mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-08 15:20:04 +08:00
Compare commits
83 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Julian Oes
|
1280a7f92d | ||
|
Julian Oes
|
5f5cb3fac6 | ||
|
Julian Oes
|
7044301148 | ||
|
Daniel Agar
|
7b3befded5 | ||
|
Daniel Sahu
|
fa6fda6cce | ||
|
alessandro
|
3e149ee6c5 | ||
|
Jukka Laitinen
|
deb6053d56 | ||
|
Christian Rauch
|
ef5761c223 | ||
|
Christian Rauch
|
2f21c590b0 | ||
|
JaeyoungLim
|
01c5b3934e | ||
|
Daniel Agar
|
661eb2adb4 | ||
|
Silvan Fuhrer
|
e153d1defc | ||
|
Daniel Agar
|
04d3e549f5 | ||
|
Daniel Agar
|
66ad7fd06c | ||
|
Daniel Agar
|
264a99fb77 | ||
|
Daniel Agar
|
f668ea5aa6 | ||
|
Daniel Agar
|
e3d73cd837 | ||
|
Michał Barciś
|
c2f13dbccf | ||
|
ShiauweiZhao
|
35080504f7 | ||
|
Vincent Poon
|
a90bae9e50 | ||
|
Hamish Willee
|
2938db1c60 | ||
|
Hamish Willee
|
7cea384404 | ||
|
Hamish Willee
|
d65e5969e1 | ||
|
Silvan Fuhrer
|
ba1d02ee75 | ||
|
小光
|
849fbabc47 | ||
|
Silvan Fuhrer
|
d9a4d1d5c4 | ||
|
Robbie Drage
|
cb4235887f | ||
|
Silvan Fuhrer
|
32cab66c44 | ||
|
Silvan Fuhrer
|
9b3a28dff5 | ||
|
Silvan Fuhrer
|
3ca126cc46 | ||
|
Silvan Fuhrer
|
cbc4c35bcf | ||
|
Silvan Fuhrer
|
6d84da5cf1 | ||
|
Beat Küng
|
b1709743f7 | ||
|
Beat Küng
|
a8628c9d9c | ||
|
Beat Küng
|
8e4c5884ec | ||
|
Beat Küng
|
7988491e37 | ||
|
ShiauweiZhao
|
931f602995 | ||
|
Daniel Agar
|
2be701f902 | ||
|
Eric Katzfey
|
a4aa76f0ac | ||
|
Julian Oes
|
b1fc0ca0d0 | ||
|
Julian Oes
|
0446292c75 | ||
|
Julian Oes
|
7b8cf4913e | ||
|
Daniel Agar
|
47215bb625 | ||
|
Daniel Agar
|
efe1d43550 | ||
|
Beat Küng
|
0687fd2689 | ||
|
Hamish Willee
|
f25abbc80a | ||
|
Daniel Agar
|
8da993c30e | ||
|
PX4 BuildBot
|
88038717dc | ||
|
Roman Bapst
|
4646762f9d | ||
|
Silvan Fuhrer
|
0c735dea2e | ||
|
Silvan Fuhrer
|
d32f400851 | ||
|
Silvan Fuhrer
|
a6d14796e4 | ||
|
Silvan Fuhrer
|
15335b194a | ||
|
PX4 BuildBot
|
21ddb04856 | ||
|
Silvan Fuhrer
|
48f2b42e12 | ||
|
Eric Katzfey
|
e862fde084 | ||
|
Silvan Fuhrer
|
d53d200aa5 | ||
|
Silvan Fuhrer
|
88ec117e59 | ||
|
Silvan Fuhrer
|
06f4195663 | ||
|
Silvan Fuhrer
|
fc1c5da92c | ||
|
Silvan Fuhrer
|
5099a91f87 | ||
|
Silvan Fuhrer
|
e16f98c2b6 | ||
|
Eric Katzfey
|
aae431e4d5 | ||
|
PX4 BuildBot
|
d6d41af9a4 | ||
|
PX4 BuildBot
|
cc5509381a | ||
|
PX4 BuildBot
|
03f681ebf8 | ||
|
Silvan Fuhrer
|
a210c96aa9 | ||
|
Silvan Fuhrer
|
148ffe4e25 | ||
|
Daniel Agar
|
0bdec5bcc0 | ||
|
KonradRudin
|
d3b7112dd9 | ||
|
modaltb
|
20b7a8c9f6 | ||
|
Benjamin Perseghetti
|
60de5b3ea4 | ||
|
Benjamin Perseghetti
|
684b4a4b8a | ||
|
modaltb
|
fbd2e111d0 | ||
|
alexklimaj
|
0776c47d88 | ||
|
alexklimaj
|
ac7dc030c3 | ||
|
Daniel Agar
|
64c2ec5eea | ||
|
Daniel Agar
|
9cb6de8010 | ||
|
Daniel Agar
|
3b543c7700 | ||
|
JaeyoungLim
|
644aeb9153 | ||
|
Jiangxuan Chen
|
c31867f104 | ||
|
Daniel Agar
|
7c9dcd1985 | ||
|
Daniel Agar
|
1b46028fd3 |
@@ -62,6 +62,8 @@ pipeline {
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
|
||||
Vendored
+1
-1
@@ -180,7 +180,7 @@ CONFIG:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_test
|
||||
CONFIG: cubepilot_cubeorange_test
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
-9
@@ -2,7 +2,6 @@
|
||||
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
|
||||
"astyle.c.enable": true,
|
||||
"astyle.cpp.enable": true,
|
||||
"breadcrumbs.enabled": true,
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
@@ -20,7 +19,6 @@
|
||||
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
|
||||
"cmakeExplorer.parallelJobs": 1,
|
||||
"cmakeExplorer.suiteDelimiter": "-",
|
||||
"cortex-debug.enableTelemetry": false,
|
||||
"cSpell.allowCompoundWords": true,
|
||||
"cSpell.diagnosticLevel": "Hint",
|
||||
"cSpell.showStatus": false,
|
||||
@@ -31,7 +29,6 @@
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
"editor.minimap.maxColumn": 120,
|
||||
"editor.minimap.renderCharacters": false,
|
||||
@@ -127,12 +124,7 @@
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
"workbench.enableExperiments": false,
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"terminal.integrated.scrollback": 15000,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
|
||||
@@ -73,6 +73,13 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
|
||||
@@ -49,7 +49,7 @@ param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_PX 0
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
|
||||
@@ -13,7 +13,7 @@ param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo rc_cessna
|
||||
# @type Fixedwing
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_MIN1 0
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_FUNC5 205
|
||||
param set-default SIM_GZ_SV_FUNC6 206
|
||||
@@ -72,6 +72,7 @@ px4_add_romfs_files(
|
||||
|
||||
4001_gz_x500
|
||||
4002_gz_x500_depth
|
||||
4003_gz_rc_cessna
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -21,7 +21,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
|
||||
|
||||
# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
|
||||
@@ -37,16 +37,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
gz_command="gz"
|
||||
gz_sub_command="sim"
|
||||
else
|
||||
IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
|
||||
if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
|
||||
then
|
||||
# "ign gazebo" for Fortress and earlier
|
||||
gz_command="ign"
|
||||
gz_sub_command="gazebo"
|
||||
else
|
||||
echo "ERROR [init] Gazebo gz and ign commands unavailable"
|
||||
exit 1
|
||||
fi
|
||||
echo "ERROR [init] Gazebo gz please install gz-garden"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# look for running ${gz_command} gazebo world
|
||||
|
||||
@@ -14,9 +14,14 @@ param set-default MAV_TYPE 1
|
||||
# Default parameters for fixed wing UAVs.
|
||||
#
|
||||
param set-default COM_POS_FS_DELAY 5
|
||||
param set-default COM_POS_FS_EPH 15
|
||||
|
||||
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
param set-default COM_POS_FS_EPV 30
|
||||
param set-default COM_VEL_FS_EVH 5
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
|
||||
@@ -10,6 +10,11 @@ set VEHICLE_TYPE vtol
|
||||
# MAV_TYPE_VTOL_FIXEDROTOR 22
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_YAW_TMT 10
|
||||
|
||||
|
||||
+11
-10
@@ -217,6 +217,17 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
|
||||
# Install Gazebo classic
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
@@ -255,16 +266,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo "export SVGA_VGPU10=0" >> ~/.profile
|
||||
fi
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<authoring_tool>SketchUp 15.3.331</authoring_tool>
|
||||
</contributor>
|
||||
<created>2015-05-26T23:41:25Z</created>
|
||||
<modified>2015-05-26T23:41:25Z</modified>
|
||||
<unit meter="0.0254" name="inch" />
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="ID1">
|
||||
<node name="SketchUp">
|
||||
<node id="ID2" name="instance_0">
|
||||
<matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
|
||||
<instance_node url="#ID3" />
|
||||
</node>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<library_nodes>
|
||||
<node id="ID3" name="ske2A3">
|
||||
<node id="ID4" name="group_0">
|
||||
<matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
|
||||
<instance_geometry url="#ID5">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID6">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
<instance_material symbol="Material3" target="#ID11">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
</technique_common>
|
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File diff suppressed because one or more lines are too long
@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<name>rc_cessna</name>
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<author>
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<name>Benjamin Perseghetti</name>
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<email>bperseghetti@rudislabs.com</email>
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<description>
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This is a model of an RC Cessna 182.
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@@ -0,0 +1,816 @@
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<?xml version="1.0"?>
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<pose>0 0 0 0 0 0</pose>
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<contact>
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<ode>
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<min_depth>0.01</min_depth>
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</ode>
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</surface>
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<geometry>
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<box>
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</box>
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<contact>
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<ode>
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</ode>
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<pose>-.14 0 0 0 0 0</pose>
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<geometry>
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<box>
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<box>
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</geometry>
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<geometry>
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<mesh>
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<uri>model://rc_cessna/meshes/body.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>.175 .175 .175 1.0</ambient>
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<diffuse>.175 .175 .175 1.0</diffuse>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>250</update_rate>
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</sensor>
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<inertial>
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</visual>
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<always_on>1</always_on>
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<update_rate>5.0</update_rate>
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<enable_metrics>false</enable_metrics>
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<air_speed>
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<airspeed>
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<noise type="gaussian">
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<geometry>
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<geometry>
|
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<mesh>
|
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<uri>model://rc_cessna/meshes/iris_prop_ccw.dae</uri>
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</geometry>
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|
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|
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<child>rotor_puller</child>
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|
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|
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|
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</inertia>
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</inertial>
|
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<visual name='left_elevon_visual'>
|
||||
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|
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<geometry>
|
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<mesh>
|
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|
||||
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|
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|
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</geometry>
|
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|
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</material>
|
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</visual>
|
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</link>
|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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</ode>
|
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|
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</surface>
|
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</collision>
|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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</visual>
|
||||
<collision name="RightWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="CenterWheel">
|
||||
<pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="CenterWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="CenterWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 -0.3 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_elevon_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/right_aileron.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="left_flap">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 0.15 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='left_flap_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/left_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_flap">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 -0.15 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_flap_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/right_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="elevator">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose> -0.5 0 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='elevator_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/elevators.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="rudder">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>-0.5 0 0.05 0 0 0 </pose>
|
||||
</inertial>
|
||||
<visual name='rudder_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/rudder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='servo_0' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_elevon</child>
|
||||
<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_1' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_elevon</child>
|
||||
<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='left_flap_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_flap</child>
|
||||
<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='right_flap_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_flap</child>
|
||||
<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_2' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>elevator</child>
|
||||
<pose> -0.5 0 0 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<!-- -30/+30 deg. -->
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='rudder_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>rudder</child>
|
||||
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name="LeftWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>LeftWheel</child>
|
||||
<pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="RightWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>RightWheel</child>
|
||||
<pose relative_to="base_link">-.035 -.13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="CenterWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>CenterWheel</child>
|
||||
<pose relative_to="base_link">.135 0 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_0</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_1</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.15 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>left_flap_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.15 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>right_flap_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>-0.2</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0</cp>
|
||||
<area>0.01</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_2</control_joint_name>
|
||||
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0.05</cp>
|
||||
<area>0.02</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 1 0</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>rudder_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
<sub_topic>servo_3</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
<linkName>rotor_puller</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000</maxRotVelocity>
|
||||
<motorConstant>2.44858e-05</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -528,7 +528,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -544,7 +544,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -560,7 +560,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
|
||||
@@ -29,4 +29,5 @@ CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -42,3 +42,9 @@
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
|
||||
|
||||
// Assigned in timer_config.cpp
|
||||
|
||||
// Timer 2 /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
|
||||
// Timer 3 /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP */
|
||||
// Timer 4 /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP */
|
||||
|
||||
@@ -62,7 +62,8 @@
|
||||
#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
|
||||
|
||||
/* PWM Outputs */
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 6 // Actually 8
|
||||
#define BOARD_NUM_IO_TIMERS 3
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define GPIO_TIM2_CH1_RESET /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_TIM2_CH2_RESET /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
|
||||
@@ -34,9 +34,9 @@
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer3),
|
||||
//initIOTimer(Timer::Timer4),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
|
||||
initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
@@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
|
||||
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::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
|
||||
@@ -75,7 +75,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0016
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteF7"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
|
||||
@@ -13,6 +13,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
|
||||
@@ -1,10 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Holybro KakuteH7 specific board sensors init
|
||||
# Holybro KakuteH7v1 specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
# The default IMU is an ICM20689, but there might also be an MPU6000
|
||||
# The KakuteH7 v1 comes by default with an ICM20689,
|
||||
# but there might also be an MPU6000
|
||||
if ! mpu6000 -R 6 -s start
|
||||
then
|
||||
icm20689 -R 6 -s start
|
||||
|
||||
@@ -75,7 +75,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004b
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
|
||||
@@ -59,9 +59,9 @@
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
@@ -105,12 +105,14 @@
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader uses the first sector of the flash, which is 128K in length.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
|
||||
@@ -59,9 +59,9 @@
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
|
||||
@@ -240,8 +240,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_dev);
|
||||
|
||||
if (result != OK) {
|
||||
led_on(LED_BLUE);
|
||||
syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
|
||||
syslog(LOG_ERR, "[boot] Could not bind MMCSD driver, expected on Kakute H7 V2\n");
|
||||
}
|
||||
|
||||
up_udelay(20);
|
||||
|
||||
@@ -45,6 +45,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
}),
|
||||
};
|
||||
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -0,0 +1,88 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_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_IMU_BOSCH_BMI270=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=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_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_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_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=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_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
Binary file not shown.
@@ -0,0 +1,13 @@
|
||||
{
|
||||
"board_id": 1054,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the KakuteH7Mini board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "KAKUTEH7MINI-NAND",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -0,0 +1,51 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# transision from params file to flash-based params (2022-08)
|
||||
if [ -f $PARAM_FILE ]
|
||||
then
|
||||
param load $PARAM_FILE
|
||||
param save
|
||||
# create a backup
|
||||
mv $PARAM_FILE ${PARAM_FILE}.bak
|
||||
reboot
|
||||
fi
|
||||
|
||||
param set-default BAT1_V_DIV 11.2
|
||||
param set-default BAT1_A_PER_V 59.5
|
||||
|
||||
# system_power unavailable
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Select the Generic 250 Racer by default
|
||||
param set-default SYS_AUTOSTART 4050
|
||||
|
||||
# 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
|
||||
|
||||
# the startup tune is not great on a binary output buzzer, so disable it
|
||||
param set-default CBRK_BUZZER 782090
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 2000
|
||||
|
||||
# Store missions in RAM
|
||||
param set-default SYS_DM_BACKEND 1
|
||||
|
||||
# Ignore that there is no SD card
|
||||
param set-default COM_ARM_SDCARD 0
|
||||
|
||||
# Store missions in RAM
|
||||
param set-default SYS_DM_BACKEND 1
|
||||
|
||||
# Ignore that there is no SD card
|
||||
param set-default COM_ARM_SDCARD 0
|
||||
|
||||
# Don't try to log onto SD card
|
||||
param set-default SDLOG_MODE -1
|
||||
@@ -0,0 +1,13 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# KakuteH7 specific board extras init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if ! param compare OSD_ATXXXX_CFG 0
|
||||
then
|
||||
atxxxx start -s
|
||||
fi
|
||||
|
||||
# DShot telemetry is always on UART7
|
||||
dshot telemetry /dev/ttyS5
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Holybro KakuteH7Mini specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
bmi270 -R 6 -s start
|
||||
|
||||
bmp280 -X start
|
||||
@@ -0,0 +1,89 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7mini/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7Mini"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3162
|
||||
CONFIG_CDCACM_VENDORSTR="Holybro"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_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
|
||||
@@ -0,0 +1,419 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2019 Gregory Nutt. 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 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
|
||||
|
||||
/************************************************************************************
|
||||
* 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 holybro KakuteH7 board provides the following clock sources:
|
||||
*
|
||||
* X1: 8 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 16 MHz RC factory-trimmed
|
||||
* HSE: 8 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 8000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE = 8,000,000
|
||||
*
|
||||
* PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* Subject to:
|
||||
*
|
||||
* 1 <= PLLM <= 63
|
||||
* 4 <= PLLN <= 512
|
||||
* 150 MHz <= PLL_VCOL <= 420MHz
|
||||
* 192 MHz <= PLL_VCOH <= 836MHz
|
||||
*
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* CPUCLK = SYSCLK / D1CPRE
|
||||
* Subject to
|
||||
*
|
||||
* PLLP1 = {2, 4, 6, 8, ..., 128}
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_USEHSE
|
||||
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP1EN | \
|
||||
RCC_PLLCFGR_DIVQ1EN | \
|
||||
RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP2EN | \
|
||||
RCC_PLLCFGR_DIVQ2EN | \
|
||||
RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1)
|
||||
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */
|
||||
#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */
|
||||
#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timer clock frequencies */
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Kernel Clock Configuration
|
||||
*
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
|
||||
/* I2C123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
|
||||
|
||||
/* I2C4 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
|
||||
/* SPI123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
|
||||
|
||||
/* SPI45 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2
|
||||
|
||||
/* SPI6 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2
|
||||
|
||||
/* USB 1 and 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3
|
||||
|
||||
/* ADC 1 2 3 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
* Vcore MAX ACLK WAIT STATES
|
||||
* ------------ ---------- -----------
|
||||
* 1.15-1.26 V 70 MHz 0
|
||||
* (VOS1 level) 140 MHz 1
|
||||
* 210 MHz 2
|
||||
* 1.05-1.15 V 55 MHz 0
|
||||
* (VOS2 level) 110 MHz 1
|
||||
* 165 MHz 2
|
||||
* 220 MHz 3
|
||||
* 0.95-1.05 V 45 MHz 0
|
||||
* (VOS3 level) 90 MHz 1
|
||||
* 135 MHz 2
|
||||
* 180 MHz 3
|
||||
* 225 MHz 4
|
||||
* ------------ ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
|
||||
/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */
|
||||
|
||||
#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
|
||||
* div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
|
||||
* a Blue LED and LED_RED a Red LED, that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_NLEDS 1
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ---------------------- -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/* Thus if the Green LED is statically on, NuttX has successfully booted and
|
||||
* is, apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
|
||||
/* SPI
|
||||
* SPI1 SD Card
|
||||
* SPI2 is OSD AT7456E
|
||||
* SPI4 is IMU
|
||||
*/
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_4 /* PB13 */
|
||||
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
|
||||
|
||||
/* I2C
|
||||
*/
|
||||
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
|
||||
|
||||
/* SDMMC1
|
||||
*
|
||||
* VDD 3.3
|
||||
* GND
|
||||
* SDMMC1_CK PC12
|
||||
* SDMMC1_CMD PD2
|
||||
* SDMMC1_D0 PC8
|
||||
* SDMMC1_D1 PC9
|
||||
* SDMMC1_D2 PC10
|
||||
* SDMMC1_D3 PC11
|
||||
* GPIO_SDMMC1_NCD PG0
|
||||
*/
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
|
||||
#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
|
||||
#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
|
||||
|
||||
#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2 */
|
||||
|
||||
@@ -0,0 +1,246 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7mini/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743II=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_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7Mini-nand"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3162
|
||||
CONFIG_CDCACM_VENDORSTR="Holybro"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_MMCSDSPIPORTNO=1
|
||||
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_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_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_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART2_TXBUFSIZE=2500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -0,0 +1,215 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The KakuteH7 uses an STM32H743VI 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 STM32H743VI, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader uses the first sector of the flash, which is 128K in length.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,228 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The KakuteH7 uses an STM32H743VI 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 STM32H743VI, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
|
||||
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
|
||||
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > FLASH
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > FLASH
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
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
|
||||
)
|
||||
add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -0,0 +1,214 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* holybro KakuteH7 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
|
||||
****************************************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
# define BOARD_HAS_USB_VALID 1
|
||||
# define BOARD_HAS_NBAT_V 1
|
||||
# define BOARD_HAS_NBAT_I 1
|
||||
|
||||
/* Holybro KakuteH7 GPIOs ************************************************************************/
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
#define GPIO_nLED_RED /* PC2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC0 */ GPIO_ADC123_INP10, \
|
||||
/* PC1 */ GPIO_ADC123_INP11, \
|
||||
/* PC5 */ GPIO_ADC12_INP8
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11)
|
||||
#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
|
||||
(1 << ADC_RSSI_IN_CHANNEL))
|
||||
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||||
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
|
||||
/* Tone alarm output */
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_TONE_ALARM_GPIO /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 4 /* use timer3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
// So we can run CRSF on ttyS4, which corresponds to the TX6/RX6 pins
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
|
||||
#define PWMIN_TIMER 5
|
||||
#define PWMIN_TIMER_CHANNEL /* T5C1 */ 1
|
||||
#define GPIO_PWM_IN /* PA0 */ GPIO_TIM5_CH1IN
|
||||
|
||||
#define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
|
||||
|
||||
#define GPIO_RF_SWITCH /* PE13 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#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))
|
||||
|
||||
/* Board never powers off the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
#define BOARD_ADC_BRICK1_VALID (1)
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_RSSI_IN, \
|
||||
GPIO_RF_SWITCH, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
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
|
||||
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
* 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_usbinitialize();
|
||||
}
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
extern void sys_tick_handler(void);
|
||||
void board_timerhook(void)
|
||||
{
|
||||
sys_tick_handler();
|
||||
}
|
||||
@@ -0,0 +1,125 @@
|
||||
/*
|
||||
* hw_config.h
|
||||
*
|
||||
* Created on: May 17, 2015
|
||||
* Author: david_s5
|
||||
*/
|
||||
|
||||
#ifndef HW_CONFIG_H_
|
||||
#define HW_CONFIG_H_
|
||||
|
||||
/****************************************************************************
|
||||
* 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 3000
|
||||
#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 BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 1054
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_RED
|
||||
#define BOARD_LED_ON 0
|
||||
#define BOARD_LED_OFF 1
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
/*
|
||||
* Uncommenting this allows to force the bootloader through
|
||||
* a PWM output pin. As this can accidentally initialize
|
||||
* an ESC prematurely, it is not recommended. This feature
|
||||
* has not been used and hence defaults now to off.
|
||||
*
|
||||
* # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
|
||||
* # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
||||
*
|
||||
* # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
* # define BOARD_POWER_ON 1
|
||||
* # define BOARD_POWER_OFF 0
|
||||
* # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power)
|
||||
*
|
||||
*/
|
||||
|
||||
#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
|
||||
|
||||
#endif /* HW_CONFIG_H_ */
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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),
|
||||
};
|
||||
@@ -0,0 +1,261 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @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 initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.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>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* 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)
|
||||
{
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
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));
|
||||
|
||||
board_control_spi_sensors_power_configgpio();
|
||||
|
||||
/* Turn bluetooth off by default (no mavlink support yet) */
|
||||
px4_arch_gpiowrite(GPIO_RF_SWITCH, 0);
|
||||
|
||||
/* 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 */
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
|
||||
/* Need hrt running before using the ADC */
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* 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);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
// MARK: this will *not* work as the minis have a W25N NAND flash chip
|
||||
/* Get the SPI port for the microSD slot */
|
||||
struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi_dev) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
led_on(LED_BLUE);
|
||||
}
|
||||
|
||||
up_udelay(20);
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{15, 128 * 1024, 0x081E0000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_AMBER);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,223 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 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_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_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
#else
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
__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(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 */
|
||||
@@ -0,0 +1,52 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#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(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
//<V1.3s have the MPU series, latter ones have a BMI270
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1})
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
|
||||
};
|
||||
|
||||
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::Channel2}, {GPIO::PortB, GPIO::Pin3}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortC, GPIO::Pin8}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4fmu_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_internal.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_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -0,0 +1,3 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -0,0 +1,90 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_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_IMU_BOSCH_BMI270=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=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_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_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_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_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_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
Binary file not shown.
@@ -0,0 +1,13 @@
|
||||
{
|
||||
"board_id": 1053,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the KakuteH7v2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "KAKUTEH7V2",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# transision from params file to flash-based params (2022-08)
|
||||
if [ -f $PARAM_FILE ]
|
||||
then
|
||||
param load $PARAM_FILE
|
||||
param save
|
||||
# create a backup
|
||||
mv $PARAM_FILE ${PARAM_FILE}.bak
|
||||
reboot
|
||||
fi
|
||||
|
||||
param set-default BAT1_V_DIV 11.2
|
||||
param set-default BAT1_A_PER_V 59.5
|
||||
|
||||
# system_power unavailable
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Select the Generic 250 Racer by default
|
||||
param set-default SYS_AUTOSTART 4050
|
||||
|
||||
# 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
|
||||
|
||||
# the startup tune is not great on a binary output buzzer, so disable it
|
||||
param set-default CBRK_BUZZER 782090
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 2000
|
||||
|
||||
# Store missions in RAM
|
||||
param set-default SYS_DM_BACKEND 1
|
||||
|
||||
# Ignore that there is no SD card
|
||||
param set-default COM_ARM_SDCARD 0
|
||||
|
||||
# Don't try to log onto SD card
|
||||
param set-default SDLOG_MODE -1
|
||||
@@ -0,0 +1,13 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# KakuteH7 specific board extras init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if ! param compare OSD_ATXXXX_CFG 0
|
||||
then
|
||||
atxxxx start -s
|
||||
fi
|
||||
|
||||
# DShot telemetry is always on UART7
|
||||
dshot telemetry /dev/ttyS5
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Holybro KakuteH7v2 specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
bmi270 -s start
|
||||
|
||||
bmp280 -X start
|
||||
@@ -0,0 +1,89 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7v2/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7v2"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3162
|
||||
CONFIG_CDCACM_VENDORSTR="Holybro"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_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
|
||||
@@ -0,0 +1,419 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2019 Gregory Nutt. 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 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
|
||||
|
||||
/************************************************************************************
|
||||
* 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 holybro KakuteH7 board provides the following clock sources:
|
||||
*
|
||||
* X1: 8 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 16 MHz RC factory-trimmed
|
||||
* HSE: 8 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 8000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE = 8,000,000
|
||||
*
|
||||
* PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* Subject to:
|
||||
*
|
||||
* 1 <= PLLM <= 63
|
||||
* 4 <= PLLN <= 512
|
||||
* 150 MHz <= PLL_VCOL <= 420MHz
|
||||
* 192 MHz <= PLL_VCOH <= 836MHz
|
||||
*
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* CPUCLK = SYSCLK / D1CPRE
|
||||
* Subject to
|
||||
*
|
||||
* PLLP1 = {2, 4, 6, 8, ..., 128}
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_USEHSE
|
||||
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP1EN | \
|
||||
RCC_PLLCFGR_DIVQ1EN | \
|
||||
RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP2EN | \
|
||||
RCC_PLLCFGR_DIVQ2EN | \
|
||||
RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1)
|
||||
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */
|
||||
#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */
|
||||
#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timer clock frequencies */
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Kernel Clock Configuration
|
||||
*
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
|
||||
/* I2C123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
|
||||
|
||||
/* I2C4 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
|
||||
/* SPI123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
|
||||
|
||||
/* SPI45 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2
|
||||
|
||||
/* SPI6 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2
|
||||
|
||||
/* USB 1 and 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3
|
||||
|
||||
/* ADC 1 2 3 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
* Vcore MAX ACLK WAIT STATES
|
||||
* ------------ ---------- -----------
|
||||
* 1.15-1.26 V 70 MHz 0
|
||||
* (VOS1 level) 140 MHz 1
|
||||
* 210 MHz 2
|
||||
* 1.05-1.15 V 55 MHz 0
|
||||
* (VOS2 level) 110 MHz 1
|
||||
* 165 MHz 2
|
||||
* 220 MHz 3
|
||||
* 0.95-1.05 V 45 MHz 0
|
||||
* (VOS3 level) 90 MHz 1
|
||||
* 135 MHz 2
|
||||
* 180 MHz 3
|
||||
* 225 MHz 4
|
||||
* ------------ ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
|
||||
/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */
|
||||
|
||||
#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
|
||||
* div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
|
||||
* a Blue LED and LED_RED a Red LED, that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_NLEDS 1
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ---------------------- -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/* Thus if the Green LED is statically on, NuttX has successfully booted and
|
||||
* is, apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
|
||||
/* SPI
|
||||
* SPI1 SD Card
|
||||
* SPI2 is OSD AT7456E
|
||||
* SPI4 is IMU
|
||||
*/
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_4 /* PB13 */
|
||||
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
|
||||
|
||||
/* I2C
|
||||
*/
|
||||
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
|
||||
|
||||
/* SDMMC1
|
||||
*
|
||||
* VDD 3.3
|
||||
* GND
|
||||
* SDMMC1_CK PC12
|
||||
* SDMMC1_CMD PD2
|
||||
* SDMMC1_D0 PC8
|
||||
* SDMMC1_D1 PC9
|
||||
* SDMMC1_D2 PC10
|
||||
* SDMMC1_D3 PC11
|
||||
* GPIO_SDMMC1_NCD PG0
|
||||
*/
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
|
||||
#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
|
||||
#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
|
||||
|
||||
#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2 */
|
||||
|
||||
@@ -0,0 +1,246 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7v2/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743II=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_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0050
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7v2"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3162
|
||||
CONFIG_CDCACM_VENDORSTR="Holybro"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_MMCSDSPIPORTNO=1
|
||||
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_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_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_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART2_TXBUFSIZE=2500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -0,0 +1,215 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The KakuteH7 uses an STM32H743VI 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 STM32H743VI, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader uses the first sector of the flash, which is 128K in length.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,228 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The KakuteH7 uses an STM32H743VI 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 STM32H743VI, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The KakuteH7 has 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
|
||||
* depressed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743VI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
|
||||
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
|
||||
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > FLASH
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > FLASH
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
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
|
||||
)
|
||||
add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -0,0 +1,213 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* holybro KakuteH7 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
|
||||
****************************************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
# define BOARD_HAS_USB_VALID 1
|
||||
# define BOARD_HAS_NBAT_V 1
|
||||
# define BOARD_HAS_NBAT_I 1
|
||||
|
||||
/* Holybro KakuteH7 GPIOs ************************************************************************/
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
#define GPIO_nLED_RED /* PC2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC0 */ GPIO_ADC123_INP10, \
|
||||
/* PC1 */ GPIO_ADC123_INP11, \
|
||||
/* PC5 */ GPIO_ADC12_INP8
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11)
|
||||
#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
|
||||
(1 << ADC_RSSI_IN_CHANNEL))
|
||||
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||||
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 4
|
||||
|
||||
|
||||
/* Tone alarm output */
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_TONE_ALARM_GPIO /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 4 /* use timer3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
|
||||
#define PWMIN_TIMER 5
|
||||
#define PWMIN_TIMER_CHANNEL /* T5C1 */ 1
|
||||
#define GPIO_PWM_IN /* PA0 */ GPIO_TIM5_CH1IN
|
||||
|
||||
#define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
|
||||
|
||||
#define GPIO_RF_SWITCH /* PE13 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
|
||||
/* Board never powers off the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
#define BOARD_ADC_BRICK1_VALID (1)
|
||||
|
||||
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_RSSI_IN, \
|
||||
GPIO_RF_SWITCH, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
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
|
||||
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
* 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_usbinitialize();
|
||||
}
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
extern void sys_tick_handler(void);
|
||||
void board_timerhook(void)
|
||||
{
|
||||
sys_tick_handler();
|
||||
}
|
||||
@@ -0,0 +1,125 @@
|
||||
/*
|
||||
* hw_config.h
|
||||
*
|
||||
* Created on: May 17, 2015
|
||||
* Author: david_s5
|
||||
*/
|
||||
|
||||
#ifndef HW_CONFIG_H_
|
||||
#define HW_CONFIG_H_
|
||||
|
||||
/****************************************************************************
|
||||
* 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 3000
|
||||
#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 BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 1053
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_RED
|
||||
#define BOARD_LED_ON 0
|
||||
#define BOARD_LED_OFF 1
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
/*
|
||||
* Uncommenting this allows to force the bootloader through
|
||||
* a PWM output pin. As this can accidentally initialize
|
||||
* an ESC prematurely, it is not recommended. This feature
|
||||
* has not been used and hence defaults now to off.
|
||||
*
|
||||
* # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
|
||||
* # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
||||
*
|
||||
* # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
* # define BOARD_POWER_ON 1
|
||||
* # define BOARD_POWER_OFF 0
|
||||
* # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power)
|
||||
*
|
||||
*/
|
||||
|
||||
#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
|
||||
|
||||
#endif /* HW_CONFIG_H_ */
|
||||
@@ -0,0 +1,38 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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),
|
||||
};
|
||||
@@ -0,0 +1,261 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @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 initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.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>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* 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)
|
||||
{
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
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));
|
||||
|
||||
board_control_spi_sensors_power_configgpio();
|
||||
|
||||
/* Turn bluetooth off by default (no mavlink support yet) */
|
||||
px4_arch_gpiowrite(GPIO_RF_SWITCH, 0);
|
||||
|
||||
/* 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 */
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
|
||||
/* Need hrt running before using the ADC */
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* 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);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the microSD slot */
|
||||
struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi_dev) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
led_on(LED_BLUE);
|
||||
}
|
||||
|
||||
up_udelay(20);
|
||||
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{15, 128 * 1024, 0x081E0000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_AMBER);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,223 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 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_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_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
#else
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
__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(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 */
|
||||
@@ -0,0 +1,52 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#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(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
|
||||
};
|
||||
|
||||
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::Channel2}, {GPIO::PortB, GPIO::Pin3}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortC, GPIO::Pin8}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4fmu_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_internal.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_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -5,7 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
|
||||
CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
|
||||
@@ -3,9 +3,9 @@
|
||||
# ModalAI FC-v1 specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if param greater UART_ESC_CONFIG 0
|
||||
if param greater MODAL_IO_CONFIG 0
|
||||
then
|
||||
modalai_esc start
|
||||
modal_io start
|
||||
fi
|
||||
|
||||
board_adc start
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
| Channel 8 | I2C3_TX | I2C4_RX | - | - | I2C2_TX | - | I2C4_TX | - |
|
||||
| Channel 9 | - | SPI2_RX | - | - | - | - | SPI2_TX | - |
|
||||
| | | | | | | | | |
|
||||
| Usage | UART5_RX | SPI2_RX | UART4_RX | UART7_RX | SPI2_TX | USART2_RX |TIM4_UP /USART2_TX| UART5_TX |
|
||||
| Usage | | SPI2_RX | SPI3_RX_2 | UART7_RX | SPI2_TX | SPI3_TX_1 | TIM4_UP | |
|
||||
|
||||
|
||||
| DMA2 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 |
|
||||
@@ -81,15 +81,11 @@
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
// 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)
|
||||
// DMAMAP_UART4_RX // DMA1, Stream 2, Channel 4 (EXPANSION RX)
|
||||
//#define DMAMAP_SPI3_RX DMAMAP_SPI3_RX_2 // DMA1, Stream 2, Channel 0 (SPI3 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 (ESC RX)
|
||||
// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4 (SPI3 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_USART2_TX // DMA1, Stream 6, Channel 4 (ESC TX)
|
||||
// DMAMAP_UART5_TX // DMA1, Stream 7, Channel 4 (TELEM2 TX)
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
|
||||
@@ -233,14 +233,12 @@ CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_RXDMA=y
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
CONFIG_UART5_IFLOWCONTROL=y
|
||||
CONFIG_UART5_OFLOWCONTROL=y
|
||||
CONFIG_UART5_RXBUFSIZE=600
|
||||
CONFIG_UART5_RXDMA=y
|
||||
CONFIG_UART5_TXBUFSIZE=1500
|
||||
CONFIG_UART5_TXDMA=y
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_IFLOWCONTROL=y
|
||||
CONFIG_UART7_OFLOWCONTROL=y
|
||||
@@ -257,9 +255,7 @@ CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_RXDMA=y
|
||||
CONFIG_USART2_TXBUFSIZE=3000
|
||||
CONFIG_USART2_TXDMA=y
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=180
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
@@ -268,7 +264,6 @@ CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_RXDMA=y
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USART6_TXDMA=y
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
|
||||
@@ -264,7 +264,7 @@
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
// J4 / TELEM3 / UART2
|
||||
#define MODALAI_ESC_DEFAULT_PORT "/dev/ttyS1"
|
||||
#define MODAL_IO_DEFAULT_PORT "/dev/ttyS1"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
|
||||
CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
|
||||
|
||||
@@ -3,9 +3,9 @@
|
||||
# ModalAI FC-v2 specific board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if param greater UART_ESC_CONFIG 0
|
||||
if param greater MODAL_IO_CONFIG 0
|
||||
then
|
||||
modalai_esc start
|
||||
modal_io start
|
||||
fi
|
||||
|
||||
board_adc start
|
||||
|
||||
@@ -339,7 +339,7 @@
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
// J1 / TELEM1 / USART7
|
||||
#define MODALAI_ESC_DEFAULT_PORT "/dev/ttyS6"
|
||||
#define MODAL_IO_DEFAULT_PORT "/dev/ttyS6"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CONFIG_PLATFORM_QURT=y
|
||||
CONFIG_BOARD_TOOLCHAIN="qurt"
|
||||
CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
|
||||
CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_QSHELL_QURT=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
|
||||
@@ -62,4 +62,4 @@
|
||||
/*
|
||||
* Default port for the ESC
|
||||
*/
|
||||
#define MODALAI_ESC_DEFAULT_PORT "2"
|
||||
#define MODAL_IO_DEFAULT_PORT "2"
|
||||
|
||||
@@ -414,7 +414,7 @@ bool ICM42688P::Configure()
|
||||
return success;
|
||||
}
|
||||
|
||||
static bool interrupt_debug = true;
|
||||
static bool interrupt_debug = false;
|
||||
static uint32_t interrupt_debug_count = 0;
|
||||
static const uint32_t interrupt_debug_trigger = 800;
|
||||
static hrt_abstime last_interrupt_time = 0;
|
||||
|
||||
@@ -15,4 +15,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
CONFIG_BOARD_ROOTFSDIR="/data/px4"
|
||||
|
||||
@@ -19,5 +19,3 @@ fi
|
||||
muorb start
|
||||
|
||||
qshell icm42688p start -s
|
||||
|
||||
qshell modalai_esc start
|
||||
|
||||
@@ -18,6 +18,4 @@ bool fusion_enabled # true when measurements are being fused
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_ev_vel
|
||||
# TOPICS estimator_aid_src_gnss_vel
|
||||
# TOPICS estimator_aid_src_mag
|
||||
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
|
||||
|
||||
@@ -31,7 +31,7 @@ bool height_sensor_timeout # 4 - true when the height sensor has n
|
||||
bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
|
||||
bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
|
||||
bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
|
||||
bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
|
||||
bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
|
||||
bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period
|
||||
bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
|
||||
bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
|
||||
bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
|
||||
|
||||
@@ -28,6 +28,7 @@ float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance compute
|
||||
# Various
|
||||
float32 heading # heading innovation (rad) and innovation variance (rad**2)
|
||||
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
|
||||
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
|
||||
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
|
||||
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user