drivers/device/nuttx/I2C: add transfer failure details

.ci/Jenkinsfile-compile

@@ -52,7 +52,6 @@ pipeline {
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
                      "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
@@ -105,7 +104,6 @@ pipeline {
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
-                     "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "uvify_core_default"
             ],

.github/workflows/compile_nuttx.yml

@@ -30,7 +30,6 @@ jobs:
           cuav_x7pro,
           cubepilot_cubeorange,
           cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
           freefly_can-rtk-gps,
           holybro_can-gps-v1,
           holybro_durandal-v1,
@@ -62,7 +61,6 @@ jobs:
           px4_fmu-v5x,
           px4_fmu-v6u,
           px4_fmu-v6x,
-          sky-drones_smartap-airlink,
           spracing_h7extreme,
           uvify_core
           ]

ROMFS/cannode/init.d/rcS

@@ -88,7 +88,7 @@ unset BOARD_RC_SENSORS
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
 then
-	px4flow start -X &
+	px4flow start -X
 fi
 
 uavcannode start

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,7 +13,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default MAV_TYPE 21
+param set-defualt MAV_TYPE 21
 
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -22,7 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default MAV_TYPE 21
+param set-defualt MAV_TYPE 21
 
 param set-default CBRK_AIRSPD_CHK 162128
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -101,6 +101,12 @@ then
 	pmw3901 -S start
 fi
 
+# Check for px4flow sensor
+if param compare -s SENS_EN_PX4FLOW 1
+then
+	px4flow start -X
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -192,3 +198,9 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
+
+###############################################################################
+#                            End Optional drivers                             #
+###############################################################################
+
+sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -405,7 +405,6 @@ else
 			battery_status start
 		fi
 
-		sensors start
 		commander start
 	fi
 
@@ -509,12 +508,6 @@ else
 		gyro_calibration start
 	fi
 
-	# Check for px4flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X &
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

Tools/ecl_ekf/drag_fusion_tuning/drag_replay.py

@@ -29,12 +29,12 @@
     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     POSSIBILITY OF SUCH DAMAGE.
 
-File: mc_wind_estimator_tuning.py
+File: drag_replay.py
 Author: Mathieu Bresciani <mathieu@auterion.com>
 License: BSD 3-Clause
 Description:
     Find the best ballistic and momentum drag coefficients for wind estimation
-    using flight test data from a `.ulg` file.
+    using EKF2 replay data.
     NOTE: this script currently assumes no wind.
 """
 
@@ -191,7 +191,7 @@ if __name__ == '__main__':
 
     # Parse arguments
     parser = argparse.ArgumentParser(
-        description='Estimate the ballistic and momentum drag coefficients of a multirotor using a ULog file')
+        description='Estimate mag biases from ULog file')
 
     # Provide parameter file path and name
     parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)

boards/diatone/mamba-f405-mk2/default.px4board

@@ -1,47 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_VER=y

boards/diatone/mamba-f405-mk2/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 42,
-    "magic": "MAMBAF405MK2",
-    "description": "Firmware for the MambaF405Mk2 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4/MambaF405",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1032192,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
-param set-default SYS_HAS_MAG 0

boards/diatone/mamba-f405-mk2/init/rc.board_extras

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# Mamba F405 MK2 specific board extras init
-#------------------------------------------------------------------------------
-
-if ! param compare OSD_ATXXXX_CFG 0
-then
-	atxxxx start -s
-fi

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# Mamba F405 MK2 specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-if ! mpu6000 -R 6 -s start
-then
-	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	icm20602 -s -R 6 start
-fi
-
-if ! hmc5883 -T -X start
-then	
-	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
-		sleep 1 # wait for mpu9250 to be configured with bypass enabled
-		ak8963 -X -b 2 -R 30 start # -R 34
-		sleep 1
-		mpu9250_i2c stop
-		ak8963 -X -b 2 -R 30 start # -R 34
-	fi
-fi
-
-bmp280 -X -b 2 start

boards/diatone/mamba-f405-mk2/nuttx-config/include/board.h

@@ -1,327 +0,0 @@
-/************************************************************************************
- * nuttx-configs/diatone_mamba-f405-mk2/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *   Author: Nathan Tsoi <nathan@vertile.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-#ifndef __CONFIG_MAMBAF405MK2_INCLUDE_BOARD_H
-#define __CONFIG_MAMBAF405MK2_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdio.h"
-#include "stm32.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The mambaf405mk2 board features a single 8MHz crystal.  Space is provided
- * for a 32kHz RTC backup crystal, but it is not stuffed.
- *
- * This is the canonical configuration:
- *   System Clock source           : PLL (HSE)
- *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
- *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
- *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
- *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
- *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
- *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
- *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
- *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
- *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
- *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
- *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
- *   Flash Latency(WS)             : 5
- *   Prefetch Buffer               : OFF
- *   Instruction cache             : ON
- *   Data cache                    : ON
- *   Require 48MHz for USB OTG FS, : Enabled
- *   SDIO and RNG clock
- */
-
-/* HSI - 16 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - On-board crystal frequency is 8MHz
- * LSE - 32.768 kHz
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *         = (8,000,000 / 8) * 336
- *         = 336,000,000
- * SYSCLK  = PLL_VCO / PLLP
- *         = 336,000,000 / 2 = 168,000,000
- * USB OTG FS, SDIO and RNG Clock
- *         =  PLL_VCO / PLLQ
- *         = 48,000,000
- */
-
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
-
-#define STM32_SYSCLK_FREQUENCY  168000000ul
-
-/* AHB clock (HCLK) is SYSCLK (168MHz) */
-
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
-
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
-
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx.
- * Note: TIM1,8-11 are on APB2, others on APB1
- */
-
-#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
-#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
-#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
-#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
-#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
-#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
-#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
-#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
-#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
-#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
-#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
-#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
-#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
-
-/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
- * in order to avoid RX overrun/TX underrun errors due to delayed responses
- * to service FIFOs in interrupt driven mode.  These values have not been
- * tuned!!!
- *
- * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
- */
-
-#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* LED definitions ******************************************************************/
-/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
- * way.  The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with stm32_setled() */
-
-#define BOARD_LED1        0
-//#define BOARD_LED2        1
-#define BOARD_NLEDS       1
-
-#define BOARD_LED_BLUE    BOARD_LED1
-//#define BOARD_LED_RED     BOARD_LED2
-
-/* LED bits for use with stm32_setleds() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-
-/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
- * omnibusf4sd.  The following definitions describe how NuttX controls the LEDs:
- */
-
-#define LED_STARTED       0  /* LED1 */
-#define LED_HEAPALLOCATE  1  /* LED2 */
-#define LED_IRQSENABLED   2  /* LED1 */
-#define LED_STACKCREATED  3  /* LED1 + LED2 */
-#define LED_INIRQ         4  /* LED1 */
-#define LED_SIGNAL        5  /* LED2 */
-#define LED_ASSERTION     6  /* LED1 + LED2 */
-#define LED_PANIC         7  /* LED1 + LED2 */
-
-/* Alternate function pin selections ************************************************/
-
-/* UART1:
- *
- * PA10 (RX) and PA9 (TX) are broken out on J5
- */
-
-#define GPIO_USART1_RX GPIO_USART1_RX_1
-#define GPIO_USART1_TX GPIO_USART1_TX_1
-
-/* USART3:
- *
- * PC10 (TX) and PC11 (RX) are broken out on J4
- *
- * However, this port is shared with SPI3 which contains the BMP280 and MAX7456
- *
- * The Silkscreen pin labeled SCL is TX
- *                           MISO is RX
- */
-//#define GPIO_USART3_RX	GPIO_USART3_RX_2
-//#define GPIO_USART3_TX	GPIO_USART3_TX_2
-
-/* UART4:
- *
- * PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
- *             on the pro version. It's on a 2.54mm header on other versions
- * PA1 (RX) -- Motor 5 out
- */
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
-
-/* UART6:
- *
- * PC6 (TX) and PC7 (RX) are broken out on J10
- */
-
-#define GPIO_USART6_RX GPIO_USART6_RX_1
-#define GPIO_USART6_TX GPIO_USART6_TX_1
-
-/* SPI1:
- *  MPU6000
- *  CS: PA4 -- configured in board_config.h
- *  CLK: PA5
- *  MISO: PA6
- *  MOSI: PA7
- */
-
-#define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-
-/* SPI2:
- *  SD Card
- *  CS: PB12 -- configured in board_config.h
- *  CLK: PB13
- *  MISO: PB14
- *  MOSI: PB15
- */
-
-#define GPIO_SPI2_SCK	  GPIO_SPI2_SCK_2
-#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
-
-/* SPI3:
- *  BMP280
- *  CS: PB3 -- configured in board_config.h
- *  CLK: PC10
- *  MISO: PC11
- *  MOSI: PC12
- */
-
-#define GPIO_SPI3_SCK  GPIO_SPI3_SCK_2
-#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
-#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_2
-
-/*
- * I2C (external)
- *
- * SCL: PB10
- * SDA: PB11
- *
- * TODO:
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- */
-#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-
-#endif  /* __CONFIG_OMNIBUSF4SD_INCLUDE_BOARD_H */

boards/diatone/mamba-f405-mk2/nuttx-config/include/board_dma_map.h

@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      |                  | TIM2_UP_1        | TIM3_UP          | SPI2_RX          | SPI2_TX          |                  |                  |                  |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  | SDIO             |                  |
- */
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-//      AVAILABLE                             // DMA2, Stream 0
-//      DMAMAP_TIM2_UP                        // DMA1, Stream 1, Channel 3    (DSHOT)
-//      DMAMAP_TIM3_UP                        // DMA1, Stream 2, Channel 5    (DSHOT)
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA1, Stream 3, Channel 0    (SPI2 RX)
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA1, Stream 4, Channel 0    (SPI2 TX)
-//      AVAILABLE                             // DMA2, Stream 5
-//      AVAILABLE                             // DMA2, Stream 6
-//      AVAILABLE                             // DMA2, Stream 7
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 RX)
-#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
-#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 TX)
-//      AVAILABLE                             // DMA2, Stream 4
-//      AVAILABLE                             // DMA2, Stream 5
-#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
-//      AVAILABLE                             // DMA2, Stream 7

boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig

@@ -1,193 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_SPI_CALLBACK is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/diatone/mamba-f405-mk2/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F405RG=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0001
-CONFIG_CDCACM_PRODUCTSTR="DiatoneMambaF405 MK2"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="Diatone"
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_W25=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_BASENAME=y
-CONFIG_NSH_DISABLE_DD=y
-CONFIG_NSH_DISABLE_DIRNAME=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_LOSETUP=y
-CONFIG_NSH_DISABLE_MKFIFO=y
-CONFIG_NSH_DISABLE_MKRD=y
-CONFIG_NSH_DISABLE_PUT=y
-CONFIG_NSH_DISABLE_REBOOT=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_DISABLE_UNAME=y
-CONFIG_NSH_DISABLE_WGET=y
-CONFIG_NSH_DISABLE_XD=y
-CONFIG_NSH_FATDEVNO=0
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=2
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=196608
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI3=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM1=y
-CONFIG_STM32_TIM5=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_TXBUFSIZE=900
-CONFIG_USART1_RXBUFSIZE=300
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=300
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/diatone/mamba-f405-mk2/nuttx-config/scripts/script.ld

@@ -1,138 +0,0 @@
-/****************************************************************************
- * configs/omnibus-f4sd/scripts/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
- * 192Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 16 KiB of flash is reserved for the bootloader.
- * Paramater storage will use the next 16KiB Sector.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08008000, LENGTH = 992K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
-    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/diatone/mamba-f405-mk2/src/CMakeLists.txt

@@ -1,50 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_library(drivers_board
-	i2c.cpp
-	init.c
-	led.c
-	spi.cpp
-	timer_config.cpp
-	usb.c
-)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_spi
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)

boards/diatone/mamba-f405-mk2/src/board_config.h

@@ -1,204 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * boards internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* omnibusf4sd GPIOs ***********************************************************************************/
-/* LEDs */
-// power - green
-// LED1 - PB5 - blue
-#define GPIO_LED1       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_LED_BLUE   GPIO_LED1
-
-#define BOARD_OVERLOAD_LED     LED_BLUE
-
-#define  FLASH_BASED_PARAMS
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
- */
-#define ADC_CHANNELS (1 << 0) | (1 << 11) | (1 << 12)
-
-#define ADC_BATTERY_VOLTAGE_CHANNEL  11
-#define ADC_BATTERY_CURRENT_CHANNEL  13
-#define ADC_RC_RSSI_CHANNEL          12
-
-/* Define Battery 1 Voltage Divider and A per V
- */
-#define BOARD_BATTERY1_V_DIV         (11.12f)
-#define BOARD_BATTERY1_A_PER_V       (31.f)
-
-/* User GPIOs
- *
- * GPIO0-5 are the PWM servo outputs.
- * GPIO_TIM3_CH3OUT        GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
- * GPIO_TIM3_CH4OUT        GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
- * GPIO_TIM2_CH4OUT        GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
- * GPIO_TIM2_CH3OUT        GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
- * GPIO_TIM5_CH2OUT        GPIO_TIM5_CH2OUT_1 //PA1 S5_OUT
- * GPIO_TIM1_CH1OUT        GPIO_TIM1_CH1OUT_1 //PA8 S6_OUT
- */
-
-#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-
-#define GPIO_GPIO0_INPUT             _MK_GPIO_INPUT(GPIO_TIM3_CH3IN)
-#define GPIO_GPIO1_INPUT             _MK_GPIO_INPUT(GPIO_TIM3_CH4IN)
-#define GPIO_GPIO2_INPUT             _MK_GPIO_INPUT(GPIO_TIM2_CH3IN)
-#define GPIO_GPIO3_INPUT             _MK_GPIO_INPUT(GPIO_TIM2_CH4IN)
-//#define GPIO_GPIO4_INPUT             _MK_GPIO_INPUT(GPIO_TIM5_CH2IN)
-//#define GPIO_GPIO5_INPUT             _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
-
-#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
-
-#define GPIO_GPIO0_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM3_CH3OUT)
-#define GPIO_GPIO1_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM3_CH4OUT)
-#define GPIO_GPIO2_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM2_CH3OUT)
-#define GPIO_GPIO3_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT)
-//#define GPIO_GPIO4_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
-//#define GPIO_GPIO5_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
-
-/* PWM
- *
- * Alternatively CH3/CH4 could be assigned to UART6_TX/RX
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS      4
-#define DIRECT_INPUT_TIMER_CHANNELS  4
-
-// Has pwm outputs
-#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
-
-/* High-resolution timer */
-#define HRT_TIMER                    4 // T4C1
-#define HRT_TIMER_CHANNEL            1 // use capture/compare channel 1
-
-#define HRT_PPM_CHANNEL              3 // capture/compare channel 3
-#define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
-
-#define RC_SERIAL_PORT               "/dev/ttyS0"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-/*
- * One RC_IN
- *
- * GPIO PPM_IN on PB8 T4CH3
- * SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
- * The FMU can drive GPIO PPM_IN as an output
- */
-// TODO?
-//#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
-//#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-//#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
-//#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-#define BOARD_CONSOLE_BUFFER_SIZE (1024*2)
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-
-/****************************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to configure USB IO.
- *
- ****************************************************************************************************/
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/diatone/mamba-f405-mk2/src/i2c.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-};

boards/diatone/mamba-f405-mk2/src/init.c

@@ -1,343 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * mambaf405mk2-specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-
-#include <systemlib/px4_macros.h>
-
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/board_dma_alloc.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	UNUSED(ms);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	/* configure the GPIO pins to outputs and keep them low */
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
-	}
-
-	/* On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
-	 */
-
-	if (status >= 0) {
-		up_mdelay(400);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
-{
-	/* Reset all PWM to Low outputs */
-
-	board_on_reset(-1);
-
-	/* configure LEDs */
-	board_autoled_initialize();
-
-
-	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN12);	/* RSSI analog in (TX of UART4 instead) */
-
-	// TODO: power peripherals
-	///* configure power supply control/sense pins */
-	//stm32_configgpio(GPIO_PERIPH_3V3_EN);
-	//stm32_configgpio(GPIO_VDD_BRICK_VALID);
-	//stm32_configgpio(GPIO_VDD_USB_VALID);
-
-	// TODO: 3v3 Sensor?
-	///* Start with Sensor voltage off We will enable it
-	// * in board_app_initialize
-	// */
-	//stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-
-	// TODO: SBUS inversion? SPEK power?
-	//stm32_configgpio(GPIO_SBUS_INV);
-	//stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
-
-	// TODO: $$$ Unused?
-	//stm32_configgpio(GPIO_8266_GPIO0);
-	//stm32_configgpio(GPIO_8266_PD);
-	//stm32_configgpio(GPIO_8266_RST);
-
-	/* Safety - led don in led driver */
-
-	// TODO: unused?
-	//stm32_configgpio(GPIO_BTN_SAFETY);
-
-	// TODO: RSSI
-	//stm32_configgpio(GPIO_RSSI_IN);
-
-	stm32_configgpio(GPIO_PPM_IN);
-
-	/* configure SPI all interfaces GPIO */
-
-	stm32_spiinitialize();
-
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi2;
-static struct spi_dev_s *spi3;
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "DMA alloc FAILED\n");
-	}
-
-#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
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_BLUE);
-	}
-
-
-	/* Configure SPI-based devices */
-
-	// SPI1: MPU6000
-	spi1 = stm32_spibus_initialize(1);
-
-	if (!spi1) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
-		led_on(LED_BLUE);
-		return -ENODEV;
-	}
-
-	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi1, 10000000);
-	SPI_SETBITS(spi1, 8);
-	SPI_SETMODE(spi1, SPIDEV_MODE3);
-	up_udelay(20);
-
-	// SPI2: SDCard
-	/* Get the SPI port for the microSD slot */
-	spi2 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
-
-	if (!spi2) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
-		return -ENODEV;
-	}
-
-	/* Now bind the SPI interface to the MMCSD driver */
-	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi2);
-
-	if (result != OK) {
-		led_on(LED_BLUE);
-		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
-		return -ENODEV;
-	}
-
-	up_udelay(20);
-
-
-	// SPI3: OSD / Baro
-	spi3 = stm32_spibus_initialize(3);
-
-	if (!spi3) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
-		led_on(LED_BLUE);
-		return -ENODEV;
-	}
-
-	/* Copied from fmu-v4
-	 * Default SPI3 to 12MHz and de-assert the known chip selects.
-	 * MS5611 has max SPI clock speed of 20MHz
-	 */
-
-	// BMP280 max SPI speed is 10 MHz
-	SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
-	SPI_SETBITS(spi3, 8);
-	SPI_SETMODE(spi3, SPIDEV_MODE3);
-	up_udelay(20);
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{1, 16 * 1024, 0x08004000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		led_on(LED_AMBER);
-		return -ENODEV;
-	}
-
-#endif
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}

boards/diatone/mamba-f405-mk2/src/led.c

@@ -1,120 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * omnibusf4sd LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "stm32.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-static uint32_t g_ledmap[] = {
-	GPIO_LED_BLUE,
-};
-
-__EXPORT void led_init(void)
-{
-	/* Configure LED GPIOs for output */
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		stm32_configgpio(g_ledmap[l]);
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Pull Down to switch on */
-	if (led == 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	if (led == 0) {
-		phy_set_led(led, !stm32_gpioread(g_ledmap[led]));
-	}
-}
-
-__EXPORT void board_autoled_initialize(void)
-{
-	/* Configure LED1 GPIO for output */
-	stm32_configgpio(GPIO_LED1);
-}
-
-__EXPORT void board_autoled_on(int led)
-{
-	if (led == 1) {
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
-}
-
-__EXPORT void board_autoled_off(int led)
-{
-	if (led == 1) {
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
-}

boards/diatone/mamba-f405-mk2/src/spi.cpp

@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
-	}),
-	initSPIBus(SPI::Bus::SPI3, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortB, GPIO::Pin3}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/diatone/mamba-f405-mk2/src/timer_config.cpp

@@ -1,49 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/diatone/mamba-f405-mk2/src/usb.c

@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <stm32.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
-	*/
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}

boards/mro/ctrl-zero-classic/bootloader.px4board

@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""

boards/mro/ctrl-zero-classic/default.px4board

@@ -1,107 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PCA9685=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-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
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_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
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y

boards/mro/ctrl-zero-classic/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 1022,
-    "magic": "mRo-ctrl-zero-classic",
-    "description": "Firmware for the mRo-ctrl-zero-classic board",
-    "image": "",
-    "build_time": 0,
-    "summary": "mRo-ctrl-zero-classic",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/mro/ctrl-zero-classic/init/rc.board_defaults

@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_A_PER_V 24
-
-
-safety_button start

boards/mro/ctrl-zero-classic/init/rc.board_sensors

@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# Internal ICM-20602
-icm20602 -s -b 1 -R 8 start
-
-# Internal SPI bus BMI088 accel & gyro
-bmi088 -A -s -b 5 -R 8 start
-bmi088 -G -s -b 5 -R 8 start
-
-# Internal ICM-20948 (with magnetometer)
-icm20948 -s -b 1 -R 8 -M start
-
-# Interal DPS310 (barometer)
-dps310 -s -b 2 start

boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig

@@ -1,93 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZIT6=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x1022
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZero Classic"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="mRo"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART3=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"

boards/mro/ctrl-zero-classic/nuttx-config/include/board.h

@@ -1,279 +0,0 @@
-/************************************************************************************
- * nuttx-config/include/board.h
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#pragma once
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/* Clocking *************************************************************************/
-/* The board provides the following clock sources:
- *
- *   X1: 24 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed internal oscillator
- *   HSE: 24 MHz crystal for HSE
- */
-#define STM32_BOARD_XTAL        24000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 24,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (24,000,000 / 2) * 80 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(2)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(80)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 80)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(32)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 32)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(32)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 32)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *  Note: look at Table 54 in ST Manual
- */
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states */
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-
-/* UART/USART */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3 */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3       /* PD8 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2  /* PD11 */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
-
-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */
-
-
-/* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13 */
-
-
-/* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
-
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
-
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-
-/* I2C */
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
-
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */

boards/mro/ctrl-zero-classic/nuttx-config/include/board_dma_map.h

@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */

boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig

@@ -1,236 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZIT6=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x1022
-CONFIG_CDCACM_PRODUCTSTR="mRoControlZero Classic"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="mRo"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_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_MKFATFS_BUFFER_ALIGMENT=32
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI5_DMA=y
-CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/mro/ctrl-zero-classic/nuttx-config/scripts/bootloader_script.ld

@@ -1,221 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08000000, LENGTH =  128K
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
-}

boards/mro/ctrl-zero-classic/nuttx-config/scripts/script.ld

@@ -1,233 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2021 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
-}

boards/mro/ctrl-zero-classic/src/CMakeLists.txt

@@ -1,64 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()

boards/mro/ctrl-zero-classic/src/board_config.h

@@ -1,188 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * Board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_gpio.h>
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
-
-/* ADC channels */
-#define PX4_ADC_GPIO  \
-	/* PA2 */  GPIO_ADC12_INP14,  \
-	/* PA3 */  GPIO_ADC12_INP15,  \
-	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INP11
-
-/* Define Channel numbers must match above GPIO pins */
-#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
-#define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
-#define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
-	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RC_RSSI_CHANNEL))
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-
-/* PWM */
-#define DIRECT_PWM_OUTPUT_CHANNELS  10
-
-/* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-
-#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define BOARD_NUMBER_BRICKS             1
-
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-
-/* Define True logic Power Control in arch agnostic form */
-#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
-#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
-
-/* Tone alarm output */
-#define TONE_ALARM_TIMER        2  /* timer 2 */
-#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
-
-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
-
-/* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
-
-#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
-#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
-
-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
-
-#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-
-/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/* Power switch controls ******************************************************/
-#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
-
-/*
- * Board has a separate RC_IN
- *
- * GPIO PPM_IN on PB0 T3CH3
- * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
- *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
- */
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
-#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
-#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
-
-#define BOARD_NUM_IO_TIMERS 3
-
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S0,              \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_OTGFS_VBUS,                  \
-	}
-
-__BEGIN_DECLS
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-#endif /* __ASSEMBLY__ */
-__END_DECLS

boards/mro/ctrl-zero-classic/src/bootloader_main.c

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file bootloader_main.c
- *
- * FMU-specific early startup code for bootloader
-*/
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure USB interfaces */
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}

boards/mro/ctrl-zero-classic/src/hw_config.h

@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/****************************************************************************
- * 10-8--2016:
- *  To simplify the ripple effect on the tools, we will be using
- *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
- *  moving forward all Bootloaders must contain the prefix "PX4 BL "
- *  in the USBDEVICESTRING
- *  This Change will be made in an upcoming BL release
- ****************************************************************************/
-/*
- * Define usage to configure a bootloader
- *
- *
- * Constant                example          Usage
- * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
- * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
- * BOARD_FMUV2
- * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
- * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
- * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
- * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
- * BOARD_TYPE           9                     - Must match .prototype boad_id
- * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
- * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
- * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
- * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
- *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
- *                                              programmatically
- *
- * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
- *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
- *                                               during a FW upgrade.
- *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
- *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
- *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
- *                                               in the table.
- *
- * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
- *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
- *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
- *                                                                        and hence the address space of FLASH to erase and program.
- * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
- * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
- *
- * * Other defines are somewhat self explanatory.
- */
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-//#define USE_VBUS_PULL_DOWN
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1024
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       24
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#if !defined(APP_RESERVATION_SIZE)
-#  define APP_RESERVATION_SIZE 0
-#endif
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif

boards/mro/ctrl-zero-classic/src/hw_description.h

@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-
-#include "hw_description_stm_common.h"
-
-static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const DMA &dma)
-{
-	uint32_t dma_map = 0;
-
-	switch (timer) {
-	case Timer::Timer1:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM1UP_0 : DMAMAP_DMA12_TIM1UP_1;
-		break;
-
-	case Timer::Timer2:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM2UP_0 : DMAMAP_DMA12_TIM2UP_1;
-
-		break;
-
-	case Timer::Timer3:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM3UP_0 : DMAMAP_DMA12_TIM3UP_1;
-
-		break;
-
-	case Timer::Timer4:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM4UP_0 : DMAMAP_DMA12_TIM4UP_1;
-
-		break;
-
-	case Timer::Timer5:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM5UP_0 : DMAMAP_DMA12_TIM5UP_1;
-
-		break;
-
-	case Timer::Timer6:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM6UP_0 : DMAMAP_DMA12_TIM6UP_1;
-
-		break;
-
-	case Timer::Timer7:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM7UP_0 : DMAMAP_DMA12_TIM7UP_1;
-
-		break;
-
-	case Timer::Timer8:
-		dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM8UP_0 : DMAMAP_DMA12_TIM8UP_1;
-
-		break;
-
-	case Timer::Timer9:
-	case Timer::Timer10:
-	case Timer::Timer11:
-	case Timer::Timer12:
-	case Timer::Timer13:
-	case Timer::Timer14:
-	case Timer::Timer15:
-//		dma_map = (dma.index == DMA::Index2) ? DMAMAP_DMA12_TIM15UP_0 : DMAMAP_DMA12_TIM15UP_1;
-
-		break;
-	}
-
-	constexpr_assert(dma_map != 0, "Invalid DMA config for given timer");
-	return dma_map;
-}

boards/mro/ctrl-zero-classic/src/i2c.cpp

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusExternal(3),
-	initI2CBusExternal(4),
-};

boards/mro/ctrl-zero-classic/src/init.c

@@ -1,216 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * board-specific early startup code. This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
- */
-
-#include "board_config.h"
-
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#include <mpu.h>
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
-	/* Keep Spektum on to discharge rail*/
-	VDD_3V3_SPEKTRUM_POWER_EN(false);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	VDD_3V3_SPEKTRUM_POWER_EN(last);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-__EXPORT void stm32_boardinitialize(void)
-{
-	// 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);
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-	board_control_spi_sensors_power_configgpio();
-
-	/* configure LEDs */
-	board_autoled_initialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX;
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SPEKTRUM_POWER_EN(true);
-
-	px4_platform_init();
-
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#ifdef CONFIG_MMCSD
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
-		return ERROR;
-	}
-
-	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
-		return ERROR;
-	}
-
-	/* Assume that the SD card is inserted.  What choice do we have? */
-	sdio_mediachange(sdio_dev, true);
-#endif /* CONFIG_MMCSD */
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}

boards/mro/ctrl-zero-classic/src/io_timer_hw_description.h

@@ -1,289 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-#include <px4_arch/io_timer.h>
-#include <px4_arch/hw_description.h>
-#include <px4_platform_common/constexpr_util.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform/io_timer_init.h>
-#include <stm32_tim.h>
-
-static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerChannel timer, GPIO::GPIOPin pin)
-{
-	timer_io_channels_t ret{};
-	uint32_t gpio_af = 0;
-
-	switch (timer.timer) {
-	case Timer::Timer1:
-	case Timer::Timer2:
-		gpio_af = GPIO_AF1;
-		break;
-
-	case Timer::Timer3:
-	case Timer::Timer4:
-	case Timer::Timer5:
-	case Timer::Timer12:
-		gpio_af = GPIO_AF2;
-		break;
-
-	case Timer::Timer6:
-	case Timer::Timer7:
-	case Timer::Timer8:
-	case Timer::Timer9:
-	case Timer::Timer10:
-	case Timer::Timer11:
-		gpio_af = GPIO_AF3;
-		break;
-
-	case Timer::Timer15:
-		gpio_af = GPIO_AF4;
-		break;
-
-	case Timer::Timer13:
-	case Timer::Timer14:
-		gpio_af = GPIO_AF9;
-		break;
-	}
-
-	uint32_t pin_port = getGPIOPort(pin.port) | getGPIOPin(pin.pin);
-	ret.gpio_in = gpio_af | (GPIO_ALT | GPIO_SPEED_50MHz | GPIO_FLOAT) | pin_port;
-	ret.gpio_out = gpio_af | (GPIO_ALT | GPIO_SPEED_50MHz | GPIO_PUSHPULL) | pin_port;
-	return ret;
-}
-
-
-
-static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
-		Timer::TimerChannel timer, GPIO::GPIOPin pin)
-{
-	timer_io_channels_t ret = initIOTimerGPIOInOut(timer, pin);
-
-	switch (timer.channel) {
-	case Timer::Channel1:
-		ret.ccr_offset = STM32_GTIM_CCR1_OFFSET;
-		ret.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF;
-		ret.timer_channel = 1;
-		break;
-
-	case Timer::Channel2:
-		ret.ccr_offset = STM32_GTIM_CCR2_OFFSET;
-		ret.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF;
-		ret.timer_channel = 2;
-		break;
-
-	case Timer::Channel3:
-		ret.ccr_offset = STM32_GTIM_CCR3_OFFSET;
-		ret.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF;
-		ret.timer_channel = 3;
-		break;
-
-	case Timer::Channel4:
-		ret.ccr_offset = STM32_GTIM_CCR4_OFFSET;
-		ret.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF;
-		ret.timer_channel = 4;
-		break;
-	}
-
-	// find timer index
-	ret.timer_index = 0xff;
-	const uint32_t timer_base = timerBaseRegister(timer.timer);
-
-	for (int i = 0; i < MAX_IO_TIMERS; ++i) {
-		if (io_timers_conf[i].base == timer_base) {
-			ret.timer_index = i;
-			break;
-		}
-	}
-
-	constexpr_assert(ret.timer_index != 0xff, "Timer not found");
-
-	return ret;
-}
-
-static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dma = {})
-{
-	bool nuttx_config_timer_enabled = false;
-	io_timers_t ret{};
-
-	switch (timer) {
-	case Timer::Timer1:
-		ret.base = STM32_TIM1_BASE;
-		ret.clock_register = STM32_RCC_APB2ENR;
-		ret.clock_bit = RCC_APB2ENR_TIM1EN;
-		ret.clock_freq = STM32_APB2_TIM1_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIMCC;
-#ifdef CONFIG_STM32_TIM1
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer2:
-		ret.base = STM32_TIM2_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM2EN;
-		ret.clock_freq = STM32_APB1_TIM2_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM2;
-#ifdef CONFIG_STM32_TIM2
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer3:
-		ret.base = STM32_TIM3_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM3EN;
-		ret.clock_freq = STM32_APB1_TIM3_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM3;
-#ifdef CONFIG_STM32_TIM3
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer4:
-		ret.base = STM32_TIM4_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM4EN;
-		ret.clock_freq = STM32_APB1_TIM4_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM4;
-#ifdef CONFIG_STM32_TIM4
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer5:
-		ret.base = STM32_TIM5_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM5EN;
-		ret.clock_freq = STM32_APB1_TIM5_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM5;
-#ifdef CONFIG_STM32_TIM5
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer6:
-		ret.base = STM32_TIM6_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM6EN;
-		ret.clock_freq = STM32_APB1_TIM6_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM6;
-#ifdef CONFIG_STM32_TIM6
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer7:
-		ret.base = STM32_TIM7_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM7EN;
-		ret.clock_freq = STM32_APB1_TIM7_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM7;
-#ifdef CONFIG_STM32_TIM7
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer8:
-		ret.base = STM32_TIM8_BASE;
-		ret.clock_register = STM32_RCC_APB2ENR;
-		ret.clock_bit = RCC_APB2ENR_TIM8EN;
-		ret.clock_freq = STM32_APB2_TIM8_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM8CC;
-#ifdef CONFIG_STM32_TIM8
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer9:
-	case Timer::Timer10:
-	case Timer::Timer11:
-		constexpr_assert(false, "Invalid Timer");
-		break;
-
-	case Timer::Timer12:
-		ret.base = STM32_TIM12_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM12EN;
-		ret.clock_freq = STM32_APB1_TIM12_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM12;
-#ifdef CONFIG_STM32_TIM12
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer13:
-		ret.base = STM32_TIM13_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM13EN;
-		ret.clock_freq = STM32_APB1_TIM13_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM13;
-#ifdef CONFIG_STM32_TIM13
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer14:
-		ret.base = STM32_TIM14_BASE;
-		ret.clock_register = STM32_RCC_APB1LENR;
-		ret.clock_bit = RCC_APB1LENR_TIM14EN;
-		ret.clock_freq = STM32_APB1_TIM14_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM14;
-#ifdef CONFIG_STM32_TIM14
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer15:
-		ret.base = STM32_TIM15_BASE;
-		ret.clock_register = STM32_RCC_APB2ENR;
-		ret.clock_bit = RCC_APB2ENR_TIM15EN;
-		ret.clock_freq = STM32_APB2_TIM15_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM15;
-#ifdef CONFIG_STM32_TIM15
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-	}
-
-	// This is not strictly required, but for consistency let's make sure NuttX timers are disabled
-	constexpr_assert(!nuttx_config_timer_enabled, "IO Timer requires NuttX timer config to be disabled (STM32_TIMx)");
-
-	// DShot
-	if (dshot_dma.index != DMA::Invalid) {
-		ret.dshot.dma_base = getDMABaseRegister(dshot_dma);
-		ret.dshot.dmamap = getTimerUpdateDMAMap(timer, dshot_dma);
-	}
-
-	return ret;
-}

boards/mro/ctrl-zero-classic/src/led.c

@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(led, !phy_get_led(led));
-}

boards/mro/ctrl-zero-classic/src/spi.cpp

@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
-		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
-	}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/mro/ctrl-zero-classic/src/timer_config.cpp

@@ -1,60 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
-//	initIOTimer(Timer::Timer15, DMA{DMA::Index2}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
-//    	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}),
-//    	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/mro/ctrl-zero-classic/src/usb.c

@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}

boards/px4/fmu-v2/default.px4board

@@ -44,4 +44,3 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_VER=y

boards/px4/fmu-v2/fixedwing.px4board

@@ -13,3 +13,4 @@ CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_VER=y

boards/px4/fmu-v2/multicopter.px4board

@@ -1,3 +1,4 @@
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/px4/fmu-v2/rover.px4board

@@ -13,4 +13,5 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v6x/default.px4board

@@ -7,8 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y

boards/sky-drones/smartap-airlink/default.px4board

@@ -1,109 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PCA9685=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_PWM_INPUT=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-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
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NETMAN=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y

boards/sky-drones/smartap-airlink/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 55,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the SMARTAP AIRLINK board",
-    "image": "",
-    "build_time": 0,
-    "summary": "SMARTAP-AIRLINK",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2064384,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/sky-drones/smartap-airlink/init/rc.board_defaults

@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# Telemetry for onboard computer
-param set-default MAV_1_CONFIG 102 	# TELEM2
-param set-default MAV_1_MODE 0 			# Normal
-param set-default SER_TEL2_BAUD 921600  	# 921600
-
-# Temperature stabilization
-param set-default SENS_EN_THERMAL 1 		# Enable heater
-param set-default SENS_TEMP_ID 2359314 		# Heated IMU ID
-
-# Battery scaling
-param set-default BAT_N_CELLS 4
-param set-default BAT1_N_CELLS 4
-
-param set-default BAT1_V_DIV 15.51
-
-param set-default BAT1_A_PER_V 36.00
-
-param set-default BAT_V_OFFS_CURR 0.413
-
-# Disable safety switch
-param set-default CBRK_IO_SAFETY 22027
-
-
-safety_button start
-
-set LOGGER_BUF 32

boards/sky-drones/smartap-airlink/init/rc.board_sensors

@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# Internal SPI bus MPU-9250 / SPI 2 [FPC]
-mpu9250 -s -b 2 -R 6 start
-
-# Internal SPI bus ICM-20602 / SPI 1
-icm20602 -R 0 -s start
-
-# Internal SPI bus MPU-9250 / SPI 3
-mpu9250 -s -b 3 -M -R 4 start
-
-# Internal compass
-bmm150 -I start
-
-# Internal Baro
-ms5611 -X start
-
-# Internal Baro
-bmp388 -I -a 0x77 start
-#bmp388 -I start
-
-# External HMC5983
-hmc5883 -T -X -R 4 start
-
-# External LIS3MDL
-lis3mdl -R 2 -X start
-
-# NCP5623 Led driver
-rgbled_ncp5623c -X -a 0x38 start
-

boards/sky-drones/smartap-airlink/nuttx-config/Kconfig

@@ -1,17 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-8, CAP1 as PROBE_1-9 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-8, CAP1 as PROBE_1-9"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.

boards/sky-drones/smartap-airlink/nuttx-config/include/board.h

@@ -1,503 +0,0 @@
-/************************************************************************************
- * nuttx-configs/smartap-airlink/include/board.h
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_SMARTAP_AIRLINK_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_SMARTAP_AIRLINK_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The board provides the following clock sources:
- *
- *   X301: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        16000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     2 <= PLLM <= 63
- *   192 <= PLLN <= 432
- *   192 MHz <= PLL_VCO <= 432MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * Subject to
- *
- *   PLLP = {2, 4, 6, 8}
- *   SYSCLK <= 216 MHz
- *
- * USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ
- * Subject to
- *   The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC
- *   and the random number generator need a frequency lower than or equal
- *   to 48 MHz to work correctly.
- *
- * 2 <= PLLQ <= 15
- */
-
-/* Highest SYSCLK with USB OTG FS clock = 48 MHz
- *
- * PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz
- * SYSCLK  = 432 MHz / 2 = 216 MHz
- * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
- */
-
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(216)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
-
-#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 8) * 216)
-#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
-#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
-
-/* Configure factors for  PLLSAI clock */
-
-#define CONFIG_STM32F7_PLLSAI 1
-#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
-#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
-#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
-#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
-
-/* Configure Dedicated Clock Configuration Register */
-
-#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
-#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
-#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
-#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
-#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
-#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
-
-
-
-/* Configure factors for  PLLI2S clock */
-
-#define CONFIG_STM32F7_PLLI2S 1
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
-
-/* Configure Dedicated Clock Configuration Register 2 */
-
-#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
-#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
-#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
-#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
-#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
-#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
-#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
-#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
-#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
-#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
-#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
-#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
-#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
-
-
-/* Several prescalers allow the configuration of the two AHB buses, the
- * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
- * frequency of the two AHB buses is 216 MHz while the maximum frequency of
- * the high-speed APB domains is 108 MHz. The maximum allowed frequency of
- * the low-speed APB domain is 54 MHz.
- */
-
-/* AHB clock (HCLK) is SYSCLK (216 MHz) */
-
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
-
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
-
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
- * in order to avoid RX overrun/TX underrun errors due to delayed responses
- * to service FIFOs in interrupt driven mode.  These values have not been
- * tuned!!!
- *
- * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
- */
-
-/* Use the Falling edge of the SDIO_CLK clock to change the edge the
- * data and commands are change on
- */
-
-#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
-
-#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
- * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32F7_SDMMC_DMA
-#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
- * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
- */
-//TODO #warning "Check Freq for 24mHz"
-
-#ifdef CONFIG_STM32F7_SDMMC_DMA
-#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* FLASH wait states
- *
- *  --------- ---------- -----------
- *  VDD       MAX SYSCLK WAIT STATES
- *  --------- ---------- -----------
- *  1.7-2.1 V   180 MHz    8
- *  2.1-2.4 V   216 MHz    9
- *  2.4-2.7 V   216 MHz    8
- *  2.7-3.6 V   216 MHz    7
- *  --------- ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 7
-
-/* LED definitions ******************************************************************/
-/* The board has numerous LEDs but only three, LED_GREEN a Green LED, LED_BLUE
- * a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_3    /* PB15 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB14 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4   */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3   */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PH14 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PH13 */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PD2  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_4    /* PB9  */
-#define GPIO_UART5_RTS   GPIO_UART5_RTS_1   /* PC8  */
-#define GPIO_UART5_CTS   GPIO_UART5_CTS_1   /* PC9  */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC 7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_2    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
-#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */
-
-/* UART8: has no remap
- *
- *      GPIO_UART8_RX                          PE0
- *      GPIO_UART8_TX                          PE1
- */
-
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_2     /* PB6  */
-
-/* SPI
- * SPI1 is sensors1
- * SPI2 is sensors2
- * SPI3 is sensors3
- * SPI4 is Not Used
- * SPI5 is FRAM
- * SPI6 is EXTERNAL1
- *
- */
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_2   /* PB4  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2   /* PB5  */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PI3  */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PI1  */
-
-#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2   /* PC11 */
-#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_1   /* PB2  */
-#define GPIO_SPI3_SCK    GPIO_SPI3_SCK_2    /* PC10 */
-
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF11 */
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7  */
-
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2   /* PA6  */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1   /* PG14 */
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_3    /* PB3  */
-
-/* I2C
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN7)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
-/* SDMMC2
- *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PG9
- *      SDMMC2_D1                           PG10
- *      SDMMC2_D2                           PG11
- *      SDMMC2_D3                           PG12
- */
-
-#define GPIO_SDMMC2_D0   GPIO_SDMMC2_D0_2
-#define GPIO_SDMMC2_D1   GPIO_SDMMC2_D1_2
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2
-#define GPIO_SDMMC2_D3   GPIO_SDMMC2_D3_2
-
-/* The STM32 F7 connects to a TI DP83848TSQ/NOPB
- * using RMII
- *
- *   STM32 F7 BOARD        DP83848TSQ/NOPB
- *   GPIO     SIGNAL       PIN NAME
- *   -------- ------------ -------------
- *   PA7     ETH_CRS_DV    CRS_DV
- *   PC1     ETH_MDC       MDC
- *   PA2     ETH_MDIO      MDIO
- *   PA1     ETH_REF_CL    X1
- *   PC4     ETH_RXD0      RX_D0
- *   PC5     ETH_RXD1      RX_D1
- *   PB11    ETH_TX_EN     TX_EN
- *   PG13    ETH_TXD0      TX_D0
- *   PB13    ETH_TXD1      TX_D1
- *
- * The PHY address is 1, since COL/PHYAD0 features a pull up.
- */
-
-#define GPIO_ETH_RMII_TX_EN	GPIO_ETH_RMII_TX_EN_1
-#define GPIO_ETH_RMII_TXD0	GPIO_ETH_RMII_TXD0_2
-#define GPIO_ETH_RMII_TXD1	GPIO_ETH_RMII_TXD1_1
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN10)  /* PA10 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
-# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0  CAP1 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-#endif  /*__NUTTX_CONFIG_SMARTAP_AIRLINK_INCLUDE_BOARD_H  */

boards/sky-drones/smartap-airlink/nuttx-config/include/board_dma_map.h

@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | SPDIFRX_CS       | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | I2C3_RX          | TIM7_UP_1        | -                | TIM7_UP_2        |  I2C1_RX_1       | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | -                | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-| Channel 8  | I2C3_TX          | I2C4_RX          | -                | -                | I2C2_TX          | -                | I2C4_TX          | -                |
-| Channel 9  | -                | SPI2_RX          | -                | -                | -                | -                | SPI2_TX          | -                |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | UART5_RX         | SPI2_RX          | SPI3_RX_2        | UART7_RX         | SPI2_TX          | SPI3_TX_1        | TIM4_UP          | UART5_TX         |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | SAI2_B_2         |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | SAI2_A           | SPI1_TX_2        | SAI2_B           | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | -                | USART1_RX_2      | SDMMC1_2         | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-| Channel 8  | DSFDM1_FLT0      | DSFDM1_FLT1      | DSFDM1_FLT2      | DSFDM1_FLT3      | DSFDM1_FLT0      | DSFDM1_FLT1      | DSFDM1_FLT2      | DSFDM1_FLT3      |
-| Channel 9  | JPEG_IN          | JPEG_OUT         | SPI4_TX          | JPEG_IN          | JPEG_OUT         | SPI5_RX          | -                | -                |
-| Channel 10 | SAI1_B           | SAI2_B           | SAI2_A           | -                | -                | -                | SAI1_A           | -                |
-| Channel 11 | SDMMC2           | -                | QUADSPI          | -                | -                | SDMMC2           | -                | -                |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SDMMC2           | USART6_RX_1      | SPI1_RX_2        | SPI1_TX_1        |                  | TIM1_UP          |                  | USART6_TX_2      |
- */
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-//      DMAMAP_UART5_RX                       // DMA1, Stream 0, Channel 4    (TELEM2 RX)
-#define DMAMAP_SPI2_RX    DMAMAP_SPI2_RX_1    // DMA1, Stream 1, Channel 9    (SPI2 RX)
-#define DMAMAP_SPI3_RX    DMAMAP_SPI3_RX_2    // DMA1, Stream 2, Channel 0    (SPI3 RX)
-//      DMAMAP_UART7_RX                       // DMA1, Stream 3, Channel 5    (TELEM1 RX)
-#define DMAMAP_SPI2_TX    DMAMAP_SPI2_TX_2    // DMA1, Stream 4, Channel 0    (SPI2 TX)
-#define DMAMAP_SPI3_TX    DMAMAP_SPI3_TX_1    // DMA1, Stream 5, Channel 0    (SPI3 TX)
-//      DMAMAP_TIM4_UP                        // DMA1, Stream 6, Channel 2    (DSHOT)
-//      DMAMAP_UART5_TX                       // DMA1, Stream 7, Channel 4    (TELEM2 TX)
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMAMAP_SDMMC2     DMAMAP_SDMMC2_1     // DMA2, Stream 0, Channel 11
-#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_1  // DMA2, Stream 1, Channel 5    (PX4IO)
-#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_2    // DMA2, Stream 2, Channel 3    (SPI sensors RX)
-#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
-//      AVAILABLE                             // DMA2, Stream 4
-//      DMAMAP_TIM1_UP                        // DMA2, Stream 5, Channel 6    (DSHOT)
-//      AVAILABLE                             // DMA2, Stream 6
-#define DMAMAP_USART6_TX  DMAMAP_USART6_TX_2  // DMA2, Stream 7, Channel 5    (PX4IO)

boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig

@@ -1,289 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/sky-drones/smartap-airlink/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0037
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU SmartAP AIRLink"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x0483
-CONFIG_CDCACM_VENDORSTR="Sky-Drones"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_GPIO=y
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_LAN8742A=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FSUTILS_IPCFG=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_THROTTLE=0
-CONFIG_IPCFG_BINARY=y
-CONFIG_IPCFG_CHARDEV=y
-CONFIG_IPCFG_PATH="/fs/mtd_net"
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NET=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSCLIENT_ENTRIES=8
-CONFIG_NETDB_DNSSERVER_NOADDR=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
-CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
-CONFIG_NET_BROADCAST=y
-CONFIG_NET_ETH_PKTSIZE=1518
-CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOLINGER=y
-CONFIG_NET_TCP=y
-CONFIG_NET_TCPBACKLOG=y
-CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_WRITE_BUFFERS=y
-CONFIG_NET_UDP=y
-CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NET_UDP_WRITE_BUFFERS=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNET=y
-CONFIG_NSH_TELNET_LOGIN=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_ADC3=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_ETHMAC=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C1=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C3=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PHYADDR=0
-CONFIG_STM32F7_PHYSR=31
-CONFIG_STM32F7_PHYSR_100MBPS=0x8
-CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x10
-CONFIG_STM32F7_PHYSR_MODE=0x10
-CONFIG_STM32F7_PHYSR_SPEED=0x8
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC2=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI2_DMA=y
-CONFIG_STM32F7_SPI2_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI3=y
-CONFIG_STM32F7_SPI3_DMA=y
-CONFIG_STM32F7_SPI3_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_SPI6=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_TIM3=y
-CONFIG_STM32F7_TIM9=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART5=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=3000
-CONFIG_UART5_TXDMA=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_IFLOWCONTROL=y
-CONFIG_UART7_OFLOWCONTROL=y
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/sky-drones/smartap-airlink/nuttx-config/scripts/script.ld

@@ -1,190 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
- * can be accessed from either the AXIM interface at address 0x0800:0000 or
- * from the ITCM interface at address 0x0020:0000.
- *
- * Additional information, including the option bytes, is available at at
- * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
- *
- * In the STM32F765IIT6, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash on ITCM at 0x0020:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x0010:0000
- *
- * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
- * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
- * boot from address 0x0020:0000 in ITCM FLASH.
- *
- * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
- * SRAM is split up into three blocks:
- *
- *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
- *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
- *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
- * organization (256 bits read width)
- */
-
-MEMORY
-{
-    FLASH_ITCM (rx) : ORIGIN = 0x00208000, LENGTH = 2016K
-    FLASH_AXIM (rx) : ORIGIN = 0x08008000, LENGTH = 2016K
-
-    ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
-    DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-    SRAM1    (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
-    SRAM2    (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH_AXIM
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH_AXIM
-
-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH_AXIM
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH_AXIM
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > SRAM1 AT > FLASH_AXIM
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > SRAM1
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH_AXIM
-
-	_framfuncs = LOADADDR(.ramfunc);
-}

boards/sky-drones/smartap-airlink/src/CMakeLists.txt

@@ -1,58 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_library(drivers_board
-	can.c
-	i2c.cpp
-	init.cpp
-	led.c
-	manifest.c
-	mtd.cpp
-	sdio.c
-	spi.cpp
-	timer_config.cpp
-	usb.c
-)
-
-add_dependencies(drivers_board arch_board_hw_info)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_io_pins
-		arch_spi
-		arch_board_hw_info
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -1,406 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * board internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* PX4IO connection configuration */
-
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
-/* Trace Clock and D0-D3 are available on the trace connector
- *
- * TRACECLK PE2  - Dedicated  - Trace Connector Pin 1
- * TRACED0  PE3  - nLED_RED   - Trace Connector Pin 3
- * TRACED1  PE4  - nLED_GREEN - Trace Connector Pin 5
- * TRACED2  PE5  - nLED_BLUE  - Trace Connector Pin 7
- * TRACED3  PC12 - nARMED     - Trace Connector Pin 8
-
- */
-#undef TRACE_PINS
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
-
-#if !defined(TRACE_PINS)
-#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
-
-#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#  define BOARD_OVERLOAD_LED     LED_RED
-#  define BOARD_ARMED_STATE_LED  LED_BLUE
-#endif
-
-/* I2C busses */
-
-/* Devices on the onboard buses.
- *
- * Note that these are unshifted addresses.
- */
-#define PX4_I2C_OBDEV_SE050         0x48
-
-#define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
-#define GPIO_PG6                    /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define BOARD_NUMBER_BRICKS             1
-
-#define ADC1_CH(n)                  (n)
-#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
-#define ADC3_CH(n)                  (n)
-#define ADC3_GPIO(n)                GPIO_ADC3_IN##n
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
-
-#define PX4_ADC_GPIO  \
-	/* PA0 */  ADC1_GPIO(0),  \
-	/* PA4 */  ADC1_GPIO(4),  \
-	/* PB0 */  ADC1_GPIO(8),  \
-	/* PB1 */  ADC1_GPIO(9),  \
-	/* PC0 */  ADC1_GPIO(10),  \
-	/* PC2 */  ADC1_GPIO(12), \
-	/* PC3 */  ADC1_GPIO(13), \
-	/* PF4 */  ADC3_GPIO(14), \
-	/* PF5 */  ADC3_GPIO(15), \
-	/* PF10 */ ADC3_GPIO(8)
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-
-#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0 */  ADC1_CH(0)
-#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL     /* PA4 */  ADC1_CH(4)
-#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL     /* PB0 */  ADC1_CH(8)
-#define ADC_SCALED_V5_CHANNEL                   /* PB1 */  ADC1_CH(9)
-#define ADC_BATTERY_CURRENT_CHANNEL             /* PC0 */  ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL     /* PC2 */  ADC1_CH(12)
-#define ADC_BATTERY_VOLTAGE_CHANNEL				/* PC3 */  ADC1_CH(13)
-
-#define ADC_HW_VER_SENSE_CHANNEL                /* PF4 */  ADC3_CH(14)
-#define ADC_HW_REV_SENSE_CHANNEL                /* PF5 */  ADC3_CH(15)
-
-
-#define ADC_CHANNELS \
-	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \
-	 (1 << ADC_SCALED_V5_CHANNEL)               | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL))		| \
-	(1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL) | \
-	(1 << ADC_BATTERY_VOLTAGE_CHANNEL)
-
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
-#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-
-#define BOARD_HAS_HW_VERSIONING
-
-#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
-#define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
-#define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#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 */
-
-/* HEATER
- * PWM in future
- */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PC12 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
- */
-#define GPIO_nARMED_INIT     /* PC12 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN12)
-#define GPIO_nARMED          /* PC12 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN12)
-
-#if !defined(TRACE_PINS)
-#  define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#  define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-#endif
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-/* Define Battery 1 g Divider and A per V. */
-#define BOARD_BATTERY_V_DIV         (13.653333333f)
-#define BOARD_BATTERY_A_PER_V       (36.367515152f)
-
-/* Power supply control and monitoring GPIOs */
-#define GPIO_VDD_BRICK_VALID         (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_VDD_USB_VALID           (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN9)
-
-#define GPIO_VDD_3V5_LTE_nEN            /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_VDD_3V5_LTE_nOC            /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
-
-
-/* Spare GPIO */
-
-#define GPIO_PH11                       /* PH11  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTH|GPIO_PIN11)
-
-
-/* NFC GPIO */
-
-#define GPIO_NFC_GPIO                   /* PH3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN3)
-
-
-/* Define True logic Power Control in arch agnostic form */
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_3V5_LTE_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_3V5_LTE_nEN, on_true)
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, on_true)
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        14  /* Timer 14 */
-#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
-
-#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
-#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
-
-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
-/* Input Capture Channels. */
-#define INPUT_CAP1_TIMER                  5
-#define INPUT_CAP1_CHANNEL     /* T5C4 */ 4
-#define GPIO_INPUT_CAP1        /*  PI0 */ GPIO_TIM5_CH4IN
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
-#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-#define GPIO_SAFETY_SWITCH_IN              /* PH4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN4)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/* Power switch controls ******************************************************/
-
-/*
- * FMUv5X has a separate RC_IN
- *
- * GPIO PPM_IN on PI5 T8CH1
- * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
- *   Inversion is possible in the UART and can drive  GPIO PPM_IN as an output
- */
-
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
-#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_BRICK_VALID   (1)   //(px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
-
-// #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_3V5_LTE_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_VDD_3V5_LTE_nEN,           \
-		GPIO_VDD_3V5_LTE_nOC,           \
-		GPIO_VDD_5V_HIPOWER_nEN,          \
-		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,	  \
-		GPIO_PH11,                        \
-		GPIO_NFC_GPIO,                    \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 5
-
-
-#define PX4_I2C_BUS_MTD      4,5
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/sky-drones/smartap-airlink/src/can.c

@@ -1,123 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu_can.c
- *
- * Board-specific CAN functions.
- */
-
-#ifdef CONFIG_CAN
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "chip.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32F7_CAN1) && defined(CONFIG_STM32F7_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32F7_CAN2
-#endif
-
-#ifdef CONFIG_STM32F7_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-#endif /* CONFIG_CAN */

boards/sky-drones/smartap-airlink/src/i2c.cpp

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusInternal(4),
-};

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -1,269 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * PX4FMU-specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/config.h>
-extern "C" {
-#include <nuttx/board.h>
-}
-#include <nuttx/spi/spi.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	/* set the peripheral rails off */
-
-	VDD_3V5_LTE_EN(false);
-	VDD_5V_HIPOWER_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V5_LTE_EN(true);
-	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
-
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-extern "C" __EXPORT void
-stm32_boardinitialize(void)
-{
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	VDD_3V5_LTE_EN(true);
-	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
-
-	/* Need hrt running before using the ADC */
-
-	px4_platform_init();
-
-
-	if (OK == board_determine_hw_info()) {
-		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
-		       board_get_hw_type_name());
-
-	} else {
-		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
-	}
-
-	stm32_spiinitialize();
-
-	board_spi_reset(10, 0xffff);
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#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
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-	// Power down the heater
-	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
-
-#ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
-#endif /* CONFIG_MMCSD */
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}

boards/sky-drones/smartap-airlink/src/led.c

@@ -1,232 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu2_led.c
- *
- * PX4FMU LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	GPIO_nSAFETY_SWITCH_LED_OUT_INIT,   // Indexed by LED_SAFETY (defaulted to an input)
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	/* Configure LED GPIOs for output */
-	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
-		g_ledmap[2] = GPIO_nSAFETY_SWITCH_LED_OUT;
-	}
-
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		stm32_configgpio(g_ledmap[l]);
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	stm32_gpiowrite(g_ledmap[led], !state);
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	return !stm32_gpioread(g_ledmap[led]);
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */

boards/sky-drones/smartap-airlink/src/manifest.c

@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0501[] = {
-	{
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
-};
-
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/sky-drones/smartap-airlink/src/mtd.cpp

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 256
-	.bus_type = px4_mft_device_t::I2C,
-	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
-		}
-	},
-};
-
-static const px4_mtd_entry_t base_eeprom = {
-	.device = &i2c3,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_MFT,
-			.path = "/fs/mtd_mft",
-			.nblocks = 248
-		},
-		{
-			.type = MTD_NET,
-			.path = "/fs/mtd_net",
-			.nblocks = 8 // 256 = 32 * 8
-
-		}
-	},
-};
-
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&base_eeprom,
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = &mtd_mft
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}

boards/sky-drones/smartap-airlink/src/sdio.c

@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */

boards/sky-drones/smartap-airlink/src/spi.cpp

@@ -1,60 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-	}, {GPIO::PortI, GPIO::Pin11}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-	}, {GPIO::PortD, GPIO::Pin15}),
-	initSPIBus(SPI::Bus::SPI3, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-	}, {GPIO::PortE, GPIO::Pin7}),
-	// initSPIBus(SPI::Bus::SPI4, {
-	// 	// initSPIDevice(DRV_MAG_DEVTYPE_BMM150, SPI::CS{GPIO::PortH, GPIO::Pin15}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-	// }, {GPIO::PortG, GPIO::Pin8}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-	}),
-	initSPIBusExternal(SPI::Bus::SPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/sky-drones/smartap-airlink/src/timer_config.cpp

@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-/* Timer allocation
- *
- * TIM1_CH4  T FMU_CH1
- * TIM1_CH3  T FMU_CH2
- * TIM1_CH2  T FMU_CH3
- * TIM1_CH1  T FMU_CH4
- *
- * TIM4_CH2  T FMU_CH5
- * TIM4_CH3  T FMU_CH6
- *
- * TIM12_CH1 T FMU_CH7
- * TIM12_CH2 T FMU_CH8
- *
- * TIM5_CH4  T FMU_CAP1               < Capture
- * TIM5_CH3  T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
- * TIM5_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
- * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
- *
- * TIM14_CH1 T BUZZER_1              - Driven by other driver
- * TIM8_CH1_IN T FMU_PPM_INPUT       - Sampled byt HRT by other driver
- */
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	initIOTimer(Timer::Timer12),
-	initIOTimer(Timer::Timer5),
-	initIOTimer(Timer::Timer2),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	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}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/sky-drones/smartap-airlink/src/usb.c

@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32F7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}

msg/vehicle_status_flags.msg

@@ -24,7 +24,6 @@ bool position_reliant_on_optical_flow
 bool position_reliant_on_vision_position
 
 bool dead_reckoning
-bool flight_terminated
 
 bool circuit_breaker_engaged_power_check
 bool circuit_breaker_engaged_airspd_check

platforms/nuttx/src/px4/common/cdc_acm_check.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -45,8 +45,6 @@ extern int sercon_main(int c, char **argv);
 extern int serdis_main(int c, char **argv);
 __END_DECLS
 
-#include <px4_platform_common/shutdown.h>
-
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 
@@ -156,50 +154,6 @@ static void mavlink_usb_check(void *arg)
 
 
 						if (nread > 0) {
-							// Mavlink reboot/shutdown command
-							// COMMAND_LONG (#76) with command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)
-							static constexpr int MAVLINK_COMMAND_LONG_MIN_LENGTH = 41;
-
-							if (nread >= MAVLINK_COMMAND_LONG_MIN_LENGTH) {
-								// scan buffer for mavlink COMMAND_LONG
-								for (int i = 0; i < nread - MAVLINK_COMMAND_LONG_MIN_LENGTH; i++) {
-									if ((buffer[i] == 0xFE)        // Mavlink v1 start byte
-									    && (buffer[i + 5] == 76)   //  76=0x4C COMMAND_LONG
-									    && (buffer[i + 34] == 246) // 246=0xF6 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN
-									   ) {
-										// mavlink v1 COMMAND_LONG
-										//  buffer[0]: start byte (0xFE for mavlink v1)
-										//  buffer[3]: SYSID
-										//  buffer[4]: COMPID
-										//  buffer[5]: message id (COMMAND_LONG 76=0x4C)
-										//  buffer[6-10]: COMMAND_LONG param 1 (little endian float)
-										//  buffer[34]: COMMAND_LONG command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246/0xF6)
-										float param1_raw = 0;
-										memcpy(&param1_raw, &buffer[i + 6], 4);
-										int param1 = roundf(param1_raw);
-
-										syslog(LOG_INFO, "%s: Mavlink MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN param 1: %d (SYSID:%d COMPID:%d)\n",
-										       USB_DEVICE_PATH, param1, buffer[i + 3], buffer[i + 4]);
-
-										if (param1 == 1) {
-											// 1: Reboot autopilot
-											px4_reboot_request(false, 0);
-
-										} else if (param1 == 2) {
-											// 2: Shutdown autopilot
-#if defined(BOARD_HAS_POWER_CONTROL)
-											px4_shutdown_request(0);
-#endif // BOARD_HAS_POWER_CONTROL
-
-										} else if (param1 == 3) {
-											// 3: Reboot autopilot and keep it in the bootloader until upgraded.
-											px4_reboot_request(true, 0);
-										}
-									}
-								}
-							}
-
-
 							bool launch_mavlink = false;
 							bool launch_nshterm = false;
 							bool launch_passthru = false;

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit 6534b050ee1a48af7932c46a9a87277eed1cc997
+Subproject commit ddb1825fe33f517853ca8a3ef75ac6f2df76f613

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -49,6 +49,8 @@ ICM20948::ICM20948(const I2CSPIDriverConfig &config) :
 	_px4_accel(get_device_id(), config.rotation),
 	_px4_gyro(get_device_id(), config.rotation)
 {
+	_debug_enabled = true;
+
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -178,8 +178,8 @@ private:
 		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
 		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,            PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
-		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
 		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
 		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
 		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },

src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp

@@ -160,11 +160,6 @@ enum PWR_MGMT0_BIT : uint8_t {
 enum GYRO_CONFIG0_BIT : uint8_t {
 	// 7:5 GYRO_FS_SEL
 	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
-	GYRO_FS_SEL_1000_DPS = Bit5,
-	GYRO_FS_SEL_500_DPS  = Bit6,
-	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
-	GYRO_FS_SEL_125_DPS  = Bit7,
-
 
 	// 3:0 GYRO_ODR
 	//  0001: 32kHz
@@ -185,10 +180,6 @@ enum GYRO_CONFIG0_BIT : uint8_t {
 enum ACCEL_CONFIG0_BIT : uint8_t {
 	// 7:5 ACCEL_FS_SEL
 	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
-	ACCEL_FS_SEL_8G  = Bit5,
-	ACCEL_FS_SEL_4G  = Bit6,
-	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
-
 
 	// 3:0 ACCEL_ODR
 	//  0001: 32kHz

src/drivers/optical_flow/px4flow/px4flow.cpp

@@ -406,14 +406,6 @@ px4flow_main(int argc, char *argv[])
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PX4FLOW);
 
 	if (!strcmp(verb, "start")) {
-		// px4flow can require more time to fully start and be accessible
-		static constexpr uint64_t STARTUP_MIN_TIME_US = 6'000'000;
-		const hrt_abstime time_now_us = hrt_absolute_time();
-
-		if (time_now_us < STARTUP_MIN_TIME_US) {
-			px4_usleep(STARTUP_MIN_TIME_US - time_now_us);
-		}
-
 		return ThisDriver::module_start(cli, iterator);
 	}
 

src/lib/drivers/device/nuttx/I2C.cpp

@@ -216,6 +216,29 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 		int ret_transfer = I2C_TRANSFER(_dev, &msgv[0], msgs);
 
 		if (ret_transfer != 0) {
+
+			switch (ret_transfer) {
+			case -EAGAIN:
+				PX4_WARN("I2C bus: %d, Addr: %X, Arbitration Lost", get_device_bus(), get_device_address());
+				break;
+
+			case -EIO:
+				PX4_WARN("I2C bus: %d, Addr: %X, Overrun/Underrun", get_device_bus(), get_device_address());
+				break;
+
+			case -EADDRNOTAVAIL:
+				//PX4_WARN("I2C bus: %d, Addr: %X, Address NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -ECOMM:
+				PX4_WARN("I2C bus: %d, Addr: %X, Data NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -EBUSY:
+				PX4_WARN("I2C bus: %d, Addr: %X, Bus busy", get_device_bus(), get_device_address());
+				break;
+			}
+
 			DEVICE_DEBUG("I2C transfer failed, result %d", ret_transfer);
 			ret = PX4_ERROR;
 

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -79,12 +79,6 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		prearm_ok = false;
 	}
 
-	if (status_flags.flight_terminated) {
-		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flight termination active"); }
-
-		prearm_ok = false;
-	}
-
 	// USB not connected
 	if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
 		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe"); }