||||
FILL(0xff)
|
||||
__boot_hdr_start__ = ABSOLUTE(.) ;
|
||||
KEEP(*(.boot_hdr.conf))
|
||||
. = 0x1000 ;
|
||||
KEEP(*(.boot_hdr.ivt))
|
||||
. = 0x1020 ;
|
||||
KEEP(*(.boot_hdr.boot_data))
|
||||
. = 0x1030 ;
|
||||
KEEP(*(.boot_hdr.dcd_data))
|
||||
__boot_hdr_end__ = ABSOLUTE(.) ;
|
||||
. = 0x2000 ;
|
||||
} >flash
|
||||
|
||||
.vectors :
|
||||
{
|
||||
KEEP(*(.vectors))
|
||||
*(.text .text.__start)
|
||||
} >flash
|
||||
|
||||
.itcmfunc :
|
||||
{
|
||||
. = ALIGN(8);
|
||||
_sitcmfuncs = ABSOLUTE(.);
|
||||
FILL(0xFF)
|
||||
. = 0x40 ;
|
||||
INCLUDE "itcm_static_functions.ld"
|
||||
INCLUDE "itcm_functions_includes.ld"
|
||||
. = ALIGN(8);
|
||||
_eitcmfuncs = ABSOLUTE(.);
|
||||
} > itcm AT > flash
|
||||
|
||||
_fitcmfuncs = LOADADDR(.itcmfunc);
|
||||
|
||||
/* The RAM vector table (if present) should lie at the beginning of SRAM */
|
||||
|
||||
.ram_vectors (COPY) : {
|
||||
*(.ram_vectors)
|
||||
} > dtcm
|
||||
|
||||
|
||||
/* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
|
||||
which effectively puts it into a no-cache region */
|
||||
.dtcm : {
|
||||
*(.bss.g_desc_pool)
|
||||
} > dtcm
|
||||
|
||||
.text :
|
||||
{
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
. = ALIGN(4096);
|
||||
_etext = ABSOLUTE(.);
|
||||
_srodata = ABSOLUTE(.);
|
||||
*(.rodata .rodata.*)
|
||||
. = ALIGN(4096);
|
||||
_erodata = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.init_section :
|
||||
{
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP(*(.init_array .ctors))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
.ARM.exidx :
|
||||
{
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
*(.ARM.exidx*)
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data :
|
||||
{
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
. = ALIGN(4);
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.ramfunc ALIGN(4):
|
||||
{
|
||||
_sramfuncs = ABSOLUTE(.);
|
||||
*(.ramfunc .ramfunc.*)
|
||||
_eramfuncs = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
_framfuncs = LOADADDR(.ramfunc);
|
||||
|
||||
.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) }
|
||||
_sdtcm = ORIGIN(dtcm);
|
||||
_edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
|
||||
}
|
||||
@@ -1,52 +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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
sdhc.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
tropic_led_pwm.cpp
|
||||
usb.c
|
||||
imxrt_flexspi_nor_boot.c
|
||||
imxrt_flexspi_nor_flash.c
|
||||
)
|
||||
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
@@ -1,331 +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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* Tropic Community internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "imxrt_gpio.h"
|
||||
#include "imxrt_iomuxc.h"
|
||||
#include "hardware/imxrt_pinmux.h"
|
||||
#include "hardware/imxrt_usb_analog.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <arm_internal.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* FMURT1062 GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
/* An RGB LED is connected through GPIO as shown below:
|
||||
*/
|
||||
#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
|
||||
#define GPIO_nLED_RED /* GPIO_AD_B0_02 GPIO1_IO02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
|
||||
#define GPIO_nLED_GREEN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
|
||||
#define GPIO_nLED_BLUE /* GPIO_AD_B0_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
|
||||
#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
|
||||
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define _GPIO_LPSPI1_SCK /* GPIO_EMC_27 GPIO4_IO27 */ (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI1_MISO /* GPIO_EMC_29 GPIO4_IO29 */ (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI1_MOSI /* GPIO_EMC_28 GPIO4_IO28 */ (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(_GPIO_LPSPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
|
||||
|
||||
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
|
||||
|
||||
#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK)
|
||||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI)
|
||||
|
||||
/* Define the SPI4 Data Ready and Control signals */
|
||||
|
||||
#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
|
||||
|
||||
|
||||
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
#define ADC1_GPIO(n, p) (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* BATTERY1_VOLTAGE GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_GPIO(0, 27), \
|
||||
/* BATTERY1_CURRENT GPIO_AD_B1_11 GPIO1 Pin 24 */ ADC1_GPIO(0, 24)
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 27 */ ADC1_CH(13)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* GPIO_AD_B1_11 GPIO1 Pin 12 */ ADC1_CH(0)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
||||
|
||||
//#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
|
||||
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
|
||||
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 6
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
// Input Capture not supported on MVP
|
||||
|
||||
#define BOARD_HAS_NO_CAPTURE
|
||||
|
||||
//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver)
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
|
||||
#define BOARD_HAS_CUSTOM_LED_PWM 1
|
||||
|
||||
#define PWM_LED_RED /* GPIO_AD_B0_02 */ (GPIO_XBAR1_INOUT16_1 | GENERAL_OUTPUT_IOMUX)
|
||||
#define PWM_LED_GREEN /* GPIO_B1_03 */ (GPIO_FLEXPWM2_PWMB03_4 | GENERAL_OUTPUT_IOMUX)
|
||||
#define PWM_LED_BLUE /* GPIO_AD_B0_03 */ (GPIO_XBAR1_INOUT17_1 | GENERAL_OUTPUT_IOMUX)
|
||||
|
||||
|
||||
|
||||
/* Tone alarm output */
|
||||
|
||||
//FIXME FlexPWM TONE DRIVER
|
||||
#define TONE_ALARM_FLEXPWM PWMA_VAL
|
||||
#define TONE_ALARM_TIMER 3 /* FlexPWM 3 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* GPIO_EMC_31 PWM3_PWMA01 */
|
||||
|
||||
#define GPIO_BUZZER_1 /* GPIO_EMC_31 GPIO4_IO31 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM (GPIO_FLEXPWM3_PWMA01_1 | GENERAL_OUTPUT_IOMUX)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
|
||||
*/
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 1 /* use GPT1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
|
||||
#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
|
||||
#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
/* Safety Switch is HW version dependent on having an PX4IO
|
||||
* So we init to a benign state with the _INIT definition
|
||||
* and provide the the non _INIT one for the driver to make a run time
|
||||
* decision to use it.
|
||||
*/
|
||||
#define SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
#define SAFETY_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
|
||||
#define SAFETY_SW_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define GPIO_SAFETY_SWITCH_IN /* GPIO_B0_12 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | SAFETY_SW_IOMUX)
|
||||
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
|
||||
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
|
||||
|
||||
#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_NUMBER_BRICKS 1
|
||||
|
||||
/* Use USB2 VBUS 4.7V comparator for valid check */
|
||||
static inline int board_read_usb2_vbus_state(void)
|
||||
{
|
||||
return (getreg32(IMXRT_USB_ANALOG_USB2_VBUS_DETECT_STAT) & USB_ANALOG_USB_VBUS_DETECT_STAT_VBUS_VALID) ? 0 : 1;
|
||||
}
|
||||
|
||||
#define BOARD_ADC_BRICK_VALID (board_read_usb2_vbus_state() == 0)
|
||||
|
||||
|
||||
|
||||
|
||||
#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
|
||||
|
||||
/* FMUv5 never powers odd the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
// FIXME LETS NOT RESET FOR NOW
|
||||
//#define BOARD_HAS_ON_RESET 1
|
||||
#define BOARD_HAS_TEENSY_BOOTLOADER
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_FLEXCAN3_TX, \
|
||||
GPIO_FLEXCAN3_RX, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_SAFETY_SWITCH_IN \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmurt1062_usdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int fmurt1062_usdhc_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: imxrt_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void imxrt_spidev_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI Buses.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int imxrt1062_spi_bus_initialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_usb_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
extern int imxrt_usb_initialize(void);
|
||||
|
||||
extern void imxrt_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
extern void fmurt1062_timer_initialize(void);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,39 +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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(4),
|
||||
};
|
||||
@@ -1,56 +0,0 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "imxrt_flexspi_nor_boot.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
locate_data(".boot_hdr.ivt")
|
||||
const struct ivt_s g_image_vector_table = {
|
||||
IVT_HEADER, /* IVT Header */
|
||||
IMAGE_ENTRY_ADDRESS, /* Image Entry Function */
|
||||
IVT_RSVD, /* Reserved = 0 */
|
||||
(uint32_t) DCD_ADDRESS, /* Address where DCD information is
|
||||
* stored */
|
||||
(uint32_t) BOOT_DATA_ADDRESS, /* Address where BOOT Data Structure
|
||||
* is stored */
|
||||
(uint32_t) IMAG_VECTOR_TABLE, /* Pointer to IVT Self (absolute
|
||||
* address */
|
||||
(uint32_t) CSF_ADDRESS, /* Address where CSF file is stored */
|
||||
IVT_RSVD /* Reserved = 0 */
|
||||
};
|
||||
|
||||
locate_data(".boot_hdr.boot_data")
|
||||
const struct boot_data_s g_boot_data = {
|
||||
IMAGE_DEST, /* boot start location */
|
||||
(IMAGE_DEST_END - IMAGE_DEST), /* size */
|
||||
PLUGIN_FLAG, /* Plugin flag */
|
||||
0xffffffff /* empty - extra data word */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
@@ -1,155 +0,0 @@
|
||||
/****************************************************************************
|
||||
* boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
|
||||
#define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* IVT Data */
|
||||
|
||||
#define IVT_MAJOR_VERSION 0x4
|
||||
#define IVT_MAJOR_VERSION_SHIFT 0x4
|
||||
#define IVT_MAJOR_VERSION_MASK 0xf
|
||||
#define IVT_MINOR_VERSION 0x1
|
||||
#define IVT_MINOR_VERSION_SHIFT 0x0
|
||||
#define IVT_MINOR_VERSION_MASK 0xf
|
||||
|
||||
#define IVT_VERSION(major, minor) \
|
||||
((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) | \
|
||||
(((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT))
|
||||
|
||||
#define IVT_TAG_HEADER (0xd1) /* Image Vector Table */
|
||||
#define IVT_SIZE 0x2000
|
||||
#define IVT_PAR IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION)
|
||||
|
||||
#define IVT_HEADER (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24))
|
||||
#define IVT_RSVD (uint32_t)(0x00000000)
|
||||
|
||||
/* DCD Data */
|
||||
|
||||
#define DCD_TAG_HEADER (0xd2)
|
||||
#define DCD_TAG_HEADER_SHIFT (24)
|
||||
#define DCD_VERSION (0x41)
|
||||
#define DCD_ARRAY_SIZE 1
|
||||
|
||||
#define FLASH_BASE 0x60000000
|
||||
#define FLASH_END 0x7f7fffff
|
||||
|
||||
/* This needs to take into account the memory configuration at
|
||||
* boot bootloader
|
||||
*/
|
||||
|
||||
#define ROM_BOOTLOADER_OCRAM_RES 0x8000
|
||||
#define OCRAM_BASE (0x20200000 + ROM_BOOTLOADER_OCRAM_RES)
|
||||
#define OCRAM_END (OCRAM_BASE + (512 * 1024) + (256 * 1024) \
|
||||
- ROM_BOOTLOADER_OCRAM_RES)
|
||||
|
||||
#define SCLK 1
|
||||
#if defined(CONFIG_BOOT_RUNFROMFLASH)
|
||||
# define IMAGE_DEST FLASH_BASE
|
||||
# define IMAGE_DEST_END FLASH_END
|
||||
# define IMAGE_DEST_OFFSET 0
|
||||
#else
|
||||
# define IMAGE_DEST OCRAM_BASE
|
||||
# define IMAGE_DEST_END OCRAM_END
|
||||
# define IMAGE_DEST_OFFSET IVT_SIZE
|
||||
#endif
|
||||
|
||||
#define LOCATE_IN_DEST(x) (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST)
|
||||
#define LOCATE_IN_SRC(x) (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE)
|
||||
|
||||
#define DCD_ADDRESS 0
|
||||
#define BOOT_DATA_ADDRESS LOCATE_IN_DEST(&g_boot_data)
|
||||
#define CSF_ADDRESS 0
|
||||
#define PLUGIN_FLAG (uint32_t)0
|
||||
|
||||
/* Located in Destination Memory */
|
||||
|
||||
#define IMAGE_ENTRY_ADDRESS ((uint32_t)&_vectors)
|
||||
#define IMAG_VECTOR_TABLE LOCATE_IN_DEST(&g_image_vector_table)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* IVT Data */
|
||||
|
||||
struct ivt_s {
|
||||
/* Header with tag #HAB_TAG_IVT, length and HAB version fields */
|
||||
|
||||
uint32_t hdr;
|
||||
|
||||
/* Absolute address of the first instr. to execute from the image */
|
||||
|
||||
uint32_t entry;
|
||||
|
||||
/* Reserved in this version of HAB: should be NULL. */
|
||||
|
||||
uint32_t reserved1;
|
||||
|
||||
/* Absolute address of the image DCD: may be NULL. */
|
||||
|
||||
uint32_t dcd;
|
||||
|
||||
/* Absolute address of the Boot Data: may be NULL */
|
||||
|
||||
uint32_t boot_data;
|
||||
|
||||
/* Absolute address of the IVT. */
|
||||
|
||||
uint32_t self;
|
||||
|
||||
/* Absolute address of the image CSF. */
|
||||
|
||||
uint32_t csf;
|
||||
|
||||
/* Reserved in this version of HAB: should be zero. */
|
||||
|
||||
uint32_t reserved2;
|
||||
};
|
||||
|
||||
/* Boot Data */
|
||||
|
||||
struct boot_data_s {
|
||||
uint32_t start; /* boot start location */
|
||||
uint32_t size; /* size */
|
||||
uint32_t plugin; /* plugin flag - 1 if downloaded application is
|
||||
* plugin */
|
||||
uint32_t placeholder; /* placeholder to make even 0x10 size */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
extern const struct boot_data_s g_boot_data;
|
||||
extern const uint8_t g_dcd_data[];
|
||||
extern const uint32_t _vectors[];
|
||||
|
||||
#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user