mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-06 04:10:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Hamish Willee
|
d74af6d1f8 |
@@ -86,6 +86,7 @@ pipeline {
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_ctrlalloc",
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||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_rtps",
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||||
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+76
-18
@@ -21,7 +21,7 @@ pipeline {
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||||
sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_test bootloader_elf'
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sh 'ccache -s'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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||||
}
|
||||
post {
|
||||
always {
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@@ -70,7 +70,6 @@ pipeline {
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}
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post {
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||||
always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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resetBoard()
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}
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}
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@@ -92,7 +91,7 @@ pipeline {
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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}
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post {
|
||||
always {
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@@ -139,7 +138,6 @@ pipeline {
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}
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post {
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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resetBoard()
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}
|
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}
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@@ -161,7 +159,7 @@ pipeline {
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
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}
|
||||
post {
|
||||
always {
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||||
@@ -208,7 +206,6 @@ pipeline {
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||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
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resetBoard()
|
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}
|
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}
|
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@@ -230,7 +227,7 @@ pipeline {
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sh 'make px4_fmu-v4_test'
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sh 'make px4_fmu-v4_test bootloader_elf'
|
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sh 'ccache -s'
|
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
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}
|
||||
post {
|
||||
always {
|
||||
@@ -276,7 +273,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
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resetBoard()
|
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}
|
||||
}
|
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@@ -298,7 +294,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v4pro_test'
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sh 'make px4_fmu-v4pro_test bootloader_elf'
|
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -345,7 +341,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
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resetBoard()
|
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}
|
||||
}
|
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@@ -367,7 +362,7 @@ pipeline {
|
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sh 'make px4_fmu-v5_debug'
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sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -425,7 +420,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
@@ -447,7 +441,7 @@ pipeline {
|
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sh 'make px4_fmu-v5_stackcheck'
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sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -504,7 +498,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
@@ -526,7 +519,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -573,7 +566,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
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@@ -581,6 +573,73 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
// stage("modalai_fc-v1_test") {
|
||||
// stages {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// checkout scm
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make modalai_fc-v1_test'
|
||||
// sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("hardware") {
|
||||
// agent {
|
||||
// label 'modalai_fc-v1'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'modalai_fc-v1_test'
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// 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
|
||||
// checkStatus()
|
||||
// quickCalibrate()
|
||||
// }
|
||||
// }
|
||||
// stage("print topics") {
|
||||
// steps {
|
||||
// printTopics()
|
||||
// }
|
||||
// }
|
||||
|
||||
// }
|
||||
// } // stage test
|
||||
// }
|
||||
// }
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
@@ -595,7 +654,7 @@ pipeline {
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -642,7 +701,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
|
||||
+1
-2
@@ -74,7 +74,6 @@ Checks: '*,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-loop-convert,
|
||||
-modernize-pass-by-value,
|
||||
-modernize-raw-string-literal,
|
||||
-modernize-return-braced-init-list,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-bool-literals,
|
||||
@@ -82,8 +81,8 @@ Checks: '*,
|
||||
-modernize-use-equals-default,
|
||||
-modernize-use-equals-delete,
|
||||
-modernize-use-override,
|
||||
-modernize-use-trailing-return-type,
|
||||
-modernize-use-using,
|
||||
-modernize-use-trailing-return-type,
|
||||
-performance-inefficient-string-concatenation,
|
||||
-readability-avoid-const-params-in-decls,
|
||||
-readability-container-size-empty,
|
||||
|
||||
@@ -13,7 +13,6 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
|
||||
@@ -10,7 +10,6 @@ on:
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
|
||||
Vendored
-5
@@ -106,11 +106,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_default
|
||||
ark_can-rtk-gps_debug:
|
||||
short: ark_can-rtk-gps_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_debug
|
||||
ark_can-rtk-gps_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -128,9 +128,6 @@ config BOARD_KEYSTORE
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
config BOARD_SERIAL_URT6
|
||||
string "URT6 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS1
|
||||
string "GPS1 tty port"
|
||||
|
||||
@@ -161,14 +158,8 @@ menu "Serial ports"
|
||||
config BOARD_SERIAL_TEL5
|
||||
string "TEL5 tty port"
|
||||
|
||||
config BOARD_SERIAL_RC
|
||||
string "RC tty port"
|
||||
|
||||
config BOARD_SERIAL_WIFI
|
||||
string "WIFI tty port"
|
||||
|
||||
config BOARD_SERIAL_PPB
|
||||
string "PPB (Pixhawk Payload Bus) tty port"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
|
||||
@@ -464,7 +464,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -8,8 +8,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
@@ -46,10 +45,4 @@ param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER direct
|
||||
|
||||
@@ -7,3 +7,4 @@
|
||||
|
||||
param set-default FW_THR_CRUISE 0.0
|
||||
param set-default RWTO_TKOFF 0
|
||||
|
||||
|
||||
@@ -6,8 +6,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
@@ -76,14 +75,7 @@ param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
# set MIXER hexa_x
|
||||
set MIXER direct
|
||||
|
||||
@@ -55,4 +55,5 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.ctrlalloc
|
||||
)
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -22,7 +22,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -21,7 +21,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -84,8 +84,6 @@ 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
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
@@ -11,11 +11,9 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
set MIXER none
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
@@ -52,7 +50,6 @@ param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
set MIXER direct
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
|
||||
@@ -77,3 +77,4 @@ param set-default IMU_DGYRO_CUTOFF 100
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
param set-default SDLOG_PROFILE 27
|
||||
|
||||
|
||||
@@ -11,8 +11,8 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
@@ -66,12 +66,8 @@ param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_CT 6.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
set MIXER direct
|
||||
set PWM_OUT 123456
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 123456
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# External airframe startup script (on SD card)
|
||||
#
|
||||
set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
|
||||
|
||||
if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
|
||||
then
|
||||
. ${SDCARD_EXT_PATH}/rc.autostart
|
||||
else
|
||||
echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
|
||||
fi
|
||||
@@ -0,0 +1,26 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for new control allocation and controllers
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start angular velocity controller
|
||||
#
|
||||
# angular_velocity_controller start
|
||||
# mc_rate_control stop
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
param set COM_PREARM_MODE 0
|
||||
@@ -16,12 +16,6 @@ ekf2 start &
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
airspeed_selector start
|
||||
|
||||
#
|
||||
# Start attitude control auto-tuner
|
||||
#
|
||||
fw_autotune_attitude_control start
|
||||
|
||||
#
|
||||
# Start Land Detector.
|
||||
#
|
||||
|
||||
@@ -96,16 +96,10 @@ then
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
pwm_out start
|
||||
dshot start
|
||||
else
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -220,10 +214,10 @@ fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if ! param compare SYS_CTRL_ALLOC 1
|
||||
if [ $PWM_MAIN_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
|
||||
fi
|
||||
|
||||
@@ -48,22 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Multicopter Rate Controller.
|
||||
#
|
||||
|
||||
@@ -24,11 +24,9 @@ mc_att_control start vtol
|
||||
flight_mode_manager start
|
||||
mc_pos_control start vtol
|
||||
mc_hover_thrust_estimator start
|
||||
mc_autotune_attitude_control start
|
||||
|
||||
fw_att_control start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
# Start Land Detector
|
||||
# Multicopter for now until we have something for VTOL
|
||||
|
||||
@@ -44,8 +44,6 @@ set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
@@ -59,6 +57,7 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
set SDCARD_AVAILABLE no
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
@@ -98,13 +97,15 @@ if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
# Error tune.
|
||||
set STARTUP_TUNE 2
|
||||
if hardfault_log commit
|
||||
then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -181,6 +182,15 @@ else
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
#
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
@@ -206,22 +216,10 @@ else
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart
|
||||
if ! param compare SYS_AUTOSTART 0
|
||||
then
|
||||
if param greater SYS_AUTOSTART 1000000
|
||||
then
|
||||
# Use external startup file
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
|
||||
fi
|
||||
fi
|
||||
. ${R}$AUTOSTART_PATH
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
fi
|
||||
unset AUTOSTART_PATH
|
||||
|
||||
#
|
||||
# Override parameters from user configuration file.
|
||||
@@ -252,7 +250,7 @@ else
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
@@ -317,7 +315,7 @@ else
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -371,17 +369,6 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
@@ -552,8 +539,6 @@ unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
|
||||
@@ -44,4 +44,5 @@ px4_add_romfs_files(
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
tiltrotor_sitl_direct.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
Mixer for quad tiltrotor (x motor configuration)
|
||||
================================================
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
A: 8
|
||||
A: 9
|
||||
A: 10
|
||||
@@ -46,6 +46,7 @@ px4_add_romfs_files(
|
||||
coax.main.mix
|
||||
delta.main.mix
|
||||
deltaquad.main.mix
|
||||
direct.main.mix
|
||||
dodeca_bottom_cox.aux.mix
|
||||
dodeca_top_cox.main.mix
|
||||
firefly6.aux.mix
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
@@ -8,16 +8,18 @@ if [ -f "$FILE" ]; then
|
||||
if [ -n "$CHECK_FAILED" ]; then
|
||||
${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
|
||||
|
||||
echo -e 'Formatting issue found in' $FILE
|
||||
echo
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
|
||||
rm -f $FILE.pretty
|
||||
echo
|
||||
|
||||
if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
|
||||
${DIR}/fix_code_style.sh $FILE
|
||||
else
|
||||
echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
# Make sure this file is not staged for comitting
|
||||
git reset $FILE
|
||||
# Provide instructions
|
||||
echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -54,9 +54,12 @@ if [ $? -ne 0 ]; then
|
||||
fi
|
||||
|
||||
# Check for code style, only in changed files
|
||||
bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
for i in `git diff --cached --name-only --diff-filter=ACM`
|
||||
do
|
||||
./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
@@ -17,3 +17,4 @@ def save_compressed(filename):
|
||||
f.write(content_file.read())
|
||||
|
||||
save_compressed(filename)
|
||||
|
||||
|
||||
@@ -6,14 +6,6 @@ import os
|
||||
import sys
|
||||
import json
|
||||
import re
|
||||
from kconfiglib import Kconfig
|
||||
|
||||
kconf = Kconfig()
|
||||
|
||||
# Supress warning output
|
||||
kconf.warn_assign_undef = False
|
||||
kconf.warn_assign_override = False
|
||||
kconf.warn_assign_redun = False
|
||||
|
||||
source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
|
||||
|
||||
@@ -36,43 +28,42 @@ excluded_labels = [
|
||||
'uavcanv1' # TODO: fix and enable
|
||||
]
|
||||
|
||||
def process_target(px4board_file, target_name):
|
||||
def process_target(cmake_file, target_name):
|
||||
ret = None
|
||||
is_board_def = False
|
||||
platform = None
|
||||
toolchain = None
|
||||
for line in open(cmake_file, 'r'):
|
||||
if 'px4_add_board' in line:
|
||||
is_board_def = True
|
||||
if not is_board_def:
|
||||
continue
|
||||
|
||||
if px4board_file.endswith("default.px4board"):
|
||||
kconf.load_config(px4board_file, replace=True)
|
||||
else: # Merge config with default.px4board
|
||||
default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
|
||||
kconf.load_config(default_kconfig, replace=True)
|
||||
kconf.load_config(px4board_file, replace=False)
|
||||
re_platform = re.search('PLATFORM\s+([^\s]+)', line)
|
||||
if re_platform: platform = re_platform.group(1)
|
||||
|
||||
if "BOARD_TOOLCHAIN" in kconf.syms:
|
||||
toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
|
||||
re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
|
||||
if re_toolchain: toolchain = re_toolchain.group(1)
|
||||
|
||||
if "BOARD_PLATFORM" in kconf.syms:
|
||||
platform = kconf.syms["BOARD_PLATFORM"].str_value
|
||||
if is_board_def:
|
||||
assert platform, f"PLATFORM not found in {cmake_file}"
|
||||
|
||||
assert platform, f"PLATFORM not found in {px4board_file}"
|
||||
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
return ret
|
||||
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
@@ -86,8 +77,8 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
if not board.is_dir():
|
||||
continue
|
||||
for files in os.scandir(board.path):
|
||||
if files.is_file() and files.name.endswith('.px4board'):
|
||||
label = files.name[:-9]
|
||||
if files.is_file() and files.name.endswith('.cmake'):
|
||||
label = files.name[:-6]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
if label in excluded_labels:
|
||||
if verbose: print(f'excluding label {label} ({target_name})')
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: b23dc53d55...0a5a8c6d9d
@@ -110,17 +110,10 @@ def main(kconfig_file, config1, config2):
|
||||
|
||||
for line in f:
|
||||
match = unset_match(line)
|
||||
#pprint.pprint(line)
|
||||
#pprint.pprint(match)
|
||||
if match is not None:
|
||||
sym_name = match.group(1)
|
||||
kconf.syms[sym_name].unset_value()
|
||||
|
||||
if kconf.syms[sym_name].type is BOOL:
|
||||
for default, cond in kconf.syms[sym_name].orig_defaults:
|
||||
if(cond.str_value == 'y'):
|
||||
# Default is y, our diff is unset thus we've set it to no
|
||||
kconf.syms[sym_name].set_value(0)
|
||||
|
||||
f.close()
|
||||
|
||||
# Print warnings for symbols whose actual value doesn't match the assigned
|
||||
|
||||
@@ -1,344 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to params from module.yaml config file(s)
|
||||
Note: serial params are handled in Tools/serial/generate_config.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate params from module.yaml file(s)')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--params-file', type=str, action='store',
|
||||
help='Parameter output file')
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='board-specific timer_config.cpp file')
|
||||
parser.add_argument('--ethernet', action='store_true',
|
||||
help='Ethernet support')
|
||||
parser.add_argument('--board', type=str, action='store',
|
||||
help='board name, e.g. ')
|
||||
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
|
||||
help='Indicate that the board as an IO for extra PWM',
|
||||
default=False)
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
verbose = args.verbose
|
||||
params_output_file = args.params_file
|
||||
timer_config_file = args.timer_config
|
||||
ethernet_supported = args.ethernet
|
||||
board_with_io = args.board_with_io
|
||||
board = args.board
|
||||
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM_MAIN'
|
||||
return 'HIL_ACT'
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
if '${' in param_prefix:
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(channel_label):
|
||||
if channel_label == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM Sim'
|
||||
return 'HIL actuator'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM Aux'
|
||||
return 'PWM Main'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
return channel_label
|
||||
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
parameters_section_list = yaml_config['parameters']
|
||||
ret = ''
|
||||
for parameters_section in parameters_section_list:
|
||||
if 'definitions' not in parameters_section:
|
||||
continue
|
||||
definitions = parameters_section['definitions']
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
# 'definitions' either contains the param definition directly (dict),
|
||||
# or a list of definitions with that name (multiple entries for a
|
||||
# multi-instance param with different instance_start)
|
||||
param_list = definitions[param_name]
|
||||
if not isinstance(param_list, list):
|
||||
param_list = [param_list]
|
||||
|
||||
for param in param_list:
|
||||
if param.get('requires_ethernet', False) and not ethernet_supported:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
instance_start_label = param.get('instance_start_label', instance_start)
|
||||
|
||||
# get the type and extract all tags
|
||||
tags = '@group {:}'.format(param_group)
|
||||
if param['type'] == 'enum':
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
elif param['type'] == 'float':
|
||||
param_type = 'FLOAT'
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
|
||||
for i in range(num_instances):
|
||||
# default value
|
||||
default_value = 0
|
||||
if 'default' in param:
|
||||
# default can be a list of num_instances or a single value
|
||||
if type(param['default']) == list:
|
||||
assert len(param['default']) == num_instances
|
||||
default_value = param['default'][i]
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
* {short_descr}
|
||||
*
|
||||
* {long_descr}
|
||||
*
|
||||
* {tags}
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name.replace('${i}', str(i+instance_start)),
|
||||
default_value=default_value,
|
||||
).replace('${i}', str(i+instance_start_label))
|
||||
return ret
|
||||
|
||||
|
||||
def get_actuator_output_params(yaml_config, output_functions,
|
||||
timer_config_file, verbose):
|
||||
""" parse the actuator_output section from the yaml config file
|
||||
:return: dict of param definitions
|
||||
"""
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return {}
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
def add_local_param(param_name, param_def):
|
||||
nonlocal all_params
|
||||
# add as a list, as there can be multiple entries with the same param_name
|
||||
if not param_name in all_params:
|
||||
all_params[param_name] = []
|
||||
all_params[param_name].append(param_def)
|
||||
|
||||
while group_idx < len(output_groups):
|
||||
group = output_groups[group_idx]
|
||||
group_idx += 1
|
||||
|
||||
if verbose: print("processing group: {:}".format(group))
|
||||
|
||||
# Check for generator and generate additional data.
|
||||
# We do this by extending the output_groups list and parse in a later iteration
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
if 'timer_config_file' in group:
|
||||
timer_config_file = os.path.join(root_dir, group['timer_config_file'])
|
||||
if timer_config_file is None:
|
||||
raise Exception('trying to generate pwm outputs, but --timer-config not set')
|
||||
timer_groups = get_timer_groups(timer_config_file, verbose)
|
||||
timer_output_groups, timer_params = get_output_groups(timer_groups,
|
||||
param_prefix, channel_labels,
|
||||
standard_params, extra_function_groups, pwm_timer_param,
|
||||
verbose=verbose)
|
||||
all_params.update(timer_params)
|
||||
output_groups.extend(timer_output_groups)
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
num_channels = group['num_channels']
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
channel_label = process_channel_label(group['channel_label'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
|
||||
raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
|
||||
# collect the functions
|
||||
function_groups = ['common']
|
||||
function_groups.extend(group.get('extra_function_groups', []))
|
||||
output_function_values = {}
|
||||
for function_group in function_groups:
|
||||
group = output_functions[function_group]
|
||||
for function_name in group:
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
output_function_values[group[function_name]] = function_name_label
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
output_function_values[start+i] = function_name_label+' '+str(i+1)
|
||||
|
||||
# function param
|
||||
param = {
|
||||
'description': {
|
||||
'short': channel_label+' ${i} Output Function',
|
||||
'long':
|
||||
'''Select what should be output on {:} ${{i}}.
|
||||
|
||||
The default failsafe value is set according to the selected function:
|
||||
- 'Min' for ConstantMin
|
||||
- 'Max' for ConstantMax
|
||||
- 'Max' for Parachute
|
||||
- ('Max'+'Min')/2 for Servos
|
||||
- 'Disarmed' for the rest
|
||||
'''.format(channel_label),
|
||||
},
|
||||
'type': 'enum',
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': instance_start_label,
|
||||
'num_instances': num_channels,
|
||||
'default': 0,
|
||||
'values': output_function_values
|
||||
}
|
||||
add_local_param(param_prefix+'_FUNC${i}', param)
|
||||
|
||||
# handle standard_params
|
||||
disarmed_description = \
|
||||
'''This is the output value that is set when not armed.
|
||||
|
||||
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
|
||||
'''
|
||||
minimum_description = \
|
||||
'''Minimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
maximum_description = \
|
||||
'''Maxmimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
failsafe_description = \
|
||||
'''This is the output value that is set when in failsafe mode.
|
||||
|
||||
When set to -1 (default), the value depends on the function (see {:}).
|
||||
'''.format(param_prefix+'_FUNC${i}')
|
||||
standard_params_array = [
|
||||
( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
|
||||
( 'min', 'Minimum', 'MIN', minimum_description ),
|
||||
( 'max', 'Maximum', 'MAX', maximum_description ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
|
||||
]
|
||||
for key, label, param_suffix, description in standard_params_array:
|
||||
if key in standard_params:
|
||||
|
||||
# values must be in range of an uint16_t
|
||||
if standard_params[key]['min'] < 0:
|
||||
raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
|
||||
if standard_params[key]['max'] >= 1<<16:
|
||||
raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
|
||||
|
||||
if key == 'failsafe':
|
||||
standard_params[key]['default'] = -1
|
||||
standard_params[key]['min'] = -1
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': channel_label+' ${i} '+label+' Value',
|
||||
'long': description
|
||||
},
|
||||
'type': 'int32',
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': instance_start_label,
|
||||
'num_instances': num_channels,
|
||||
'min': standard_params[key]['min'],
|
||||
'max': standard_params[key]['max'],
|
||||
'default': standard_params[key]['default'],
|
||||
}
|
||||
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
|
||||
|
||||
if verbose: print('adding actuator params: {:}'.format(all_params))
|
||||
return all_params
|
||||
|
||||
def load_yaml_file(file_name):
|
||||
with open(file_name, 'r') as stream:
|
||||
try:
|
||||
return yaml.safe_load(stream)
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
|
||||
output_functions_yaml = load_yaml_file(output_functions_file)
|
||||
output_functions = output_functions_yaml['functions']
|
||||
|
||||
all_params = ""
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
yaml_config = load_yaml_file(yaml_file)
|
||||
|
||||
# convert 'output_groups' section into additional params
|
||||
try:
|
||||
actuator_output_params = get_actuator_output_params(yaml_config,
|
||||
output_functions, timer_config_file, verbose)
|
||||
except Exception as e:
|
||||
print('Exception while parsing {:}:'.format(yaml_file))
|
||||
raise e
|
||||
# now add them to the yaml config
|
||||
if not 'parameters' in yaml_config:
|
||||
yaml_config['parameters'] = []
|
||||
group_name = 'Actuator Outputs'
|
||||
yaml_config['parameters'].append({'group': group_name, 'definitions': actuator_output_params})
|
||||
|
||||
all_params += parse_yaml_parameters_config(yaml_config, ethernet_supported)
|
||||
|
||||
|
||||
if verbose: print("Generating {:}".format(params_output_file))
|
||||
with open(params_output_file, 'w') as fid:
|
||||
fid.write(all_params)
|
||||
@@ -1,201 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to parse board-specific timer_config.cpp and print the output groups
|
||||
and timer config params to stdout
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import re
|
||||
from itertools import groupby
|
||||
from copy import deepcopy
|
||||
|
||||
|
||||
def find_matching_brackets(brackets, s, verbose):
|
||||
idx = 0
|
||||
opening = 0
|
||||
first_open = -1
|
||||
while idx < len(s):
|
||||
if s[idx] == brackets[0]:
|
||||
opening += 1
|
||||
if first_open == -1:
|
||||
first_open = idx
|
||||
if s[idx] == brackets[1]:
|
||||
opening -= 1
|
||||
if opening == 0:
|
||||
if verbose: print(first_open, idx, s[first_open:idx+1])
|
||||
return first_open+1, idx
|
||||
idx += 1
|
||||
raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
|
||||
|
||||
def extract_timer(line):
|
||||
# Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
|
||||
search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
return None
|
||||
|
||||
def extract_timer_from_channel(line):
|
||||
# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
|
||||
search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
return None
|
||||
|
||||
def get_timer_groups(timer_config_file, verbose=False):
|
||||
with open(timer_config_file, 'r') as f:
|
||||
timer_config = f.read()
|
||||
|
||||
# timers
|
||||
dshot_support = {} # key: timer
|
||||
timers_start_marker = 'io_timers_t io_timers'
|
||||
timers_start = timer_config.find(timers_start_marker)
|
||||
if timers_start == -1:
|
||||
raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
|
||||
timer_config = timer_config[timers_start:]
|
||||
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
|
||||
timers_str = timer_config[open_idx:close_idx]
|
||||
timers = []
|
||||
for line in timers_str.splitlines():
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line.startswith('//'):
|
||||
continue
|
||||
timer = extract_timer(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('found timer def: {:}'.format(timer))
|
||||
dshot_support[timer] = 'DMA' in line
|
||||
timers.append(timer)
|
||||
else:
|
||||
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
|
||||
raise Exception('Unparsed timer in line: {:}'.format(line))
|
||||
|
||||
|
||||
# channels
|
||||
channels_start_marker = 'timer_io_channels_t timer_io_channels'
|
||||
channels_start = timer_config.find(channels_start_marker)
|
||||
if channels_start == -1:
|
||||
raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
|
||||
|
||||
timer_config = timer_config[channels_start:]
|
||||
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
|
||||
channels = timer_config[open_idx:close_idx]
|
||||
channel_timers = []
|
||||
channel_types = []
|
||||
|
||||
for line in channels.splitlines():
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line.startswith('//'):
|
||||
continue
|
||||
|
||||
if verbose: print('--'+line+'--')
|
||||
timer = extract_timer_from_channel(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
|
||||
channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
|
||||
channel_timers.append(timer)
|
||||
else:
|
||||
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
|
||||
raise Exception('Unparsed channel in line: {:}'.format(line))
|
||||
|
||||
if len(channel_timers) == 0:
|
||||
raise Exception('No channels found in "{:}"'.format(channels))
|
||||
|
||||
groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
|
||||
outputs = {
|
||||
'types': channel_types,
|
||||
'groups': groups
|
||||
}
|
||||
|
||||
return outputs
|
||||
|
||||
def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
channel_labels=["PWM Main", "PWM Capture"],
|
||||
standard_params=[],
|
||||
extra_function_groups=[], pwm_timer_param=None,
|
||||
verbose=False):
|
||||
""" convert the timer groups into an output_groups section of module.yaml
|
||||
and extra timer params
|
||||
"""
|
||||
|
||||
instance_start = 1
|
||||
output_groups = []
|
||||
timer_params = {}
|
||||
instance_start_label = [ 1, 1 ]
|
||||
for timer_index, group_count, dshot_support in timer_groups['groups']:
|
||||
|
||||
# check for capture vs normal pins for the label
|
||||
types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
|
||||
if not all(types[0] == t for t in types):
|
||||
# Should this ever be needed, we can extend this script to handle that
|
||||
raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
|
||||
if types[0] == 'pwm':
|
||||
channel_type_idx = 0
|
||||
elif types[0] == 'cap':
|
||||
channel_type_idx = 1
|
||||
else:
|
||||
raise Exception('unsupported channel type: {:}'.format(types[0]))
|
||||
|
||||
channel_label = channel_labels[channel_type_idx]
|
||||
channel_type_instance = instance_start_label[channel_type_idx]
|
||||
group = {
|
||||
'param_prefix': param_prefix,
|
||||
'channel_label': channel_label,
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': channel_type_instance,
|
||||
'extra_function_groups': deepcopy(extra_function_groups),
|
||||
'num_channels': group_count,
|
||||
'standard_params': deepcopy(standard_params),
|
||||
}
|
||||
output_groups.append(group)
|
||||
|
||||
if pwm_timer_param is not None:
|
||||
timer_channels_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
timer_channels_label += '-' + str(channel_type_instance+group_count-1)
|
||||
pwm_timer_param_cp = deepcopy(pwm_timer_param)
|
||||
|
||||
if not dshot_support:
|
||||
# remove dshot entries if no dshot support
|
||||
values = pwm_timer_param_cp['values']
|
||||
for key in list(values.keys()):
|
||||
if 'dshot' in values[key].lower():
|
||||
del values[key]
|
||||
|
||||
for descr_type in ['short', 'long']:
|
||||
descr = pwm_timer_param_cp['description'][descr_type]
|
||||
pwm_timer_param_cp['description'][descr_type] = \
|
||||
descr.replace('${label}', timer_channels_label)
|
||||
timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
|
||||
instance_start += group_count
|
||||
instance_start_label[channel_type_idx] += group_count
|
||||
return (output_groups, timer_params)
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
|
||||
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='timer_config.cpp file', required=True)
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
timer_groups = get_timer_groups(args.timer_config, verbose)
|
||||
print('timer groups: {:}'.format(timer_groups))
|
||||
output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
|
||||
print('output groups: {:}'.format(output_groups))
|
||||
print('timer params: {:}'.format(timer_params))
|
||||
@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
|
||||
}
|
||||
|
||||
div.frame_common table {
|
||||
float: right;
|
||||
float: right;
|
||||
width: 70%;
|
||||
}
|
||||
|
||||
|
||||
@@ -55,3 +55,4 @@ class JsonOutput():
|
||||
if need_to_write:
|
||||
with codecs.open(filename, 'w', 'utf-8') as f:
|
||||
f.write(json.dumps(self.json,indent=2))
|
||||
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate Serial (UART) parameters and the ROMFS startup script """
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
@@ -193,6 +195,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
|
||||
# parse the YAML files
|
||||
serial_commands = []
|
||||
ethernet_configuration = []
|
||||
additional_params = ""
|
||||
|
||||
if ethernet_supported:
|
||||
ethernet_configuration.append({
|
||||
@@ -213,12 +216,88 @@ def parse_yaml_serial_config(yaml_config):
|
||||
ret.append(serial_config)
|
||||
return ret
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
parameters_section_list = yaml_config['parameters']
|
||||
for parameters_section in parameters_section_list:
|
||||
if 'definitions' not in parameters_section:
|
||||
return ''
|
||||
definitions = parameters_section['definitions']
|
||||
ret = ''
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
param = definitions[param_name]
|
||||
if param.get('requires_ethernet', False) and not ethernet_supported:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
|
||||
# get the type and extract all tags
|
||||
tags = '@group {:}'.format(param_group)
|
||||
if param['type'] == 'enum':
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
elif param['type'] == 'float':
|
||||
param_type = 'FLOAT'
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
|
||||
for i in range(num_instances):
|
||||
# default value
|
||||
default_value = 0
|
||||
if 'default' in param:
|
||||
# default can be a list of num_instances or a single value
|
||||
if type(param['default']) == list:
|
||||
assert len(param['default']) == num_instances
|
||||
default_value = param['default'][i]
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
* {short_descr}
|
||||
*
|
||||
* {long_descr}
|
||||
*
|
||||
* {tags}
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name,
|
||||
default_value=default_value,
|
||||
).replace('${i}', str(i+instance_start))
|
||||
return ret
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
with open(yaml_file, 'r') as stream:
|
||||
try:
|
||||
yaml_config = yaml.load(stream, Loader=yaml.Loader)
|
||||
serial_commands.extend(parse_yaml_serial_config(yaml_config))
|
||||
|
||||
# TODO: additional params should be parsed in a separate script
|
||||
additional_params += parse_yaml_parameters_config(
|
||||
yaml_config, ethernet_supported)
|
||||
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
@@ -325,5 +404,6 @@ if serial_params_output_file is not None:
|
||||
with open(serial_params_output_file, 'w') as fid:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
ethernet_configuration=ethernet_configuration,
|
||||
commands=commands, serial_ports=serial_ports))
|
||||
commands=commands, serial_ports=serial_ports,
|
||||
additional_definitions=additional_params))
|
||||
|
||||
|
||||
@@ -71,3 +71,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
|
||||
{% endfor -%}
|
||||
{% endif %}
|
||||
|
||||
{{ additional_definitions }}
|
||||
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
//Public key to verify signed binaries
|
||||
0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c,
|
||||
0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81,
|
||||
0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb,
|
||||
0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd,
|
||||
0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c,
|
||||
0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81,
|
||||
0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb,
|
||||
0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd,
|
||||
|
||||
+37
-37
@@ -1,38 +1,38 @@
|
||||
|
||||
0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
|
||||
0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
|
||||
0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
|
||||
0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
|
||||
0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
|
||||
0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
|
||||
0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
|
||||
0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
|
||||
0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
|
||||
0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
|
||||
0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
|
||||
0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
|
||||
0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
|
||||
0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
|
||||
0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
|
||||
0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
|
||||
0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
|
||||
0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
|
||||
0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
|
||||
0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
|
||||
0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
|
||||
0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
|
||||
0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
|
||||
0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
|
||||
0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
|
||||
0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
|
||||
0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
|
||||
0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
|
||||
0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
|
||||
0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
|
||||
0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
|
||||
0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
|
||||
0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
|
||||
0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
|
||||
0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
|
||||
0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
|
||||
0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
|
||||
0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
|
||||
0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
|
||||
0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
|
||||
0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
|
||||
0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
|
||||
0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
|
||||
0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
|
||||
0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
|
||||
0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
|
||||
0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
|
||||
0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
|
||||
0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
|
||||
0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
|
||||
0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
|
||||
0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
|
||||
0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
|
||||
0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
|
||||
0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
|
||||
0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
|
||||
0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
|
||||
0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
|
||||
0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
|
||||
0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
|
||||
0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
|
||||
0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
|
||||
0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
|
||||
0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
|
||||
0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
|
||||
0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
|
||||
0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
|
||||
0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
|
||||
0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
|
||||
0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
|
||||
0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
|
||||
0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
|
||||
0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
|
||||
0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
|
||||
@@ -48,7 +48,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -13,4 +13,3 @@ CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -15,4 +15,3 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=n
|
||||
CONFIG_BOARD_NO_HELP=n
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
@@ -15,4 +15,3 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -39,8 +39,5 @@
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3
|
||||
#define DMACHAN_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
|
||||
//#define DMACHAN_USART1_TX DMAMAP_USART1_TX // DMA2, Stream 7, Channel 4
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3
|
||||
|
||||
@@ -150,9 +150,8 @@ CONFIG_STM32_WWDG=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=2000
|
||||
CONFIG_USART1_RXDMA=y
|
||||
CONFIG_USART1_TXBUFSIZE=2000
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1100
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
|
||||
@@ -139,12 +139,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
#if defined(SERIAL_HAVE_RXDMA)
|
||||
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
|
||||
static struct hrt_call serial_dma_call;
|
||||
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
|
||||
#endif
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
|
||||
@@ -45,7 +45,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -29,7 +29,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -13,4 +13,3 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -53,7 +53,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
@@ -72,7 +71,6 @@ 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
|
||||
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -129,6 +129,16 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -54,7 +54,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
@@ -72,7 +71,6 @@ 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
|
||||
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -129,6 +129,16 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -1,9 +1,14 @@
|
||||
CONFIG_COMMON_OPTICAL_FLOW=n
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
|
||||
@@ -49,7 +49,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -39,7 +39,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
|
||||
@@ -120,6 +120,16 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -1,13 +1,16 @@
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
|
||||
CONFIG_SYSTEMCMDS_REFLECT=n
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
|
||||
@@ -48,7 +48,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -35,8 +35,8 @@
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer4),
|
||||
initIOTimer(Timer::Timer3),
|
||||
initIOTimer(Timer::Timer4),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
|
||||
@@ -30,7 +30,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -14,4 +14,3 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -38,6 +38,7 @@ CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -47,13 +48,13 @@ 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_L1=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_MAVLINK=y
|
||||
@@ -98,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
@@ -73,7 +72,6 @@ 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
|
||||
@@ -86,6 +84,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -176,13 +176,34 @@
|
||||
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
||||
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
|
||||
|
||||
/* PWM Capture
|
||||
*
|
||||
* 6 PWM Capture inputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* FMU_CAP1 : PB11 : TIM2_CH4
|
||||
* FMU_CAP2 : PB3 : TIM2_CH2
|
||||
* FMU_CAP3 : PA5 : TIM2_CH1
|
||||
* FMU_CAP4 : PH9 : TIM12_CH2
|
||||
* FMU_CAP5 : PH6 : TIM12_CH1
|
||||
* FMU_CAP6 : PD14 : TIM4_CH3
|
||||
*/
|
||||
|
||||
#define GPIO_TIM2_CH4_IN /* PB11 FMU_CAP3 */ GPIO_TIM2_CH4IN_2
|
||||
#define GPIO_TIM2_CH2_IN /* PB3 FMU_CAP2 */ GPIO_TIM2_CH2IN_2
|
||||
#define GPIO_TIM2_CH1_IN /* PA5 FMU_CAP1 */ GPIO_TIM2_CH1IN_3
|
||||
#define GPIO_TIM12_CH2_IN /* PH9 FMU_CAP4 */ GPIO_TIM12_CH2IN_2
|
||||
#define GPIO_TIM12_CH1_IN /* PH6 FMU_CAP5 */ GPIO_TIM12_CH1IN_2
|
||||
#define GPIO_TIM4_CH3_IN /* PD14 FMU_CAP6 */ GPIO_TIM4_CH3IN_2
|
||||
|
||||
#define DIRECT_PWM_CAPTURE_CHANNELS 6
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 10
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 5
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
|
||||
@@ -233,6 +254,32 @@
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
/* Input Capture Channels. */
|
||||
|
||||
#define INPUT_CAP1_TIMER 2
|
||||
#define INPUT_CAP1_CHANNEL /* T2C4 */ 4
|
||||
#define GPIO_INPUT_CAP1 /* PB11 */ GPIO_TIM2_CH4_IN
|
||||
|
||||
#define INPUT_CAP2_TIMER 2
|
||||
#define INPUT_CAP2_CHANNEL /* T2C2 */ 2
|
||||
#define GPIO_INPUT_CAP2 /* PB3 */ GPIO_TIM2_CH2_IN
|
||||
|
||||
#define INPUT_CAP3_TIMER 2
|
||||
#define INPUT_CAP3_CHANNEL /* T2C1 */ 1
|
||||
#define GPIO_INPU3_CAP1 /* PA5 */ GPIO_TIM2_CH1_IN
|
||||
|
||||
#define INPUT_CAP4_TIMER 12
|
||||
#define INPUT_CAP4_CHANNEL /* T12C2*/ 2
|
||||
#define GPIO_INPUT_CAP4 /* PH9 */ GPIO_TIM12_CH2_IN
|
||||
|
||||
#define INPUT_CAP5_TIMER 12
|
||||
#define INPUT_CAP5_CHANNEL /* T12C1*/ 1
|
||||
#define GPIO_INPUT_CAP5 /* PH6 */ GPIO_TIM12_CH1_IN
|
||||
|
||||
#define INPUT_CAP6_TIMER 4
|
||||
#define INPUT_CAP6_CHANNEL /* T4C3 */ 3
|
||||
#define GPIO_INPUT_CAP6 /* PD14 */ GPIO_TIM4_CH3_IN
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
|
||||
#define PWMIN_TIMER 4
|
||||
|
||||
@@ -162,6 +162,16 @@ __EXPORT void board_on_reset(int status)
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
@@ -36,8 +36,6 @@
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer12),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
@@ -46,12 +44,6 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
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::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
|
||||
//initIOTimerChannelCapture(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
|
||||
@@ -5,7 +5,6 @@ CONFIG_BOARD_EXTERNAL_METADATA=y
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP280=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
|
||||
@@ -53,7 +53,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -211,6 +211,22 @@
|
||||
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
||||
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
|
||||
|
||||
/* PWM Capture
|
||||
*
|
||||
* 3 PWM Capture inputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* FMU_CAP1 : PA5 : TIM2_CH1
|
||||
* FMU_CAP2 : PB3 : TIM2_CH2
|
||||
* FMU_CAP3 : PB11 : TIM2_CH4
|
||||
*/
|
||||
#define GPIO_TIM2_CH1_IN /* PA5 T22C1 FMU_CAP1 */ GPIO_TIM2_CH1IN_3
|
||||
#define GPIO_TIM2_CH2_IN /* PB3 T22C2 FMU_CAP2 */ GPIO_TIM2_CH2IN_2
|
||||
#define GPIO_TIM2_CH4_IN /* PB11 T22C4 FMU_CAP3 */ GPIO_TIM2_CH4IN_2
|
||||
|
||||
#define DIRECT_PWM_CAPTURE_CHANNELS 3
|
||||
|
||||
/* PI0 is nARMED
|
||||
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
|
||||
* While armed it shall be configured at a GPIO OUT set LOW
|
||||
@@ -222,7 +238,7 @@
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 11
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
|
||||
@@ -291,6 +307,19 @@
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
/* Input Capture Channels. */
|
||||
#define INPUT_CAP1_TIMER 2
|
||||
#define INPUT_CAP1_CHANNEL /* T4C1 */ 1
|
||||
#define GPIO_INPUT_CAP1 /* PA5 */ GPIO_TIM2_CH1_IN
|
||||
|
||||
#define INPUT_CAP2_TIMER 2
|
||||
#define INPUT_CAP2_CHANNEL /* T4C2 */ 2
|
||||
#define GPIO_INPUT_CAP2 /* PB3 */ GPIO_TIM2_CH2_IN
|
||||
|
||||
#define INPUT_CAP3_TIMER 2
|
||||
#define INPUT_CAP3_CHANNEL /* T4C4 */ 4
|
||||
#define GPIO_INPUT_CAP3 /* PB11 */ GPIO_TIM2_CH4_IN
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
|
||||
@@ -436,7 +465,7 @@
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
|
||||
@@ -50,9 +50,6 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
|
||||
initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
|
||||
@@ -48,7 +48,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -47,7 +47,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -2,3 +2,4 @@
|
||||
#
|
||||
# ModalAI FC-v2 specific board defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
|
||||
@@ -192,6 +192,11 @@
|
||||
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
|
||||
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
|
||||
|
||||
/* PWM Capture - not routed
|
||||
*/
|
||||
#define DIRECT_PWM_CAPTURE_CHANNELS 0
|
||||
|
||||
|
||||
/* PE6 is nARMED --> FCv2 this goes to TP13
|
||||
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
|
||||
* While armed it shall be configured at a GPIO OUT set LOW
|
||||
|
||||
@@ -46,7 +46,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -46,7 +46,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -46,7 +46,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
@@ -74,7 +73,6 @@ 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
|
||||
@@ -87,6 +85,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -123,6 +123,16 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -47,7 +47,6 @@ 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_L1=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
@@ -74,7 +73,6 @@ 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
|
||||
@@ -87,6 +85,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -123,6 +123,16 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user