mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 17:27:35 +08:00
Compare commits
15 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Ramon Roche
|
1cf7d75525 | ||
|
Ramon Roche
|
9dd434f441 | ||
|
Ramon Roche
|
958688f36d | ||
|
Ramon Roche
|
c515f81298 | ||
|
Ramon Roche
|
c0a45cef70 | ||
|
Ramon Roche
|
d52fbd9707 | ||
|
Julian Oes
|
5f56589b6d | ||
|
Silvan
|
557f693246 | ||
|
丁勇
|
ca96106f7d | ||
|
Julian Oes
|
ed0b9d7d3a | ||
|
Ramon Roche
|
0e31dd560d | ||
|
Ramon Roche
|
ae47d69f50 | ||
|
PX4BuildBot
|
eed4457d71 | ||
|
Ramon Roche
|
a0e42f2032 | ||
|
Ramon Roche
|
0f15eea283 |
@@ -16,7 +16,7 @@ runs:
|
||||
|
||||
- name: Cache - Save ccache
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
uses: actions/cache/save@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ inputs.cache-primary-key }}
|
||||
|
||||
@@ -33,7 +33,7 @@ runs:
|
||||
|
||||
- name: Cache - Restore ccache
|
||||
id: restore
|
||||
uses: actions/cache/restore@v4
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
|
||||
|
||||
@@ -69,32 +69,31 @@ jobs:
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
seeders: ${{ steps.set-seeders.outputs.seeders }}
|
||||
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
branchname: ${{ steps.set-branch.outputs.branchname }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
- name: Cache Python pip
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: ~/.cache/pip
|
||||
key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-pip-
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
|
||||
- name: Install Python Dependencies
|
||||
uses: py-actions/py-dependency-install@v4
|
||||
with:
|
||||
path: "./Tools/setup/requirements.txt"
|
||||
run: pip3 install -U packaging -r ./Tools/setup/requirements.txt
|
||||
|
||||
- id: set-matrix
|
||||
name: Generate Build Matrix
|
||||
run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-seeders
|
||||
name: Generate Seeder Matrix
|
||||
run: echo "seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-timestamp
|
||||
name: Save Current Timestamp
|
||||
run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
|
||||
@@ -116,11 +115,52 @@ jobs:
|
||||
echo "${{ steps.set-branch.outputs.branchname }}"
|
||||
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
# ===========================================================================
|
||||
# CACHE SEEDER JOBS
|
||||
# ===========================================================================
|
||||
# Build one representative target per chip family to warm the ccache.
|
||||
# Matrix jobs fall back to these caches via restore-keys when no
|
||||
# group-specific cache exists yet. If any seeder fails, the build matrix
|
||||
# does not start, catching common build errors early.
|
||||
# ===========================================================================
|
||||
|
||||
seed:
|
||||
name: Seed [${{ matrix.chip_family }}]
|
||||
needs: group_targets
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
strategy:
|
||||
matrix: ${{ fromJson(needs.group_targets.outputs.seeders) }}
|
||||
fail-fast: false
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
credentials:
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
id: ccache
|
||||
with:
|
||||
cache-key-prefix: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-seeder
|
||||
max-size: 400M
|
||||
- name: Build seed target
|
||||
run: make ${{ matrix.target }}
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: always()
|
||||
with:
|
||||
cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
|
||||
|
||||
setup:
|
||||
name: Build [${{ matrix.runner }}][${{ matrix.group }}]
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
|
||||
needs: group_targets
|
||||
runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
needs: [group_targets, seed]
|
||||
if: "!failure() && !cancelled()"
|
||||
strategy:
|
||||
matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
|
||||
fail-fast: false
|
||||
@@ -131,41 +171,35 @@ jobs:
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
# ccache key breakdown:
|
||||
# ccache-<system os>-<system arch>-<builder group>-
|
||||
# ccache-<linux>-<arm64>-<aarch64-0>-
|
||||
# ccache-<linux>-<x64>-<nuttx-0>-
|
||||
- name: Cache Restore from Key
|
||||
id: cc_restore
|
||||
uses: actions/cache/restore@v4
|
||||
- name: Cache - Restore ccache
|
||||
id: ccache-restore
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
|
||||
key: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-
|
||||
ccache-
|
||||
ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-
|
||||
ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.base_ref || 'main' }}-
|
||||
ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-
|
||||
ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-
|
||||
|
||||
- name: Cache Config and Stats
|
||||
- name: Cache - Configure ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = ${{ matrix.cache_size }}" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Building Artifacts for [${{ matrix.targets }}]
|
||||
run: |
|
||||
@@ -176,23 +210,15 @@ jobs:
|
||||
./Tools/ci/package_build_artifacts.sh
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: px4_${{matrix.group}}_build_artifacts
|
||||
path: artifacts/
|
||||
|
||||
- name: Cache Post Build Stats
|
||||
if: always()
|
||||
run: |
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Cache Save
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: success()
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cc_restore.outputs.cache-primary-key }}
|
||||
cache-primary-key: ${{ steps.ccache-restore.outputs.cache-primary-key }}
|
||||
|
||||
# ===========================================================================
|
||||
# ARTIFACT UPLOAD JOB
|
||||
@@ -211,7 +237,7 @@ jobs:
|
||||
uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
@@ -42,9 +42,8 @@ jobs:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
- name: Set PX4 version
|
||||
id: version
|
||||
@@ -138,11 +137,10 @@ jobs:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: false
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Download Noble .deb artifact
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
|
||||
path: docker-context
|
||||
@@ -157,13 +155,13 @@ jobs:
|
||||
echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
uses: docker/setup-buildx-action@v4
|
||||
with:
|
||||
driver: docker-container
|
||||
platforms: ${{ matrix.platform }}
|
||||
|
||||
- name: Build and push container image
|
||||
uses: docker/build-push-action@v6
|
||||
uses: docker/build-push-action@v7
|
||||
with:
|
||||
context: docker-context
|
||||
file: Tools/packaging/${{ matrix.dockerfile }}
|
||||
|
||||
@@ -37,11 +37,9 @@ jobs:
|
||||
]
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
@@ -55,13 +53,16 @@ jobs:
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
permissions:
|
||||
contents: write
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
@@ -80,3 +81,19 @@ jobs:
|
||||
if: always()
|
||||
with:
|
||||
cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
|
||||
|
||||
- name: Auto-update EKF change indication baselines
|
||||
if: github.event_name == 'push'
|
||||
uses: stefanzweifel/git-auto-commit-action@v7
|
||||
with:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
|
||||
commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
|
||||
commit_message: |
|
||||
[AUTO COMMIT] update EKF change indication
|
||||
|
||||
See .github/workflows/checks.yml for more details
|
||||
|
||||
- name: Check for EKF functional changes
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
|
||||
@@ -16,9 +16,51 @@ permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
clang_tidy:
|
||||
# Push-to-main: unchanged historical behavior. Single clang build dir
|
||||
# with BUILD_TESTING=OFF. `make clang-tidy` builds and analyzes every
|
||||
# TU in compile_commands.json. Test files are not in the DB and
|
||||
# therefore never analyzed.
|
||||
clang_tidy_push:
|
||||
name: Clang-Tidy
|
||||
if: github.event_name != 'pull_request'
|
||||
runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
permissions:
|
||||
contents: read
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
id: ccache
|
||||
with:
|
||||
cache-key-prefix: ccache-clang-tidy
|
||||
max-size: 150M
|
||||
|
||||
- name: Build and Analyze - Clang-Tidy
|
||||
run: make -j$(nproc) clang-tidy
|
||||
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: always()
|
||||
with:
|
||||
cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
|
||||
|
||||
# Pull request: diff-based analysis with a second BUILD_TESTING=ON
|
||||
# build dir so test files in the PR diff can be linted by
|
||||
# clang-tidy-diff-18.py with resolved gtest/fuzztest includes.
|
||||
# Results are uploaded as a `pr-review` artifact for the PR Review
|
||||
# Poster workflow to post as inline comments.
|
||||
clang_tidy_pr:
|
||||
name: Clang-Tidy
|
||||
if: github.event_name == 'pull_request'
|
||||
runs-on: [runs-on, runner=8cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
permissions:
|
||||
@@ -40,35 +82,57 @@ jobs:
|
||||
cache-key-prefix: ccache-clang-tidy
|
||||
max-size: 150M
|
||||
|
||||
- name: Build - px4_sitl_default (Clang)
|
||||
run: make -j16 px4_sitl_default-clang
|
||||
# fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
|
||||
# in abseil via FetchContent, and abseil runs a try_compile with
|
||||
# fuzztest's -fsanitize=address flags. The px4-dev container ships
|
||||
# clang but not the clang compiler-rt runtime, so that link fails
|
||||
# and the configure reports a misleading "pthreads not found".
|
||||
# libclang-rt-18-dev provides libclang_rt.asan and friends.
|
||||
- name: Install clang compiler-rt
|
||||
run: |
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends libclang-rt-18-dev
|
||||
|
||||
# `make clang-ci` prepares both clang build directories:
|
||||
# - build/px4_sitl_default-clang: full build, BUILD_TESTING=OFF
|
||||
# (used by run-clang-tidy-pr.py for whole-file analysis of
|
||||
# changed production code)
|
||||
# - build/px4_sitl_default-clang-test: configure-only, BUILD_TESTING=ON
|
||||
# (used by clang-tidy-diff-18.py so test files are in the
|
||||
# compilation database with resolved gtest/fuzztest includes)
|
||||
- name: Build clang SITL
|
||||
run: make -j$(nproc) clang-ci
|
||||
|
||||
- name: Run Clang-Tidy Analysis
|
||||
id: clang_tidy
|
||||
run: |
|
||||
if [ "${{ github.event_name }}" != "pull_request" ]; then
|
||||
make -j$(nproc) clang-tidy
|
||||
else
|
||||
python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
|
||||
fi
|
||||
run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
|
||||
|
||||
# On PRs, also produce a `pr-review` artifact for the PR Review Poster
|
||||
# workflow to consume. clang-tidy-diff-18 emits a unified fixes.yml that
|
||||
# Produce a `pr-review` artifact for the PR Review Poster workflow
|
||||
# to consume. clang-tidy-diff-18 emits a unified fixes.yml that
|
||||
# the producer script translates into line-anchored review comments.
|
||||
# Running this inside the same container as the build means there is no
|
||||
# workspace-path rewriting and no cross-runner artifact handoff.
|
||||
- name: Export clang-tidy fixes for PR review
|
||||
if: always() && github.event_name == 'pull_request'
|
||||
if: always()
|
||||
run: |
|
||||
mkdir -p pr-review
|
||||
git diff -U0 origin/${{ github.base_ref }}...HEAD \
|
||||
| clang-tidy-diff-18.py -p1 \
|
||||
-path build/px4_sitl_default-clang \
|
||||
-export-fixes pr-review/fixes.yml \
|
||||
-j0 || true
|
||||
# Drop changed C/C++ source files that are not in
|
||||
# compile_commands.json for the test-enabled build. Files not
|
||||
# in the DB are platform-specific sources, vendored code, or
|
||||
# submodule code we don't own. Feeding them to clang-tidy-diff
|
||||
# produces false positives from unresolved headers.
|
||||
python3 Tools/ci/clang-tidy-diff-filter.py \
|
||||
--build-dir build/px4_sitl_default-clang-test \
|
||||
--base-ref origin/${{ github.base_ref }} \
|
||||
--out pr-review/diff.patch
|
||||
if [ -s pr-review/diff.patch ]; then
|
||||
clang-tidy-diff-18.py -p1 \
|
||||
-path build/px4_sitl_default-clang-test \
|
||||
-export-fixes pr-review/fixes.yml \
|
||||
-j0 < pr-review/diff.patch || true
|
||||
else
|
||||
echo "No analyzable files in diff; skipping clang-tidy-diff"
|
||||
fi
|
||||
|
||||
- name: Build pr-review artifact
|
||||
if: always() && github.event_name == 'pull_request'
|
||||
if: always()
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
run: |
|
||||
@@ -79,10 +143,10 @@ jobs:
|
||||
--pr-number "${{ github.event.pull_request.number }}" \
|
||||
--commit-sha "${{ github.event.pull_request.head.sha }}" \
|
||||
--out-dir pr-review \
|
||||
--event REQUEST_CHANGES
|
||||
--event COMMENT
|
||||
|
||||
- name: Upload pr-review artifact
|
||||
if: always() && github.event_name == 'pull_request'
|
||||
if: always()
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: pr-review
|
||||
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
@@ -56,7 +56,7 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
@@ -102,7 +102,7 @@ jobs:
|
||||
steps:
|
||||
- name: Checkout
|
||||
if: env.IS_FORK == 'false'
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
sparse-checkout: Tools/ci
|
||||
fetch-depth: 1
|
||||
|
||||
@@ -21,14 +21,14 @@ jobs:
|
||||
runs-on: macos-latest
|
||||
steps:
|
||||
- name: install Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
uses: actions/setup-python@v6
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
- name: Cache - Restore Homebrew Packages
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew/downloads
|
||||
key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
|
||||
@@ -36,7 +36,7 @@ jobs:
|
||||
macos-homebrew-${{ runner.arch }}-
|
||||
|
||||
- name: Cache - Restore pip Packages
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: ~/Library/Caches/pip
|
||||
key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
|
||||
|
||||
@@ -48,7 +48,7 @@ jobs:
|
||||
apt update && apt install git -y
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
- name: Use AWS regional apt mirror
|
||||
if: startsWith(runner.name, 'runs-on--')
|
||||
@@ -63,8 +63,11 @@ jobs:
|
||||
cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
|
||||
max-size: 200M
|
||||
|
||||
- name: Make Quick Check
|
||||
run: make quick_check
|
||||
- name: Build px4_sitl_default
|
||||
run: make px4_sitl_default
|
||||
|
||||
- name: Build px4_fmu-v5_default
|
||||
run: make px4_fmu-v5_default
|
||||
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: always()
|
||||
|
||||
@@ -51,12 +51,11 @@ jobs:
|
||||
meta_labels: ${{ steps.meta.outputs.labels }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v5
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event.inputs.build_ref || github.ref }}
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
# If manual dispatch, take the user‐provided input
|
||||
- name: Set PX4 Tag Version
|
||||
@@ -96,12 +95,11 @@ jobs:
|
||||
runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v5
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event.inputs.build_ref || github.ref }}
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v4
|
||||
@@ -153,12 +151,11 @@ jobs:
|
||||
(startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v5
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event.inputs.build_ref || github.ref }}
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v4
|
||||
|
||||
@@ -46,8 +46,8 @@ jobs:
|
||||
source_changed: ${{ steps.changes.outputs.source }}
|
||||
docs_changed: ${{ steps.changes.outputs.docs }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dorny/paths-filter@v3
|
||||
- uses: actions/checkout@v6
|
||||
- uses: dorny/paths-filter@v4
|
||||
id: changes
|
||||
with:
|
||||
filters: |
|
||||
@@ -73,19 +73,16 @@ jobs:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Cache Restore - ccache
|
||||
id: cache-ccache
|
||||
uses: actions/cache/restore@v4
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
@@ -104,7 +101,7 @@ jobs:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Cache Save - ccache
|
||||
uses: actions/cache/save@v4
|
||||
uses: actions/cache/save@v5
|
||||
if: always()
|
||||
with:
|
||||
path: ~/.ccache
|
||||
@@ -116,7 +113,7 @@ jobs:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Upload metadata artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
@@ -137,7 +134,7 @@ jobs:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
@@ -148,7 +145,7 @@ jobs:
|
||||
|
||||
- name: Cache Restore - ccache
|
||||
id: cache-ccache
|
||||
uses: actions/cache/restore@v4
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-docs-metadata-${{ github.sha }}
|
||||
@@ -167,7 +164,7 @@ jobs:
|
||||
CCACHE_DIR: ~/.ccache
|
||||
|
||||
- name: Cache Save - ccache
|
||||
uses: actions/cache/save@v4
|
||||
uses: actions/cache/save@v5
|
||||
if: always()
|
||||
with:
|
||||
path: ~/.ccache
|
||||
@@ -216,21 +213,21 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Download metadata artifact
|
||||
if: needs.pr-metadata-regen.result == 'success'
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
|
||||
- name: Get changed doc files
|
||||
id: changed-files
|
||||
uses: tj-actions/changed-files@v46.0.5
|
||||
uses: tj-actions/changed-files@v47
|
||||
with:
|
||||
json: true
|
||||
write_output_files: true
|
||||
@@ -247,7 +244,7 @@ jobs:
|
||||
cat ./logs/prFiles.json
|
||||
|
||||
- name: Setup Node.js
|
||||
uses: actions/setup-node@v4
|
||||
uses: actions/setup-node@v6
|
||||
with:
|
||||
node-version: 20
|
||||
|
||||
@@ -301,14 +298,14 @@ jobs:
|
||||
|
||||
- name: Upload pr-comment artifact
|
||||
if: steps.prepare-pr-comment.outputs.prepared == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: pr-comment
|
||||
path: pr-comment/
|
||||
retention-days: 1
|
||||
|
||||
- name: Upload link check results
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: link-check-results
|
||||
path: logs/
|
||||
@@ -333,15 +330,13 @@ jobs:
|
||||
releaseversion: ${{ steps.set-version.outputs.releaseversion }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
|
||||
|
||||
- name: Download metadata artifact (PR)
|
||||
if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
name: pr-metadata
|
||||
path: docs/
|
||||
@@ -365,7 +360,7 @@ jobs:
|
||||
echo "releaseversion=$version" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Setup Node
|
||||
uses: actions/setup-node@v4
|
||||
uses: actions/setup-node@v6
|
||||
with:
|
||||
node-version: 20
|
||||
cache: npm
|
||||
@@ -384,7 +379,7 @@ jobs:
|
||||
npm run docs:sitemap
|
||||
|
||||
- name: Upload artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: docs/.vitepress/dist/
|
||||
@@ -406,7 +401,7 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: ~/_book
|
||||
|
||||
@@ -22,7 +22,7 @@ jobs:
|
||||
lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
- name: Debug Environment Variables
|
||||
run: |
|
||||
echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
|
||||
|
||||
@@ -24,7 +24,7 @@ jobs:
|
||||
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
- name: crowdin push
|
||||
uses: crowdin/github-action@v2
|
||||
with:
|
||||
|
||||
@@ -23,11 +23,10 @@ jobs:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
- name: Setup Node
|
||||
uses: actions/setup-node@v4
|
||||
uses: actions/setup-node@v6
|
||||
with:
|
||||
node-version: 20
|
||||
cache: npm
|
||||
@@ -46,7 +45,7 @@ jobs:
|
||||
|
||||
- name: Upload artifact
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: docs/.vitepress/dist/
|
||||
@@ -59,7 +58,7 @@ jobs:
|
||||
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
uses: actions/download-artifact@v4
|
||||
uses: actions/download-artifact@v8
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: ~/_book
|
||||
|
||||
@@ -1,35 +0,0 @@
|
||||
name: EKF Change Indicator
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --system --add safe.directory '*'
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
@@ -1,54 +0,0 @@
|
||||
name: EKF Update Change Indicator
|
||||
|
||||
on:
|
||||
push:
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:v1.17.0-rc2
|
||||
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --system --add safe.directory '*'
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
run: |
|
||||
if git diff --quiet; then
|
||||
echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: auto-commit any changes to change indication
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
|
||||
commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
|
||||
commit_message: |
|
||||
[AUTO COMMIT] update change indication
|
||||
|
||||
See .github/workflows/ekf_update_change_indicator.yml for more details
|
||||
|
||||
- name: if there is a functional change, fail check
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
run: exit 1
|
||||
@@ -33,22 +33,20 @@ jobs:
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Install Node v20.18.0
|
||||
uses: actions/setup-node@v4
|
||||
uses: actions/setup-node@v6
|
||||
with:
|
||||
node-version: 20.18.0
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Cache - Restore Emscripten SDK
|
||||
id: cache-emsdk
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: _emscripten_sdk
|
||||
key: emsdk-4.0.15
|
||||
|
||||
@@ -37,18 +37,16 @@ jobs:
|
||||
px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Cache - Restore ccache (current)
|
||||
id: cache_current
|
||||
uses: actions/cache/restore@v4
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
|
||||
@@ -79,7 +77,7 @@ jobs:
|
||||
|
||||
- name: Cache - Save ccache (current)
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
uses: actions/cache/save@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cache_current.outputs.cache-primary-key }}
|
||||
@@ -105,7 +103,7 @@ jobs:
|
||||
|
||||
- name: Cache - Restore ccache (baseline)
|
||||
id: cache_baseline
|
||||
uses: actions/cache/restore@v4
|
||||
uses: actions/cache/restore@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
|
||||
@@ -126,7 +124,7 @@ jobs:
|
||||
|
||||
- name: Cache - Save ccache (baseline)
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
uses: actions/cache/save@v5
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
|
||||
@@ -162,7 +160,7 @@ jobs:
|
||||
if: github.event.pull_request
|
||||
steps:
|
||||
- name: Find Comment
|
||||
uses: peter-evans/find-comment@v3
|
||||
uses: peter-evans/find-comment@v4
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
@@ -220,7 +218,7 @@ jobs:
|
||||
env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: pr-comment
|
||||
path: pr-comment/
|
||||
|
||||
@@ -12,19 +12,25 @@ env:
|
||||
|
||||
jobs:
|
||||
Fuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
|
||||
steps:
|
||||
- name: Install Dependencies
|
||||
run: |
|
||||
apt update && apt install -y clang
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- name: Fix git in Container
|
||||
run: |
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
- uses: actions/checkout@v6
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Install clang
|
||||
run: apt-get update && apt-get install -y clang
|
||||
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
id: ccache
|
||||
with:
|
||||
cache-key-prefix: ccache-sitl
|
||||
max-size: 300M
|
||||
|
||||
- name: Build and Run Fuzz Tests
|
||||
run: |
|
||||
@@ -38,7 +44,11 @@ jobs:
|
||||
./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
|
||||
done
|
||||
|
||||
# Create a github issue in case of a failure
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: always()
|
||||
with:
|
||||
cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
|
||||
|
||||
- name: Create Issue
|
||||
if: ${{ failure() }}
|
||||
uses: JasonEtco/create-an-issue@v2
|
||||
|
||||
@@ -47,12 +47,10 @@ jobs:
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Git ownership workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
|
||||
@@ -16,6 +16,6 @@ jobs:
|
||||
pull-requests: write
|
||||
|
||||
steps:
|
||||
- uses: actions/labeler@v5
|
||||
- uses: actions/labeler@v6
|
||||
with:
|
||||
repo-token: "${{ secrets.GITHUB_TOKEN }}"
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
name: MAVROS Mission Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_test_mission.test \
|
||||
mission:=MC_mission_box \
|
||||
vehicle:=iris
|
||||
'
|
||||
@@ -1,46 +0,0 @@
|
||||
name: MAVROS Offboard Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default
|
||||
PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_tests_offboard_posctl.test \
|
||||
vehicle:=iris
|
||||
'
|
||||
@@ -0,0 +1,73 @@
|
||||
name: MAVROS Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
test:
|
||||
name: "MAVROS ${{ matrix.config.name }}"
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
permissions:
|
||||
contents: read
|
||||
container:
|
||||
image: px4io/px4-dev-ros-noetic:2021-09-08
|
||||
env:
|
||||
PX4_SBOM_DISABLE: 1
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
|
||||
- {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Setup - Install Python Test Dependencies
|
||||
run: pip3 install -r Tools/setup/requirements.txt
|
||||
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
id: ccache
|
||||
with:
|
||||
cache-key-prefix: ccache-sitl-gazebo-classic
|
||||
max-size: 350M
|
||||
|
||||
- uses: ./.github/actions/build-gazebo-sitl
|
||||
|
||||
- name: Test - MAVROS ${{ matrix.config.name }}
|
||||
run: |
|
||||
./test/rostest_px4_run.sh \
|
||||
${{ matrix.config.test_file }} \
|
||||
${{ matrix.config.params }}
|
||||
timeout-minutes: 10
|
||||
|
||||
- uses: ./.github/actions/save-ccache
|
||||
if: always()
|
||||
with:
|
||||
cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
|
||||
|
||||
- name: Upload - Failed Test Logs
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: failed-mavros-${{ matrix.config.name }}-logs.zip
|
||||
path: |
|
||||
logs/**/**/**/*.log
|
||||
logs/**/**/**/*.ulg
|
||||
@@ -114,7 +114,7 @@ jobs:
|
||||
|
||||
- name: Download pr-comment artifact
|
||||
id: download
|
||||
uses: actions/github-script@v8
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
|
||||
|
||||
@@ -25,9 +25,11 @@ name: PR Review Poster
|
||||
# 2. `pr_number` is validated to be a positive integer before use.
|
||||
# `marker` is validated to be printable ASCII only before use.
|
||||
# `commit_sha` is validated to be 40 lowercase hex characters.
|
||||
# `event` is validated against an allowlist of `COMMENT` and
|
||||
# `REQUEST_CHANGES`. `APPROVE` is intentionally forbidden so a bot
|
||||
# cannot approve a pull request. Validation happens inside
|
||||
# `event` is validated against an allowlist of `COMMENT` only.
|
||||
# `APPROVE` and `REQUEST_CHANGES` are intentionally forbidden:
|
||||
# bots should not approve PRs, and REQUEST_CHANGES reviews cannot
|
||||
# be dismissed by the GITHUB_TOKEN under branch protection rules.
|
||||
# Validation happens inside
|
||||
# Tools/ci/pr-review-poster.py which is checked out from the base
|
||||
# branch, not from the artifact.
|
||||
#
|
||||
@@ -71,7 +73,7 @@ name: PR Review Poster
|
||||
# {
|
||||
# "pr_number": 12345, // required, int > 0
|
||||
# "marker": "<!-- pr-review-poster:clang-tidy -->", // required, printable ASCII
|
||||
# "event": "REQUEST_CHANGES", // required, "COMMENT" | "REQUEST_CHANGES"
|
||||
# "event": "COMMENT", // required, "COMMENT" only
|
||||
# "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
|
||||
# "summary": "Optional review summary text" // optional
|
||||
# }
|
||||
@@ -136,7 +138,7 @@ jobs:
|
||||
|
||||
- name: Download pr-review artifact
|
||||
id: download
|
||||
uses: actions/github-script@v8
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
|
||||
|
||||
@@ -17,13 +17,12 @@ jobs:
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Setup Python
|
||||
uses: actions/setup-python@v5
|
||||
uses: actions/setup-python@v6
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
|
||||
@@ -31,12 +31,10 @@ jobs:
|
||||
PX4_SBOM_DISABLE: 1
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Git Ownership Workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Update ROS Keys
|
||||
@@ -57,7 +55,7 @@ jobs:
|
||||
|
||||
- name: Cache - Restore Micro-XRCE-DDS Agent
|
||||
id: cache-xrce-agent
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: /opt/Micro-XRCE-DDS-Agent
|
||||
key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08
|
||||
@@ -77,7 +75,7 @@ jobs:
|
||||
|
||||
- name: Cache - Restore PX4 ROS 2 Interface Library Workspace
|
||||
id: cache-px4-ros2-ws
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: /opt/px4_ws
|
||||
# Bump 'v1' when the cached workspace layout changes in a way
|
||||
@@ -134,7 +132,7 @@ jobs:
|
||||
|
||||
- name: Upload failed logs
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: failed-logs.zip
|
||||
path: |
|
||||
|
||||
@@ -35,11 +35,9 @@ jobs:
|
||||
image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ jobs:
|
||||
runs-on: ubuntu-24.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
submodules: false
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
runs-on: ubuntu-24.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ inputs.branch || github.ref }}
|
||||
fetch-depth: 1
|
||||
@@ -51,7 +51,7 @@ jobs:
|
||||
|
||||
- name: Create issue if problems found
|
||||
if: steps.check.outputs.has_issues == 'true'
|
||||
uses: actions/github-script@v7
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const fs = require('fs');
|
||||
|
||||
@@ -43,12 +43,10 @@ jobs:
|
||||
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Git Ownership Workaround
|
||||
- name: Configure Git Safe Directory
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- uses: ./.github/actions/setup-ccache
|
||||
@@ -99,7 +97,7 @@ jobs:
|
||||
|
||||
- name: Upload failed logs
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: failed-${{matrix.config.model}}-logs.zip
|
||||
path: |
|
||||
@@ -113,7 +111,7 @@ jobs:
|
||||
|
||||
- name: Upload PX4 coredump
|
||||
if: failure() && ${{ hashFiles('px4.core') != '' }}
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
@@ -130,7 +128,7 @@ jobs:
|
||||
|
||||
- name: Upload Coverage Information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v4
|
||||
uses: codecov/codecov-action@v6
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavsdk
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
steps:
|
||||
- name: Checkout PX4 repo
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
|
||||
- name: Setup git credentials
|
||||
run: |
|
||||
|
||||
@@ -22,7 +22,7 @@ jobs:
|
||||
TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
|
||||
steps:
|
||||
- name: Checkout PX4 repo
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
fetch-tags: true
|
||||
|
||||
@@ -115,3 +115,6 @@ _emscripten_sdk/
|
||||
|
||||
# virtual Python environment
|
||||
.venv
|
||||
|
||||
# Claude Code local settings
|
||||
.claude/settings.local.json
|
||||
|
||||
@@ -494,7 +494,7 @@ python_coverage:
|
||||
|
||||
# static analyzers (scan-build, clang-tidy, cppcheck)
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
|
||||
.PHONY: scan-build px4_sitl_default-clang px4_sitl_default-clang-test clang-ci clang-tidy clang-tidy-fix
|
||||
.PHONY: cppcheck shellcheck_all validate_module_configs
|
||||
|
||||
scan-build:
|
||||
@@ -512,6 +512,26 @@ px4_sitl_default-clang:
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
|
||||
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
|
||||
|
||||
# Clang SITL configure with BUILD_TESTING=ON so test files land in
|
||||
# compile_commands.json with resolved gtest/fuzztest includes. Used by CI
|
||||
# to produce a compilation database for diff-based clang-tidy that can
|
||||
# lint test files. Configure only: we don't build the test binaries here,
|
||||
# just generate the database.
|
||||
px4_sitl_default-clang-test:
|
||||
@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang-test
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang-test && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_TESTING=ON
|
||||
|
||||
# CI-oriented target that prepares both clang build directories used by
|
||||
# the Static Analysis workflow:
|
||||
# - px4_sitl_default-clang: full build, BUILD_TESTING=OFF.
|
||||
# Used by `make clang-tidy` (push-to-main) and run-clang-tidy-pr.py.
|
||||
# - px4_sitl_default-clang-test: configure-only, BUILD_TESTING=ON.
|
||||
# Used by clang-tidy-diff-18.py so test files are in the
|
||||
# compilation database with resolved gtest/fuzztest includes.
|
||||
# Running one target ensures both dirs exist before any clang-tidy
|
||||
# variant runs, and keeps the workflow free of raw cmake invocations.
|
||||
clang-ci: px4_sitl_default-clang px4_sitl_default-clang-test
|
||||
|
||||
# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
|
||||
# - All submodules (external code we consume, not edit)
|
||||
# - Test code (allowed looser style)
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
# Build All Targets CI Configuration
|
||||
#
|
||||
# Controls board grouping, cache sizes, runner specs, and seeder targets
|
||||
# for the build_all_targets workflow. Forks can customize this file to
|
||||
# adjust for their infrastructure (e.g., lower cache sizes for GitHub's
|
||||
# 10GB cache limit, fewer CPU cores for smaller runners).
|
||||
|
||||
# Container images
|
||||
containers:
|
||||
default: "ghcr.io/px4/px4-dev:v1.17.0-rc2"
|
||||
voxl2: "ghcr.io/px4/px4-dev-voxl2:v1.7"
|
||||
|
||||
# Runner specs
|
||||
runners:
|
||||
seeder_cpu: 8
|
||||
matrix_cpu: 4
|
||||
|
||||
# Default ccache max-size for build groups
|
||||
cache:
|
||||
default_size: "400M"
|
||||
# Per-chip overrides for groups with many diverse boards
|
||||
chip_sizes:
|
||||
stm32h7: "800M"
|
||||
stm32f4: "800M"
|
||||
stm32f7: "800M"
|
||||
imxrt: "800M"
|
||||
|
||||
# Board grouping limits
|
||||
grouping:
|
||||
# Max targets per group, tuned for ~10 min wall-clock with warm cache
|
||||
chip_split_limits:
|
||||
stm32h7: 10
|
||||
stm32f7: 12
|
||||
stm32f4: 20
|
||||
stm32f1: 39
|
||||
imxrt: 12
|
||||
kinetis: 14
|
||||
s32k: 17
|
||||
rp2040: 10
|
||||
special: 10
|
||||
native: 17
|
||||
default_split_limit: 12
|
||||
# Minimum targets for a manufacturer to get a named group
|
||||
lower_limit: 3
|
||||
# If last chunk has fewer targets than this, merge into previous chunk
|
||||
merge_back_threshold: 5
|
||||
|
||||
# Labels that isolate builds into the "special" group
|
||||
special_labels:
|
||||
- lto
|
||||
- protected
|
||||
|
||||
# NXP chip families are pooled under "nxp-{chip}" regardless of board directory
|
||||
nxp_chip_families:
|
||||
- imxrt
|
||||
- kinetis
|
||||
- s32k
|
||||
|
||||
# Seeder targets: one representative build per chip family
|
||||
seeders:
|
||||
stm32h7: "px4_fmu-v6x_default"
|
||||
stm32f7: "px4_fmu-v5_default"
|
||||
stm32f4: "px4_fmu-v4_default"
|
||||
stm32f1: "px4_io-v2_default"
|
||||
imxrt: "nxp_mr-tropic_default"
|
||||
kinetis: "nxp_fmuk66-v3_default"
|
||||
s32k: "nxp_mr-canhubk3_default"
|
||||
rp2040: "raspberrypi_pico_default"
|
||||
special: "px4_fmu-v6x_default"
|
||||
native: "px4_sitl_default"
|
||||
voxl2: "modalai_voxl2_default"
|
||||
@@ -3,7 +3,6 @@
|
||||
# Please only modify if you know what you are doing
|
||||
set -e
|
||||
|
||||
echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
|
||||
targets=$1
|
||||
for target in ${targets//,/ }
|
||||
do
|
||||
@@ -14,6 +13,5 @@ do
|
||||
diff=$(($stop-$start))
|
||||
build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
|
||||
echo -e "\033[0;32mBuild Time: [$build_time]"
|
||||
echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
|
||||
echo "::endgroup::"
|
||||
done
|
||||
|
||||
@@ -0,0 +1,111 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Filter a git diff for consumption by clang-tidy-diff.
|
||||
|
||||
Produces a unified diff containing only files that clang-tidy can
|
||||
actually analyze against the current compilation database:
|
||||
|
||||
- C/C++ source files (.c, .cpp, .cc, .cxx, .m, .mm) must be present
|
||||
in compile_commands.json. Files absent from the database are test
|
||||
files, excluded code, or platform-specific sources that were not
|
||||
compiled. Feeding them to clang-tidy-diff produces spurious
|
||||
"header not found" errors (gtest/gtest.h in particular).
|
||||
|
||||
- Header files (.h, .hpp, .hxx) always pass through. clang-tidy
|
||||
analyzes header changes via the TUs that include them; there is
|
||||
no separate TU for a header to match against the database.
|
||||
|
||||
- All other files (CMakeLists.txt, .yml, .md, etc.) are dropped.
|
||||
|
||||
Output is a unified diff suitable for piping into clang-tidy-diff.py.
|
||||
If nothing remains, the output file is empty.
|
||||
|
||||
Used by .github/workflows/clang-tidy.yml as a pre-filter for the
|
||||
`pr-review` artifact producer. Python stdlib only.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
|
||||
SOURCE_EXTS = {'.c', '.cpp', '.cc', '.cxx', '.m', '.mm'}
|
||||
HEADER_EXTS = {'.h', '.hpp', '.hxx'}
|
||||
|
||||
|
||||
def load_db_files(build_dir):
|
||||
"""Return the set of source paths (repo-relative) in compile_commands.json."""
|
||||
path = os.path.join(build_dir, 'compile_commands.json')
|
||||
with open(path) as f:
|
||||
db = json.load(f)
|
||||
root = os.path.abspath('.')
|
||||
prefix = root + os.sep
|
||||
paths = set()
|
||||
for entry in db:
|
||||
p = entry.get('file', '')
|
||||
if p.startswith(prefix):
|
||||
paths.add(p[len(prefix):])
|
||||
else:
|
||||
# Relative or external path; record as-is
|
||||
paths.add(p)
|
||||
return paths
|
||||
|
||||
|
||||
def changed_files(base_ref):
|
||||
out = subprocess.check_output(
|
||||
['git', 'diff', '--name-only', '{}...HEAD'.format(base_ref)],
|
||||
text=True,
|
||||
)
|
||||
return [line.strip() for line in out.splitlines() if line.strip()]
|
||||
|
||||
|
||||
def keep_file(path, db_files):
|
||||
"""Decide whether to keep this path in the filtered diff."""
|
||||
ext = os.path.splitext(path)[1].lower()
|
||||
if ext in HEADER_EXTS:
|
||||
return True
|
||||
if ext in SOURCE_EXTS:
|
||||
return path in db_files
|
||||
return False
|
||||
|
||||
|
||||
def filtered_diff(base_ref, keep_paths):
|
||||
if not keep_paths:
|
||||
return ''
|
||||
cmd = ['git', 'diff', '-U0', '{}...HEAD'.format(base_ref), '--'] + sorted(keep_paths)
|
||||
return subprocess.check_output(cmd, text=True)
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--build-dir', required=True,
|
||||
help='CMake build dir containing compile_commands.json')
|
||||
parser.add_argument('--base-ref', required=True,
|
||||
help='Git ref to diff against (e.g. origin/main)')
|
||||
parser.add_argument('--out', required=True,
|
||||
help='Output path for the filtered unified diff')
|
||||
args = parser.parse_args()
|
||||
|
||||
db_files = load_db_files(args.build_dir)
|
||||
changed = changed_files(args.base_ref)
|
||||
|
||||
keep = [p for p in changed if keep_file(p, db_files)]
|
||||
dropped = [p for p in changed if p not in keep]
|
||||
|
||||
print('clang-tidy-diff-filter: kept {} of {} changed files'.format(
|
||||
len(keep), len(changed)))
|
||||
if dropped:
|
||||
print(' dropped (not in compile_commands.json or not source/header):')
|
||||
for p in dropped:
|
||||
print(' {}'.format(p))
|
||||
|
||||
diff = filtered_diff(args.base_ref, keep)
|
||||
with open(args.out, 'w') as f:
|
||||
f.write(diff)
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.exit(main())
|
||||
@@ -16,6 +16,7 @@ kconf.warn_assign_override = False
|
||||
kconf.warn_assign_redun = False
|
||||
|
||||
source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
|
||||
boards_dir = os.path.join(source_dir, '..', 'boards')
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate build targets')
|
||||
|
||||
@@ -26,6 +27,8 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
|
||||
parser.add_argument('-g', '--groups', dest='group', action='store_true',
|
||||
help='Groups targets')
|
||||
parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
|
||||
parser.add_argument('-s', '--seeders', dest='seeders', action='store_true',
|
||||
help='Output seeder matrix JSON (one entry per chip family)')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
@@ -35,8 +38,14 @@ if args.filter:
|
||||
for target in args.filter.split(','):
|
||||
target_filter.append(target)
|
||||
|
||||
default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
|
||||
voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
|
||||
# Load CI configuration from YAML
|
||||
import yaml
|
||||
ci_config_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'build_all_config.yml')
|
||||
with open(ci_config_path) as f:
|
||||
ci_config = yaml.safe_load(f)
|
||||
|
||||
default_container = ci_config['containers']['default']
|
||||
voxl2_container = ci_config['containers']['voxl2']
|
||||
build_configs = []
|
||||
grouped_targets = {}
|
||||
excluded_boards = ['px4_ros2', 'espressif_esp32'] # TODO: fix and enable
|
||||
@@ -56,6 +65,71 @@ excluded_labels = [
|
||||
'uavcanv1', # TODO: fix and enable
|
||||
]
|
||||
|
||||
# Labels that mark isolated/special builds (poor cache reuse with normal builds)
|
||||
special_labels = ci_config.get('special_labels', ['lto', 'protected'])
|
||||
|
||||
def detect_chip_family(manufacturer_name, board_name, label):
|
||||
"""Detect the chip family for a board by reading its NuttX defconfig.
|
||||
|
||||
Returns a chip family string used for cache grouping:
|
||||
stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis, s32k, rp2040, native, special
|
||||
"""
|
||||
# Special labels get their own group regardless of chip
|
||||
if label in special_labels:
|
||||
return 'special'
|
||||
|
||||
board_path = os.path.join(boards_dir, manufacturer_name, board_name)
|
||||
nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
|
||||
|
||||
if not os.path.exists(nsh_defconfig):
|
||||
# Try bootloader defconfig as fallback
|
||||
bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
|
||||
if os.path.exists(bl_defconfig):
|
||||
nsh_defconfig = bl_defconfig
|
||||
else:
|
||||
return 'native'
|
||||
|
||||
arch_chip = None
|
||||
specific_chip = None
|
||||
|
||||
with open(nsh_defconfig) as f:
|
||||
for line in f:
|
||||
line = line.strip()
|
||||
if line.startswith('CONFIG_ARCH_CHIP='):
|
||||
arch_chip = line.split('=')[1].strip('"')
|
||||
elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
|
||||
specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
|
||||
|
||||
if arch_chip is None:
|
||||
return 'native'
|
||||
|
||||
# Direct matches for chips that have unique CONFIG_ARCH_CHIP values
|
||||
if arch_chip == 'stm32h7':
|
||||
return 'stm32h7'
|
||||
elif arch_chip == 'stm32f7':
|
||||
return 'stm32f7'
|
||||
elif arch_chip == 'imxrt':
|
||||
return 'imxrt'
|
||||
elif arch_chip == 'kinetis':
|
||||
return 'kinetis'
|
||||
elif arch_chip.startswith('s32k'):
|
||||
return 's32k'
|
||||
elif arch_chip == 'rp2040':
|
||||
return 'rp2040'
|
||||
elif arch_chip == 'stm32':
|
||||
# Disambiguate STM32 sub-families using specific chip define
|
||||
if specific_chip:
|
||||
if specific_chip.startswith('STM32F1'):
|
||||
return 'stm32f1'
|
||||
elif specific_chip.startswith('STM32F4'):
|
||||
return 'stm32f4'
|
||||
else:
|
||||
return 'stm32f4' # Default STM32 to F4
|
||||
return 'stm32f4'
|
||||
else:
|
||||
return 'native'
|
||||
|
||||
target_chip_families = {} # target_name -> chip_family mapping
|
||||
github_action_config = { 'include': build_configs }
|
||||
extra_args = {}
|
||||
if args.pretty:
|
||||
@@ -66,11 +140,21 @@ def chunks(arr, size):
|
||||
for i in range(0, len(arr), size):
|
||||
yield arr[i:i + size]
|
||||
|
||||
MERGE_BACK_THRESHOLD = 5
|
||||
|
||||
def chunks_merged(arr, size):
|
||||
"""Split array into chunks, merging the last chunk back if it's too small."""
|
||||
result = list(chunks(arr, size))
|
||||
if len(result) > 1 and len(result[-1]) < MERGE_BACK_THRESHOLD:
|
||||
result[-2] = result[-2] + result[-1]
|
||||
result.pop()
|
||||
return result
|
||||
|
||||
def comma_targets(targets):
|
||||
# turns array of targets into a comma split string
|
||||
return ",".join(targets)
|
||||
|
||||
def process_target(px4board_file, target_name):
|
||||
def process_target(px4board_file, target_name, manufacturer_name=None, board_dir_name=None, label=None):
|
||||
# reads through the board file and grabs
|
||||
# useful information for building
|
||||
ret = None
|
||||
@@ -107,6 +191,16 @@ def process_target(px4board_file, target_name):
|
||||
if board_name in board_container_overrides:
|
||||
container = board_container_overrides[board_name]
|
||||
|
||||
# Detect chip family for cache grouping
|
||||
chip_family = 'native'
|
||||
if manufacturer_name and board_dir_name:
|
||||
if platform == 'nuttx':
|
||||
chip_family = detect_chip_family(manufacturer_name, board_dir_name, label or '')
|
||||
elif board_name in board_container_overrides or platform in platform_container_overrides:
|
||||
chip_family = 'native' # voxl2/qurt targets
|
||||
else:
|
||||
chip_family = 'native'
|
||||
|
||||
# Boards with container overrides get their own group
|
||||
if board_name in board_container_overrides or platform in platform_container_overrides:
|
||||
group = 'voxl2'
|
||||
@@ -124,7 +218,7 @@ def process_target(px4board_file, target_name):
|
||||
else:
|
||||
if verbose: print(f'unmatched platform: {platform}')
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
ret = {'target': target_name, 'container': container, 'chip_family': chip_family}
|
||||
if(args.group):
|
||||
ret['arch'] = group
|
||||
|
||||
@@ -147,6 +241,8 @@ grouped_targets['base']['container'] = default_container
|
||||
grouped_targets['base']['manufacturers'] = {}
|
||||
grouped_targets['base']['manufacturers']['px4'] = []
|
||||
grouped_targets['base']['manufacturers']['px4'] += metadata_targets
|
||||
for mt in metadata_targets:
|
||||
target_chip_families[mt] = 'native'
|
||||
|
||||
for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
|
||||
if not manufacturer.is_dir():
|
||||
@@ -177,7 +273,10 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
|
||||
if label in excluded_labels:
|
||||
if verbose: print(f'excluding label {label} ({target_name})')
|
||||
continue
|
||||
target = process_target(files.path, target_name)
|
||||
target = process_target(files.path, target_name,
|
||||
manufacturer_name=manufacturer.name,
|
||||
board_dir_name=board.name,
|
||||
label=label)
|
||||
if (args.group and target is not None):
|
||||
if (target['arch'] not in grouped_targets):
|
||||
grouped_targets[target['arch']] = {}
|
||||
@@ -186,6 +285,7 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
|
||||
if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
|
||||
grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
|
||||
grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
|
||||
target_chip_families[target_name] = target['chip_family']
|
||||
if target is not None:
|
||||
build_configs.append(target)
|
||||
|
||||
@@ -246,6 +346,9 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
|
||||
if manufacturer.name not in grouped_targets[group]['manufacturers']:
|
||||
grouped_targets[group]['manufacturers'][manufacturer.name] = []
|
||||
grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
|
||||
# Inherit chip_family from the default target
|
||||
default_chip = target_chip_families.get(default_target, 'native')
|
||||
target_chip_families[deb_target] = default_chip
|
||||
build_configs.append(target_entry)
|
||||
|
||||
if(verbose):
|
||||
@@ -261,109 +364,227 @@ if(verbose):
|
||||
print("===================")
|
||||
|
||||
if (args.group):
|
||||
# if we are using this script for grouping builds
|
||||
# we loop trough the manufacturers list and split their targets
|
||||
# if a manufacturer has more than a LIMIT of boards then we split that
|
||||
# into sub groups such as "arch-manufacturer name-index"
|
||||
# example:
|
||||
# nuttx-px4-0
|
||||
# nuttx-px4-1
|
||||
# nuttx-px4-2
|
||||
# nuttx-ark-0
|
||||
# nuttx-ark-1
|
||||
# if the manufacturer doesn't have more targets than LIMIT then we add
|
||||
# them to a generic group with the following structure "arch-index"
|
||||
# example:
|
||||
# nuttx-0
|
||||
# nuttx-1
|
||||
# Group targets by chip family for better ccache reuse.
|
||||
# Targets sharing the same MCU family (e.g. stm32h7) benefit from
|
||||
# a shared ccache seed since they compile the same NuttX kernel and HAL.
|
||||
#
|
||||
# Grouping strategy:
|
||||
# 1. Collect all targets per (arch, chip_family, manufacturer)
|
||||
# 2. Within each chip_family, large manufacturers get their own groups
|
||||
# named "{manufacturer}-{chip_family}[-N]"
|
||||
# 3. Small manufacturers are merged into "misc-{chip_family}[-N]"
|
||||
# 4. Special groups: "special" (lto/protected/allyes), "io" (stm32f1),
|
||||
# "voxl2-0" (unchanged)
|
||||
# 5. Non-NuttX groups: "base-N", "aarch64-N", "armhf-N" (unchanged)
|
||||
final_groups = []
|
||||
last_man = ''
|
||||
last_arch = ''
|
||||
SPLIT_LIMIT = 10
|
||||
LOWER_LIMIT = 5
|
||||
# Load grouping and cache config
|
||||
grouping_config = ci_config.get('grouping', {})
|
||||
CHIP_SPLIT_LIMITS = grouping_config.get('chip_split_limits', {})
|
||||
DEFAULT_SPLIT_LIMIT = grouping_config.get('default_split_limit', 12)
|
||||
LOWER_LIMIT = grouping_config.get('lower_limit', 3)
|
||||
|
||||
cache_config = ci_config.get('cache', {})
|
||||
DEFAULT_CACHE_SIZE = cache_config.get('default_size', '400M')
|
||||
CHIP_CACHE_SIZES = cache_config.get('chip_sizes', {})
|
||||
|
||||
if(verbose):
|
||||
print(f'=:Architectures: [{grouped_targets.keys()}]')
|
||||
|
||||
for arch in grouped_targets:
|
||||
runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
|
||||
runner = 'x64'
|
||||
# armhf and aarch64 Linux boards need the arm64 container image
|
||||
# which ships the arm-linux-gnueabihf and aarch64-linux-gnu cross compilers
|
||||
# (the x64 container image does not include them)
|
||||
if arch in ('armhf', 'aarch64'):
|
||||
runner = 'arm64'
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}]')
|
||||
temp_group = []
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}]')
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
|
||||
if arch == 'nuttx':
|
||||
# Re-bucket NuttX targets by chip_family then manufacturer
|
||||
chip_man_buckets = {} # (chip_family, manufacturer) -> [target_names]
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
for target in grouped_targets[arch]['manufacturers'][man]:
|
||||
chip = target_chip_families.get(target, 'native')
|
||||
key = (chip, man)
|
||||
if key not in chip_man_buckets:
|
||||
chip_man_buckets[key] = []
|
||||
chip_man_buckets[key].append(target)
|
||||
|
||||
# Collect all chip families present
|
||||
chip_families_seen = sorted(set(k[0] for k in chip_man_buckets.keys()))
|
||||
|
||||
for chip in chip_families_seen:
|
||||
SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get(chip, DEFAULT_SPLIT_LIMIT)
|
||||
# Special naming for certain chip families
|
||||
if chip == 'special':
|
||||
chip_label = 'special'
|
||||
elif chip == 'stm32f1':
|
||||
chip_label = 'io'
|
||||
elif chip == 'rp2040':
|
||||
chip_label = 'special' # rp2040 goes into special group
|
||||
else:
|
||||
chip_label = chip
|
||||
|
||||
# Gather all (manufacturer -> targets) for this chip family
|
||||
# NXP chip families (imxrt, kinetis, s32k) pool all manufacturers
|
||||
# under "nxp" since all boards use NXP silicon regardless of
|
||||
# which directory they live in (e.g., px4/fmu-v6xrt is imxrt).
|
||||
nxp_chips = tuple(ci_config.get('nxp_chip_families', ['imxrt', 'kinetis', 's32k']))
|
||||
man_targets = {}
|
||||
for (c, m), targets in chip_man_buckets.items():
|
||||
if c == chip:
|
||||
man_key = 'nxp' if chip in nxp_chips else m
|
||||
if man_key not in man_targets:
|
||||
man_targets[man_key] = []
|
||||
man_targets[man_key].extend(targets)
|
||||
|
||||
# Merge rp2040 targets into a flat list for the special group
|
||||
if chip in ('special', 'rp2040'):
|
||||
all_targets = []
|
||||
for m in sorted(man_targets.keys()):
|
||||
all_targets.extend(man_targets[m])
|
||||
# These get added to the special bucket below
|
||||
# We'll handle after the chip loop
|
||||
continue
|
||||
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
|
||||
group_name = arch + "-" + man
|
||||
targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(grouped_targets[arch]['manufacturers'][man])
|
||||
})
|
||||
elif(man_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
print(f'=:Processing chip_family: [{chip}] ({chip_label})')
|
||||
|
||||
# Split into large-manufacturer groups and misc groups
|
||||
# For NXP-exclusive chip families, always use the nxp name
|
||||
# regardless of target count (there's no other manufacturer to pool with)
|
||||
force_named = chip in nxp_chips
|
||||
temp_group = [] # small manufacturers pooled here
|
||||
for man in sorted(man_targets.keys()):
|
||||
man_len = len(man_targets[man])
|
||||
if (force_named or man_len > LOWER_LIMIT) and man_len <= SPLIT_LIMIT:
|
||||
group_name = f"{man}-{chip_label}"
|
||||
if(verbose):
|
||||
print(f'=: [{man}][{man_len}] -> {group_name}')
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": comma_targets(man_targets[man]),
|
||||
"arch": arch,
|
||||
"chip_family": chip,
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": man_len,
|
||||
})
|
||||
elif man_len > SPLIT_LIMIT:
|
||||
chunk_counter = 0
|
||||
for chunk in chunks_merged(man_targets[man], SPLIT_LIMIT):
|
||||
group_name = f"{man}-{chip_label}-{chunk_counter}"
|
||||
if(verbose):
|
||||
print(f'=: [{man}][{man_len}] -> {group_name} ({len(chunk)})')
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": comma_targets(chunk),
|
||||
"arch": arch,
|
||||
"chip_family": chip,
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
if(verbose):
|
||||
print(f'=: [{man}][{man_len}] -> misc pool')
|
||||
temp_group.extend(man_targets[man])
|
||||
|
||||
# Emit misc groups for small manufacturers
|
||||
if temp_group:
|
||||
misc_chunks = chunks_merged(temp_group, SPLIT_LIMIT)
|
||||
num_misc_chunks = len(misc_chunks)
|
||||
chunk_counter = 0
|
||||
for chunk in misc_chunks:
|
||||
if num_misc_chunks == 1:
|
||||
group_name = f"misc-{chip_label}"
|
||||
else:
|
||||
group_name = f"misc-{chip_label}-{chunk_counter}"
|
||||
if(verbose):
|
||||
print(f'=: [misc][{len(chunk)}] -> {group_name}')
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": comma_targets(chunk),
|
||||
"arch": arch,
|
||||
"chip_family": chip,
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
|
||||
# Now handle special + rp2040 targets
|
||||
SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('special', DEFAULT_SPLIT_LIMIT)
|
||||
special_targets = []
|
||||
for (c, m), targets in chip_man_buckets.items():
|
||||
if c in ('special', 'rp2040'):
|
||||
special_targets.extend(targets)
|
||||
if special_targets:
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
|
||||
group_name = arch + "-" + man + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
for chunk in chunks_merged(special_targets, SPLIT_LIMIT):
|
||||
if len(special_targets) <= SPLIT_LIMIT:
|
||||
group_name = 'special'
|
||||
else:
|
||||
group_name = f'special-{chunk_counter}'
|
||||
if(verbose):
|
||||
print(f'=: [special][{len(chunk)}] -> {group_name}')
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"targets": comma_targets(chunk),
|
||||
"arch": arch,
|
||||
"chip_family": "special",
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
|
||||
temp_group.extend(grouped_targets[arch]['manufacturers'][man])
|
||||
|
||||
temp_len = len(temp_group)
|
||||
chunk_counter = 0
|
||||
if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": temp_len
|
||||
})
|
||||
elif(temp_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(temp_group, chunk_limit):
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
elif arch == 'voxl2':
|
||||
# VOXL2 stays as its own group
|
||||
all_targets = []
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
all_targets.extend(grouped_targets[arch]['manufacturers'][man])
|
||||
if all_targets:
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"targets": comma_targets(all_targets),
|
||||
"arch": arch,
|
||||
"chip_family": "native",
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
"group": "voxl2-0",
|
||||
"len": len(all_targets),
|
||||
})
|
||||
chunk_counter += 1
|
||||
|
||||
else:
|
||||
# Non-NuttX groups (base, aarch64, armhf) - keep simple grouping
|
||||
SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('native', DEFAULT_SPLIT_LIMIT)
|
||||
all_targets = []
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
all_targets.extend(grouped_targets[arch]['manufacturers'][man])
|
||||
if all_targets:
|
||||
chunk_counter = 0
|
||||
for chunk in chunks_merged(all_targets, SPLIT_LIMIT):
|
||||
if len(all_targets) <= SPLIT_LIMIT:
|
||||
group_name = f"{arch}-0"
|
||||
else:
|
||||
group_name = f"{arch}-{chunk_counter}"
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": comma_targets(chunk),
|
||||
"arch": arch,
|
||||
"chip_family": "native",
|
||||
"runner": runner,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
|
||||
# Add cache_size to each group based on chip family
|
||||
for g in final_groups:
|
||||
g['cache_size'] = CHIP_CACHE_SIZES.get(g['chip_family'], DEFAULT_CACHE_SIZE)
|
||||
|
||||
if(verbose):
|
||||
import pprint
|
||||
print("================")
|
||||
@@ -375,6 +596,58 @@ if (args.group):
|
||||
print("= JSON output =")
|
||||
print("===============")
|
||||
|
||||
print(json.dumps({ "include": final_groups }, **extra_args))
|
||||
if args.seeders:
|
||||
# Generate one seeder entry per chip family present in the groups.
|
||||
# Each seeder builds a representative target to warm the ccache for
|
||||
# all groups sharing that chip family.
|
||||
seeder_targets = ci_config.get('seeders', {})
|
||||
seeder_containers = {
|
||||
'native': default_container,
|
||||
}
|
||||
# Determine which chip families actually have groups
|
||||
active_families = set()
|
||||
for g in final_groups:
|
||||
cf = g['chip_family']
|
||||
active_families.add(cf)
|
||||
# voxl2 gets its own seeder with a different container
|
||||
if g['group'].startswith('voxl2'):
|
||||
active_families.add('voxl2')
|
||||
|
||||
seeders = []
|
||||
for cf in sorted(active_families):
|
||||
if cf == 'special':
|
||||
continue # special group seeds from stm32h7
|
||||
if cf == 'voxl2':
|
||||
seeders.append({
|
||||
'chip_family': 'voxl2',
|
||||
'target': 'modalai_voxl2_default',
|
||||
'container': voxl2_container,
|
||||
'runner': 'x64',
|
||||
})
|
||||
elif cf == 'native':
|
||||
# One seeder per runner arch that has native groups (exclude voxl2
|
||||
# which has its own seeder with a different container)
|
||||
native_runners = set()
|
||||
for g in final_groups:
|
||||
if g['chip_family'] == 'native' and not g['group'].startswith('voxl2'):
|
||||
native_runners.add(g['runner'])
|
||||
for r in sorted(native_runners):
|
||||
seeders.append({
|
||||
'chip_family': 'native',
|
||||
'target': seeder_targets['native'],
|
||||
'container': default_container,
|
||||
'runner': r,
|
||||
})
|
||||
else:
|
||||
seeders.append({
|
||||
'chip_family': cf,
|
||||
'target': seeder_targets.get(cf, seeder_targets['stm32h7']),
|
||||
'container': seeder_containers.get(cf, default_container),
|
||||
'runner': 'x64',
|
||||
})
|
||||
|
||||
print(json.dumps({ "include": seeders }, **extra_args))
|
||||
else:
|
||||
print(json.dumps({ "include": final_groups }, **extra_args))
|
||||
else:
|
||||
print(json.dumps(github_action_config, **extra_args))
|
||||
|
||||
@@ -20,7 +20,7 @@ Artifact contract (directory passed on the command line):
|
||||
{
|
||||
"pr_number": 12345, (required, int > 0)
|
||||
"marker": "<!-- pr-review-poster:clang-tidy -->", (required, printable ASCII)
|
||||
"event": "REQUEST_CHANGES", (required, "COMMENT" | "REQUEST_CHANGES")
|
||||
"event": "COMMENT", (required, "COMMENT" only)
|
||||
"commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
|
||||
"summary": "Optional review body text" (optional)
|
||||
}
|
||||
@@ -34,8 +34,10 @@ Artifact contract (directory passed on the command line):
|
||||
"side": "RIGHT", "start_side": "RIGHT", "body": "..."}
|
||||
]
|
||||
|
||||
Note: an `APPROVE` event is intentionally NOT supported. Bots should never
|
||||
approve a pull request.
|
||||
Note: `APPROVE` and `REQUEST_CHANGES` events are intentionally NOT
|
||||
supported. Bots should never approve a pull request, and REQUEST_CHANGES
|
||||
cannot be dismissed by the GITHUB_TOKEN when branch protection restricts
|
||||
review dismissals, leading to undismissable spam on every push.
|
||||
|
||||
Security: this script is run in a write-token context from a workflow that
|
||||
MUST NOT check out PR code. Both manifest.json and comments.json are
|
||||
@@ -90,7 +92,7 @@ COMMENTS_PER_REVIEW = 10
|
||||
# and cuts user-visible latency.
|
||||
SLEEP_BETWEEN_CHUNKS_SECONDS = 5
|
||||
|
||||
ACCEPTED_EVENTS = ('COMMENT', 'REQUEST_CHANGES')
|
||||
ACCEPTED_EVENTS = ('COMMENT',)
|
||||
ACCEPTED_SIDES = ('LEFT', 'RIGHT')
|
||||
COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')
|
||||
|
||||
@@ -194,8 +196,9 @@ def validate_manifest(directory):
|
||||
|
||||
event = manifest.get('event')
|
||||
if event not in ACCEPTED_EVENTS:
|
||||
_fail('event must be one of {} (got {!r}). APPROVE is intentionally '
|
||||
'forbidden.'.format(', '.join(ACCEPTED_EVENTS), event))
|
||||
_fail('event must be one of {} (got {!r}). APPROVE and '
|
||||
'REQUEST_CHANGES are intentionally forbidden.'.format(
|
||||
', '.join(ACCEPTED_EVENTS), event))
|
||||
|
||||
commit_sha = manifest.get('commit_sha')
|
||||
if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
|
||||
@@ -254,13 +257,17 @@ def find_stale_reviews(client, repo, pr_number, marker):
|
||||
|
||||
|
||||
def dismiss_stale_reviews(client, repo, pr_number, marker):
|
||||
"""Dismiss (or, for PENDING reviews, delete) every stale matching review."""
|
||||
"""Dismiss (or, for PENDING reviews, delete) every stale matching review.
|
||||
|
||||
Returns the number of reviews that could NOT be dismissed (still active).
|
||||
"""
|
||||
dismissal_message = 'Superseded by a newer run'
|
||||
failed_dismissals = 0
|
||||
for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
|
||||
if review_id is None:
|
||||
continue
|
||||
if state == 'DISMISSED':
|
||||
# Already inert; nothing to do.
|
||||
if state in ('DISMISSED', 'COMMENTED'):
|
||||
# Already inert or non-blocking; nothing to do.
|
||||
continue
|
||||
if state == 'PENDING':
|
||||
# PENDING reviews cannot be dismissed; they must be deleted.
|
||||
@@ -271,8 +278,7 @@ def dismiss_stale_reviews(client, repo, pr_number, marker):
|
||||
'repos/{}/pulls/{}/reviews/{}'.format(
|
||||
repo, pr_number, review_id))
|
||||
except RuntimeError as e:
|
||||
# Don't abort the run on dismissal failure: the new review
|
||||
# will still be posted.
|
||||
failed_dismissals += 1
|
||||
print('warning: failed to delete pending review {}: {}'.format(
|
||||
review_id, e), file=sys.stderr)
|
||||
continue
|
||||
@@ -288,8 +294,10 @@ def dismiss_stale_reviews(client, repo, pr_number, marker):
|
||||
},
|
||||
)
|
||||
except RuntimeError as e:
|
||||
failed_dismissals += 1
|
||||
print('warning: failed to dismiss review {}: {}'.format(
|
||||
review_id, e), file=sys.stderr)
|
||||
return failed_dismissals
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -417,12 +425,17 @@ def cmd_post(args):
|
||||
|
||||
try:
|
||||
client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
|
||||
dismiss_stale_reviews(
|
||||
undismissed = dismiss_stale_reviews(
|
||||
client=client,
|
||||
repo=repo,
|
||||
pr_number=result['pr_number'],
|
||||
marker=result['marker'],
|
||||
)
|
||||
|
||||
if undismissed > 0:
|
||||
print('{} prior review(s) could not be dismissed (likely '
|
||||
'branch protection).'.format(undismissed))
|
||||
|
||||
post_review(
|
||||
client=client,
|
||||
repo=repo,
|
||||
|
||||
Binary file not shown.
@@ -1,3 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -1,89 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS2"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_DPS310=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
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_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=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_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
Binary file not shown.
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 319,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the XC-FLY board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "XC-FLY",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
param set-default BAT1_A_PER_V 17
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_V_CHARGED 4.2
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
param set-default BAT1_V_EMPTY 3.2
|
||||
|
||||
param set-default SYS_HAS_MAG 1
|
||||
param set-default PWM_MAIN_TIM0 -4
|
||||
param set-default RC_INPUT_PROTO -1
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 2000
|
||||
param set-default SYS_AUTOSTART 4001
|
||||
param set-default MC_PITCHRATE_K 0.4
|
||||
param set-default MC_ROLLRATE_K 0.35
|
||||
param set-default MC_YAWRATE_K 1.2
|
||||
param set-default MC_YAWRATE_MAX 360
|
||||
param set-default MAV_TYPE 2
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default USB_MAV_MODE 5
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific extras init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# DShot telemetry is always on UART7
|
||||
# dshot telemetry -d /dev/ttyS5
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
board_adc start
|
||||
# heater start
|
||||
|
||||
# BMI088
|
||||
bmi088 -A -R 2 -s start
|
||||
bmi088 -G -R 2 -s start
|
||||
|
||||
# 42688P
|
||||
icm42688p -s start
|
||||
|
||||
# baro
|
||||
dps310 -I start -a 119
|
||||
|
||||
# internal mag
|
||||
ist8310 -I -R 2 start
|
||||
@@ -1,17 +0,0 @@
|
||||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
config BOARD_HAS_PROBES
|
||||
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
|
||||
default y
|
||||
---help---
|
||||
This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
|
||||
|
||||
config BOARD_USE_PROBES
|
||||
bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
|
||||
default n
|
||||
depends on BOARD_HAS_PROBES
|
||||
|
||||
---help---
|
||||
Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers.
|
||||
@@ -1,90 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slam/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0036
|
||||
CONFIG_CDCACM_PRODUCTSTR="XC-FLY XC-SLAM Bootloader"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1B8C
|
||||
CONFIG_CDCACM_VENDORSTR="XC-FLY"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_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_USART6=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_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=300
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,491 +0,0 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/px4_fmu-v6u/include/board.h
|
||||
*
|
||||
* Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
|
||||
* Authors: David Sidrane <david.sidrane@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The MatekH743-Slim board provides the following clock sources:
|
||||
*
|
||||
* X1: 16 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 16 MHz RC factory-trimmed
|
||||
* HSE: 16 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 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 = 16,000,000
|
||||
*
|
||||
* PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* Subject to:
|
||||
*
|
||||
* 1 <= PLLM <= 63
|
||||
* 4 <= PLLN <= 512
|
||||
* 150 MHz <= PLL_VCOL <= 420MHz
|
||||
* 192 MHz <= PLL_VCOH <= 836MHz
|
||||
*
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* CPUCLK = SYSCLK / D1CPRE
|
||||
* Subject to
|
||||
*
|
||||
* PLLP1 = {2, 4, 6, 8, ..., 128}
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_USEHSE
|
||||
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP1EN | \
|
||||
RCC_PLLCFGR_DIVQ1EN | \
|
||||
RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP2EN | \
|
||||
RCC_PLLCFGR_DIVQ2EN | \
|
||||
RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1)
|
||||
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */
|
||||
#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */
|
||||
#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timer clock frequencies */
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Kernel Clock Configuration
|
||||
*
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
|
||||
/* I2C123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
|
||||
|
||||
/* I2C4 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
|
||||
/* SPI123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
|
||||
|
||||
/* SPI45 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2
|
||||
|
||||
/* SPI6 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2
|
||||
|
||||
/* USB 1 and 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3
|
||||
|
||||
/* ADC 1 2 3 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 clock source */
|
||||
|
||||
// #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
* Vcore MAX ACLK WAIT STATES
|
||||
* ------------ ---------- -----------
|
||||
* 1.15-1.26 V 70 MHz 0
|
||||
* (VOS1 level) 140 MHz 1
|
||||
* 210 MHz 2
|
||||
* 1.05-1.15 V 55 MHz 0
|
||||
* (VOS2 level) 110 MHz 1
|
||||
* 165 MHz 2
|
||||
* 220 MHz 3
|
||||
* 0.95-1.05 V 45 MHz 0
|
||||
* (VOS3 level) 90 MHz 1
|
||||
* 135 MHz 2
|
||||
* 180 MHz 3
|
||||
* 225 MHz 4
|
||||
* ------------ ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
|
||||
/* Init 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 board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
|
||||
* that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_LED3 2
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
#define BOARD_LED3_BIT (1 << BOARD_LED3)
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ---------------------- -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/* Thus if the Green LED is statically on, NuttX has successfully booted and
|
||||
* is, apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PBA10 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */
|
||||
#define GPIO_USART1_CK GPIO_USART1_CK /* PB8 NC */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_CK GPIO_USART2_CK_2 /* PD7 NC */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_CK GPIO_USART3_CK_3 /* PD10 NC */
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_3 /* PB8 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PB9 */
|
||||
|
||||
#define GPIO_UART5_RX GPIO_UART5_RX_1 /* PB12 */
|
||||
#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */
|
||||
|
||||
#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 NC */
|
||||
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
|
||||
|
||||
/* SPI
|
||||
*
|
||||
|
||||
*/
|
||||
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */
|
||||
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */
|
||||
#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */
|
||||
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
#define GPIO_SPI4_SCK ADJ_SLEW_RATE(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)
|
||||
|
||||
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1 /* PD12 */
|
||||
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1 /* PD13 */
|
||||
|
||||
#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
|
||||
#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
/* SDMMC1
|
||||
*
|
||||
* SDMMC1_D0 PC8
|
||||
* SDMMC1_D1 PC9
|
||||
* SDMMC1_D2 PC10
|
||||
* SDMMC1_D3 PC11
|
||||
* SDMMC1_CK PC12
|
||||
* SDMMC1_CMD PD2
|
||||
*/
|
||||
|
||||
// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */
|
||||
// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */
|
||||
// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */
|
||||
// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */
|
||||
// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */
|
||||
// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */
|
||||
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
// #if defined(CONFIG_BOARD_USE_PROBES)
|
||||
// # include "stm32_gpio.h"
|
||||
// # define PROBE_N(n) (1<<((n)-1))
|
||||
// # define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */
|
||||
// # define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */
|
||||
// # define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */
|
||||
// # define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */
|
||||
// # define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */
|
||||
// # define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */
|
||||
// # define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */
|
||||
// # define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */
|
||||
// # define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */
|
||||
|
||||
// # define PROBE_INIT(mask) \
|
||||
// do { \
|
||||
// if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
// if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
// if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
// if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
|
||||
// if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
|
||||
// if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
|
||||
// if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
|
||||
// if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
|
||||
// if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
|
||||
// } while(0)
|
||||
|
||||
// # define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
// # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
// #else
|
||||
// # define PROBE_INIT(mask)
|
||||
// # define PROBE(n,s)
|
||||
// # define PROBE_MARK(n)
|
||||
// #endif
|
||||
|
||||
#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */
|
||||
@@ -1,62 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
// #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
|
||||
// #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
|
||||
|
||||
#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
|
||||
#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
|
||||
|
||||
// DMAMUX2
|
||||
// #define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */
|
||||
// #define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */
|
||||
|
||||
// #define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
|
||||
// #define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
|
||||
|
||||
//TODO: UART DMA test
|
||||
// #define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_1 /*DMA2:41*/
|
||||
// #define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_1 /*DMA2:42*/
|
||||
|
||||
// #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */
|
||||
// #define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */
|
||||
|
||||
// #define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */
|
||||
// #define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */
|
||||
|
||||
#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA1:63 */
|
||||
#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA1:64 */
|
||||
|
||||
// #define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_0 /* DMA1:65 */
|
||||
// #define DMAMAP_UART5_TX DMAMAP_DMA12_UART5RX_0 /* DMA1:66 */
|
||||
@@ -1,268 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slam/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_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=0x0036
|
||||
CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743v2"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1B8C
|
||||
CONFIG_CDCACM_VENDORSTR="X-MAV"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_NCHAINS=24
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_IOB=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_MTD_W25=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_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_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC2=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLASH_OVERRIDE_I=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI2_DMA=y
|
||||
CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
|
||||
CONFIG_STM32H7_SPI3=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM2=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART5=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_UART4_BAUD=921600
|
||||
CONFIG_UART4_RXBUFSIZE=3000
|
||||
CONFIG_UART4_RXDMA=y
|
||||
CONFIG_UART4_TXBUFSIZE=3000
|
||||
CONFIG_UART4_TXDMA=y
|
||||
CONFIG_UART5_BAUD=57600
|
||||
CONFIG_UART5_RXBUFSIZE=600
|
||||
CONFIG_UART5_TXBUFSIZE=1500
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=3000
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=3000
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=3000
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=180
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=180
|
||||
CONFIG_USART6_SERIAL_CONSOLE=y
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
CONFIG_WQUEUE_NOTIFIER=y
|
||||
@@ -1,213 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,228 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* There's a switch on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
|
||||
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
|
||||
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > FLASH
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > FLASH
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,69 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
bootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
mtd.cpp
|
||||
)
|
||||
# add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -1,234 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* Board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
# define GPIO_nLED_RED /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
|
||||
# define GPIO_nLED_GREEN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
|
||||
# define GPIO_nLED_BLUE /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
|
||||
|
||||
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
# define BOARD_OVERLOAD_LED LED_RED
|
||||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
|
||||
|
||||
#define ADC12_CH(n) (n)
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC4 */ GPIO_ADC12_INP4, \
|
||||
/* PC5 */ GPIO_ADC12_INP8
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(4)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(8)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (1.6f)
|
||||
|
||||
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
// #define BOARD_BATTERY1_A_PER_V (40.0f)
|
||||
// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
|
||||
|
||||
|
||||
// /* HEATER PA15 TIM2_CH1
|
||||
// * PWM in future
|
||||
// */
|
||||
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
|
||||
|
||||
|
||||
|
||||
|
||||
/* Spare GPIO */
|
||||
#define GPIO_PA4 /* PA4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN4)
|
||||
#define GPIO_PC0 /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
|
||||
#define GPIO_PC1 /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||||
/* Tone alarm output */
|
||||
|
||||
#define TONE_ALARM_TIMER 2 /* Timer 2*/
|
||||
#define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1 NC */
|
||||
/*NC can be modified with Spare GPIO then connected with hardware */
|
||||
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PE15 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PE15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN15)
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
// #define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||
// #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
|
||||
|
||||
/* 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
|
||||
*/
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* 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 { \
|
||||
GPIO_CAN1_TX,\
|
||||
GPIO_CAN1_RX, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_PC0, \
|
||||
GPIO_PC1, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,75 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file 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();
|
||||
}
|
||||
@@ -1,505 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file flash_w25q128.c
|
||||
*
|
||||
* Board-specific external flash W25Q128 functions.
|
||||
*/
|
||||
|
||||
|
||||
#include "board_config.h"
|
||||
#include "qspi.h"
|
||||
#include "arm_internal.h"
|
||||
#include <assert.h>
|
||||
#include <debug.h>
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#define N25Q128_SECTOR_SIZE (4*1024)
|
||||
#define N25Q128_SECTOR_SHIFT (12)
|
||||
#define N25Q128_SECTOR_COUNT (4096)
|
||||
#define N25Q128_PAGE_SIZE (256)
|
||||
#define N25Q128_PAGE_SHIFT (8)
|
||||
|
||||
#define W25Q_DUMMY_CYCLES_FAST_READ_QUAD 6
|
||||
#define W25Q_INSTR_FAST_READ_QUAD 0xEB
|
||||
#define W25Q_ADDRESS_SIZE 3 // 3 bytes -> 24 bits
|
||||
|
||||
#define N25QXXX_READ_STATUS 0x05 /* Read status register: *
|
||||
* 0x05 | SR */
|
||||
#define N25QXXX_PAGE_PROGRAM 0x02 /* Page Program: *
|
||||
* 0x02 | ADDR(MS) | ADDR(MID) | *
|
||||
* ADDR(LS) | data */
|
||||
#define N25QXXX_WRITE_ENABLE 0x06 /* Write enable: *
|
||||
* 0x06 */
|
||||
#define N25QXXX_WRITE_DISABLE 0x04 /* Write disable command code: *
|
||||
* 0x04 */
|
||||
#define N25QXXX_SUBSECTOR_ERASE 0x20 /* Sub-sector Erase (4 kB) *
|
||||
* 0x20 | ADDR(MS) | ADDR(MID) | *
|
||||
* ADDR(LS) */
|
||||
|
||||
|
||||
/* N25QXXX Registers ****************************************************************/
|
||||
/* Status register bit definitions */
|
||||
|
||||
#define STATUS_BUSY_MASK (1 << 0) /* Bit 0: Device ready/busy status */
|
||||
# define STATUS_READY (0 << 0) /* 0 = Not Busy */
|
||||
# define STATUS_BUSY (1 << 0) /* 1 = Busy */
|
||||
#define STATUS_WEL_MASK (1 << 1) /* Bit 1: Write enable latch status */
|
||||
# define STATUS_WEL_DISABLED (0 << 1) /* 0 = Not Write Enabled */
|
||||
# define STATUS_WEL_ENABLED (1 << 1) /* 1 = Write Enabled */
|
||||
#define STATUS_BP_SHIFT (2) /* Bits 2-4: Block protect bits */
|
||||
#define STATUS_BP_MASK (7 << STATUS_BP_SHIFT)
|
||||
# define STATUS_BP_NONE (0 << STATUS_BP_SHIFT)
|
||||
# define STATUS_BP_ALL (7 << STATUS_BP_SHIFT)
|
||||
#define STATUS_TB_MASK (1 << 5) /* Bit 5: Top / Bottom Protect */
|
||||
# define STATUS_TB_TOP (0 << 5) /* 0 = BP2-BP0 protect Top down */
|
||||
# define STATUS_TB_BOTTOM (1 << 5) /* 1 = BP2-BP0 protect Bottom up */
|
||||
#define STATUS_BP3_MASK (1 << 5) /* Bit 6: BP3 */
|
||||
#define STATUS_SRP0_MASK (1 << 7) /* Bit 7: Status register protect 0 */
|
||||
# define STATUS_SRP0_UNLOCKED (0 << 7) /* 0 = WP# no effect / PS Lock Down */
|
||||
# define STATUS_SRP0_LOCKED (1 << 7) /* 1 = WP# protect / OTP Lock Down */
|
||||
|
||||
/************************************************************************************
|
||||
* Private Types
|
||||
************************************************************************************/
|
||||
|
||||
/* This type represents the state of the MTD device. The struct mtd_dev_s must
|
||||
* appear at the beginning of the definition so that you can freely cast between
|
||||
* pointers to struct mtd_dev_s and struct n25qxxx_dev_s.
|
||||
*/
|
||||
|
||||
struct n25qxxx_dev_s {
|
||||
//struct mtd_dev_s mtd; /* MTD interface */
|
||||
FAR struct qspi_dev_s *qspi; /* Saved QuadSPI interface instance */
|
||||
uint16_t nsectors; /* Number of erase sectors */
|
||||
uint8_t sectorshift; /* Log2 of sector size */
|
||||
uint8_t pageshift; /* Log2 of page size */
|
||||
FAR uint8_t *cmdbuf; /* Allocated command buffer */
|
||||
FAR uint8_t *readbuf; /* Allocated status read buffer */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct qspi_dev_s *ptr_qspi_dev;
|
||||
struct qspi_meminfo_s qspi_meminfo = {
|
||||
.flags = QSPIMEM_QUADIO,
|
||||
.addrlen = W25Q_ADDRESS_SIZE,
|
||||
.dummies = W25Q_DUMMY_CYCLES_FAST_READ_QUAD,
|
||||
.cmd = W25Q_INSTR_FAST_READ_QUAD
|
||||
};
|
||||
|
||||
struct n25qxxx_dev_s n25qxxx_dev;
|
||||
uint8_t cmdbuf[4] = {0u};
|
||||
uint8_t readbuf[1] = {0u};
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd);
|
||||
__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv);
|
||||
__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
FAR void *buffer, size_t buflen);
|
||||
__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv);
|
||||
__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv);
|
||||
|
||||
__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer,
|
||||
off_t address, size_t buflen);
|
||||
|
||||
__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo);
|
||||
|
||||
__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector);
|
||||
|
||||
__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status,
|
||||
off_t address);
|
||||
|
||||
__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
off_t addr, uint8_t addrlen);
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
void flash_w25q128_init(void)
|
||||
{
|
||||
int qspi_interface_number = 0;
|
||||
ptr_qspi_dev = stm32h7_qspi_initialize(qspi_interface_number);
|
||||
n25qxxx_dev.qspi = ptr_qspi_dev;
|
||||
n25qxxx_dev.cmdbuf = cmdbuf;
|
||||
n25qxxx_dev.readbuf = readbuf;
|
||||
n25qxxx_dev.sectorshift = N25Q128_SECTOR_SHIFT;
|
||||
n25qxxx_dev.pageshift = N25Q128_PAGE_SHIFT;
|
||||
n25qxxx_dev.nsectors = N25Q128_SECTOR_COUNT;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_getpage(size_t addr)
|
||||
{
|
||||
ssize_t page_address = (addr - STM32_FMC_BANK4) / N25Q128_SECTOR_COUNT;
|
||||
|
||||
return page_address;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_eraseblock(size_t block)
|
||||
{
|
||||
ssize_t size = N25Q128_SECTOR_COUNT;
|
||||
|
||||
irqstate_t irqstate = px4_enter_critical_section();
|
||||
stm32h7_qspi_exit_memorymapped(ptr_qspi_dev);
|
||||
|
||||
n25qxxx_erase_sector(&n25qxxx_dev, block);
|
||||
|
||||
stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0);
|
||||
px4_leave_critical_section(irqstate);
|
||||
return size;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_write(size_t addr, FAR const void *buf, size_t count)
|
||||
{
|
||||
ssize_t ret_val = 0;
|
||||
|
||||
irqstate_t irqstate = px4_enter_critical_section();
|
||||
stm32h7_qspi_exit_memorymapped(ptr_qspi_dev);
|
||||
|
||||
addr &= 0xFFFFFF;
|
||||
n25qxxx_write_page(&n25qxxx_dev, buf, (off_t)addr, count);
|
||||
|
||||
stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0);
|
||||
px4_leave_critical_section(irqstate);
|
||||
|
||||
return ret_val;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 "\n", cmd);
|
||||
|
||||
cmdinfo.flags = 0;
|
||||
cmdinfo.addrlen = 0;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = 0;
|
||||
cmdinfo.addr = 0;
|
||||
cmdinfo.buffer = NULL;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_read_status
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
DEBUGVERIFY(n25qxxx_command_read(priv->qspi, N25QXXX_READ_STATUS,
|
||||
(FAR void *)&priv->readbuf[0], 1));
|
||||
return priv->readbuf[0];
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command_read
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
FAR void *buffer, size_t buflen)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 " buflen: %zu\n", cmd, buflen);
|
||||
|
||||
cmdinfo.flags = QSPICMD_READDATA;
|
||||
cmdinfo.addrlen = 0;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = buflen;
|
||||
cmdinfo.addr = 0;
|
||||
cmdinfo.buffer = buffer;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_enable
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
uint8_t status;
|
||||
|
||||
do {
|
||||
n25qxxx_command(priv->qspi, N25QXXX_WRITE_ENABLE);
|
||||
status = n25qxxx_read_status(priv);
|
||||
} while ((status & STATUS_WEL_MASK) != STATUS_WEL_ENABLED);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_disable
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
uint8_t status;
|
||||
|
||||
do {
|
||||
n25qxxx_command(priv->qspi, N25QXXX_WRITE_DISABLE);
|
||||
status = n25qxxx_read_status(priv);
|
||||
} while ((status & STATUS_WEL_MASK) != STATUS_WEL_DISABLED);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_page
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer,
|
||||
off_t address, size_t buflen)
|
||||
{
|
||||
struct qspi_meminfo_s meminfo;
|
||||
unsigned int pagesize;
|
||||
unsigned int npages;
|
||||
unsigned int firstpagesize = 0;
|
||||
int ret = OK;
|
||||
unsigned int i;
|
||||
|
||||
finfo("address: %08jx buflen: %zu\n", (intmax_t)address, buflen);
|
||||
|
||||
pagesize = (1 << priv->pageshift);
|
||||
|
||||
/* Set up non-varying parts of transfer description */
|
||||
|
||||
meminfo.flags = QSPIMEM_WRITE;
|
||||
meminfo.cmd = N25QXXX_PAGE_PROGRAM;
|
||||
meminfo.addrlen = 3;
|
||||
meminfo.dummies = 0;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
|
||||
if (0 != (address % pagesize)) {
|
||||
firstpagesize = pagesize - (address % pagesize);
|
||||
}
|
||||
|
||||
if (buflen <= firstpagesize) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buflen = buflen;
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
} else {
|
||||
|
||||
if (firstpagesize > 0) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buflen = firstpagesize;
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
buffer += firstpagesize;
|
||||
address += firstpagesize;
|
||||
buflen -= firstpagesize;
|
||||
}
|
||||
|
||||
npages = (buflen >> priv->pageshift);
|
||||
|
||||
meminfo.buflen = pagesize;
|
||||
|
||||
/* Then write each page */
|
||||
|
||||
for (i = 0; (i < npages) && (ret == OK); i++) {
|
||||
/* Set up varying parts of the transfer description */
|
||||
|
||||
meminfo.addr = address;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
/* Update for the next time through the loop */
|
||||
|
||||
buffer += pagesize;
|
||||
address += pagesize;
|
||||
buflen -= pagesize;
|
||||
}
|
||||
|
||||
if ((ret == OK) && (buflen > 0)) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
meminfo.buflen = buflen;
|
||||
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo)
|
||||
{
|
||||
int ret;
|
||||
|
||||
n25qxxx_write_enable(priv);
|
||||
ret = qspi_memory(priv->qspi, meminfo);
|
||||
n25qxxx_write_disable(priv);
|
||||
|
||||
if (ret < 0) {
|
||||
ferr("ERROR: QSPI_MEMORY failed writing address=%06" PRIx32 "\n",
|
||||
meminfo->addr);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_erase_sector
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector)
|
||||
{
|
||||
off_t address;
|
||||
uint8_t status;
|
||||
|
||||
finfo("sector: %08jx\n", (intmax_t) sector);
|
||||
|
||||
/* Check that the flash is ready and unprotected */
|
||||
|
||||
status = n25qxxx_read_status(priv);
|
||||
|
||||
if ((status & STATUS_BUSY_MASK) != STATUS_READY) {
|
||||
ferr("ERROR: Flash busy: %02" PRIx8, status);
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* Get the address associated with the sector */
|
||||
|
||||
address = (off_t)sector << priv->sectorshift;
|
||||
|
||||
if ((status & (STATUS_BP3_MASK | STATUS_BP_MASK)) != 0 &&
|
||||
n25qxxx_isprotected(priv, status, address)) {
|
||||
ferr("ERROR: Flash protected: %02" PRIx8, status);
|
||||
return -EACCES;
|
||||
}
|
||||
|
||||
/* Send the sector erase command */
|
||||
|
||||
n25qxxx_write_enable(priv);
|
||||
n25qxxx_command_address(priv->qspi, N25QXXX_SUBSECTOR_ERASE, address, 3);
|
||||
|
||||
/* Wait for erasure to finish */
|
||||
|
||||
while ((n25qxxx_read_status(priv) & STATUS_BUSY_MASK) != 0);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_isprotected
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status,
|
||||
off_t address)
|
||||
{
|
||||
off_t protstart;
|
||||
off_t protend;
|
||||
off_t protsize;
|
||||
unsigned int bp;
|
||||
|
||||
/* The BP field is spread across non-contiguous bits */
|
||||
|
||||
bp = (status & STATUS_BP_MASK) >> STATUS_BP_SHIFT;
|
||||
|
||||
if (status & STATUS_BP3_MASK) {
|
||||
bp |= 8;
|
||||
}
|
||||
|
||||
/* the BP field is essentially the power-of-two of the number of 64k sectors,
|
||||
* saturated to the device size.
|
||||
*/
|
||||
|
||||
if (0 == bp) {
|
||||
return false;
|
||||
}
|
||||
|
||||
protsize = 0x00010000;
|
||||
protsize <<= (protsize << (bp - 1));
|
||||
protend = (1 << priv->sectorshift) * priv->nsectors;
|
||||
|
||||
if (protsize > protend) {
|
||||
protsize = protend;
|
||||
}
|
||||
|
||||
/* The final protection range then depends on if the protection region is
|
||||
* configured top-down or bottom up (assuming CMP=0).
|
||||
*/
|
||||
|
||||
if ((status & STATUS_TB_MASK) != 0) {
|
||||
protstart = 0x00000000;
|
||||
protend = protstart + protsize;
|
||||
|
||||
} else {
|
||||
protstart = protend - protsize;
|
||||
/* protend already computed above */
|
||||
}
|
||||
|
||||
return (address >= protstart && address < protend);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command_address
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
off_t addr, uint8_t addrlen)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 " Address: %04jx addrlen=%" PRIx8 "\n", cmd, (intmax_t) addr, addrlen);
|
||||
|
||||
cmdinfo.flags = QSPICMD_ADDRESS;
|
||||
cmdinfo.addrlen = addrlen;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = 0;
|
||||
cmdinfo.addr = addr;
|
||||
cmdinfo.buffer = NULL;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
@@ -1,135 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016:
|
||||
* To simplify the ripple effect on the tools, we will be using
|
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
|
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL "
|
||||
* in the USBDEVICESTRING
|
||||
* This Change will be made in an upcoming BL release
|
||||
****************************************************************************/
|
||||
/*
|
||||
* Define usage to configure a bootloader
|
||||
*
|
||||
*
|
||||
* Constant example Usage
|
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
|
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
|
||||
* BOARD_FMUV2
|
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
|
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
|
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
|
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig
|
||||
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
|
||||
* delay provided by an APP FW
|
||||
* BOARD_TYPE 9 - Must match .prototype boad_id
|
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
|
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
|
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
|
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
|
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
|
||||
* programmatically
|
||||
*
|
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
|
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
|
||||
* during a FW upgrade.
|
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
|
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device.
|
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined
|
||||
* in the table.
|
||||
*
|
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
|
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from
|
||||
* BOARD_FLASH_SIZE to determine the size of the App FW
|
||||
* and hence the address space of FLASH to erase and program.
|
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
|
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
|
||||
*
|
||||
* * Other defines are somewhat self explanatory.
|
||||
*/
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
|
||||
#define APP_LOAD_ADDRESS 0x08020000
|
||||
#define BOOTLOADER_DELAY 5000
|
||||
#define INTERFACE_USB 1
|
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
|
||||
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 6
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS5,57600"
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 319
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 16
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED // RED
|
||||
#define BOARD_LED_ON 1
|
||||
#define BOARD_LED_OFF 0
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH)
|
||||
# define ARCH_SN_MAX_LENGTH 12
|
||||
#endif
|
||||
|
||||
#if !defined(APP_RESERVATION_SIZE)
|
||||
# define APP_RESERVATION_SIZE 0
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
|
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
|
||||
#endif
|
||||
|
||||
#if !defined(USB_DATA_ALIGN)
|
||||
# define USB_DATA_ALIGN
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION
|
||||
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB
|
||||
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
@@ -1,39 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusExternal(4),
|
||||
};
|
||||
@@ -1,210 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* FMU-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
/*
|
||||
* On resets invoked from system (not boot) ensure we establish a low
|
||||
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
|
||||
* spinning up the motors.
|
||||
*/
|
||||
if (status >= 0) {
|
||||
up_mdelay(100);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX;
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Need hrt running before using the ADC */
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_BLUE);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
int ret = stm32_sdio_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_BLUE);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// TODO：internal flash store parameters
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{15, 128 * 1024, 0x081E0000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from arm_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
GPIO_nLED_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
|
||||
}
|
||||
@@ -1,131 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018-2021 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 manifest.c
|
||||
*
|
||||
* This module supplies the interface to the manifest of hardware that is
|
||||
* optional and dependent on the HW REV and HW VER IDs
|
||||
*
|
||||
* The manifest allows the system to know whether a hardware option
|
||||
* say for example the PX4IO is an no-pop option vs it is broken.
|
||||
*
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <stdbool.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include "systemlib/px4_macros.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
typedef struct {
|
||||
uint32_t hw_ver_rev; /* the version and revision */
|
||||
const px4_hw_mft_item_t *mft; /* The first entry */
|
||||
uint32_t entries; /* the length of the list */
|
||||
} px4_hw_mft_list_entry_t;
|
||||
|
||||
typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
|
||||
#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
|
||||
|
||||
static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
|
||||
|
||||
// List of components on a specific board configuration
|
||||
// The index of those components is given by the enum (px4_hw_mft_item_id_t)
|
||||
// declared in board_common.h
|
||||
static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
|
||||
{
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_unknown,
|
||||
},
|
||||
};
|
||||
|
||||
static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_query_manifest
|
||||
*
|
||||
* Description:
|
||||
* Optional returns manifest item.
|
||||
*
|
||||
* Input Parameters:
|
||||
* manifest_id - the ID for the manifest item to retrieve
|
||||
*
|
||||
* Returned Value:
|
||||
* 0 - item is not in manifest => assume legacy operations
|
||||
* pointer to a manifest item
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
|
||||
{
|
||||
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
|
||||
|
||||
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||
uint32_t ver_rev = board_get_hw_version() << 16;
|
||||
ver_rev |= board_get_hw_revision();
|
||||
|
||||
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
|
||||
if (mft_lists[i].hw_ver_rev == ver_rev) {
|
||||
boards_manifest = &mft_lists[i];
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
|
||||
}
|
||||
}
|
||||
|
||||
px4_hw_mft_item rv = &device_unsupported;
|
||||
|
||||
if (boards_manifest != px4_hw_mft_list_uninitialized &&
|
||||
id < boards_manifest->entries) {
|
||||
rv = &boards_manifest->mft[id];
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
//TODO:Prepare for NxtDual
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
// KiB BS nB
|
||||
static const px4_mft_device_t spi2 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
|
||||
.bus_type = px4_mft_device_t::SPI,
|
||||
.devid = SPIDEV_FLASH(2) // SPIDEV_FLASH(0)
|
||||
};
|
||||
|
||||
static const px4_mtd_entry_t fmum_flash = {
|
||||
.device = &spi2,
|
||||
.npart = 1,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_PARAMETERS,
|
||||
.path = "/fs/mtd_params",
|
||||
.nblocks = 32
|
||||
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 1,
|
||||
.entries = {
|
||||
&fmum_flash
|
||||
}
|
||||
};
|
||||
|
||||
static const px4_mft_entry_s mtd_mft = {
|
||||
.type = MTD,
|
||||
.pmft = (void *) &board_mtd_config,
|
||||
};
|
||||
|
||||
static const px4_mft_s mft = {
|
||||
.nmft = 1,
|
||||
.mfts = {
|
||||
&mtd_mft
|
||||
}
|
||||
};
|
||||
|
||||
const px4_mft_s *board_get_manifest(void)
|
||||
{
|
||||
return &mft;
|
||||
}
|
||||
@@ -1,177 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present;
|
||||
|
||||
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
@@ -1,55 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin3}, SPI::DRDY{GPIO::PortA, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin0}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(SPIDEV_FLASH(2), SPI::CS{GPIO::PortD, GPIO::Pin4})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
//initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin15})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -1,61 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*
|
||||
* * TIM2_CH1 T HEATER > PWM OUT or GPIO PA15
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
|
||||
// initIOTimer(Timer::Timer2),
|
||||
// initIOTimer(Timer::Timer3),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
|
||||
|
||||
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
#include <stm32_otg.h>
|
||||
#include <debug.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -1,3 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -1,89 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS2"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_DPS310=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
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_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=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_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
Binary file not shown.
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 319,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the XC-FLY board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "XC-FLY",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
param set-default BAT1_A_PER_V 17
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_V_CHARGED 4.2
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
param set-default BAT1_V_EMPTY 3.2
|
||||
|
||||
param set-default SYS_HAS_MAG 1
|
||||
param set-default PWM_MAIN_TIM0 -4
|
||||
param set-default RC_INPUT_PROTO -1
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 2000
|
||||
param set-default SYS_AUTOSTART 4001
|
||||
param set-default MC_PITCHRATE_K 0.4
|
||||
param set-default MC_ROLLRATE_K 0.35
|
||||
param set-default MC_YAWRATE_K 1.2
|
||||
param set-default MC_YAWRATE_MAX 360
|
||||
param set-default MAV_TYPE 2
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default USB_MAV_MODE 5
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific extras init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# DShot telemetry is always on UART7
|
||||
# dshot telemetry -d /dev/ttyS5
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
board_adc start
|
||||
# heater start
|
||||
|
||||
# BMI088
|
||||
bmi088 -A -R 2 -s start
|
||||
bmi088 -G -R 2 -s start
|
||||
|
||||
# 42688P
|
||||
icm42688p -s start
|
||||
|
||||
# baro
|
||||
dps310 -I start -a 119
|
||||
|
||||
# internal mag
|
||||
ist8310 -I -R 2 start
|
||||
@@ -1,17 +0,0 @@
|
||||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
config BOARD_HAS_PROBES
|
||||
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
|
||||
default y
|
||||
---help---
|
||||
This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
|
||||
|
||||
config BOARD_USE_PROBES
|
||||
bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
|
||||
default n
|
||||
depends on BOARD_HAS_PROBES
|
||||
|
||||
---help---
|
||||
Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers.
|
||||
@@ -1,90 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slim/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0036
|
||||
CONFIG_CDCACM_PRODUCTSTR="XC-FLY XC-SLIM Bootloader"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1B8C
|
||||
CONFIG_CDCACM_VENDORSTR="XC-FLY"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_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_USART6=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_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=300
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,491 +0,0 @@
|
||||
/************************************************************************************
|
||||
* nuttx-configs/px4_fmu-v6u/include/board.h
|
||||
*
|
||||
* Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
|
||||
* Authors: David Sidrane <david.sidrane@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
|
||||
#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The MatekH743-Slim board provides the following clock sources:
|
||||
*
|
||||
* X1: 16 MHz crystal for HSE
|
||||
*
|
||||
* So we have these clock source available within the STM32
|
||||
*
|
||||
* HSI: 16 MHz RC factory-trimmed
|
||||
* HSE: 16 MHz crystal for HSE
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 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 = 16,000,000
|
||||
*
|
||||
* PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* Subject to:
|
||||
*
|
||||
* 1 <= PLLM <= 63
|
||||
* 4 <= PLLN <= 512
|
||||
* 150 MHz <= PLL_VCOL <= 420MHz
|
||||
* 192 MHz <= PLL_VCOH <= 836MHz
|
||||
*
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* CPUCLK = SYSCLK / D1CPRE
|
||||
* Subject to
|
||||
*
|
||||
* PLLP1 = {2, 4, 6, 8, ..., 128}
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_USEHSE
|
||||
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP1EN | \
|
||||
RCC_PLLCFGR_DIVQ1EN | \
|
||||
RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(1)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(120)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 1) * 120)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVP2EN | \
|
||||
RCC_PLLCFGR_DIVQ2EN | \
|
||||
RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
|
||||
RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
|
||||
RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(2)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 48)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1)
|
||||
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
|
||||
*/
|
||||
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */
|
||||
#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
|
||||
|
||||
#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */
|
||||
#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timer clock frequencies */
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Kernel Clock Configuration
|
||||
*
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
|
||||
/* I2C123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
|
||||
|
||||
/* I2C4 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
|
||||
/* SPI123 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
|
||||
|
||||
/* SPI45 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2
|
||||
|
||||
/* SPI6 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2
|
||||
|
||||
/* USB 1 and 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3
|
||||
|
||||
/* ADC 1 2 3 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 clock source */
|
||||
|
||||
// #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
* Vcore MAX ACLK WAIT STATES
|
||||
* ------------ ---------- -----------
|
||||
* 1.15-1.26 V 70 MHz 0
|
||||
* (VOS1 level) 140 MHz 1
|
||||
* 210 MHz 2
|
||||
* 1.05-1.15 V 55 MHz 0
|
||||
* (VOS2 level) 110 MHz 1
|
||||
* 165 MHz 2
|
||||
* 220 MHz 3
|
||||
* 0.95-1.05 V 45 MHz 0
|
||||
* (VOS3 level) 90 MHz 1
|
||||
* 135 MHz 2
|
||||
* 180 MHz 3
|
||||
* 225 MHz 4
|
||||
* ------------ ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
|
||||
/* Init 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 board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
|
||||
* that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with board_userled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_LED3 2
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
|
||||
/* LED bits for use with board_userled_all() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
#define BOARD_LED3_BIT (1 << BOARD_LED3)
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ---------------------- -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/* Thus if the Green LED is statically on, NuttX has successfully booted and
|
||||
* is, apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PBA10 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PA9 */
|
||||
#define GPIO_USART1_CK GPIO_USART1_CK /* PB8 NC */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_CK GPIO_USART2_CK_2 /* PD7 NC */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_CK GPIO_USART3_CK_3 /* PD10 NC */
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_3 /* PB8 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PB9 */
|
||||
|
||||
#define GPIO_UART5_RX GPIO_UART5_RX_1 /* PB12 */
|
||||
#define GPIO_UART5_TX GPIO_UART5_TX_1 /* PB13 */
|
||||
|
||||
#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 NC */
|
||||
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
|
||||
|
||||
/* SPI
|
||||
*
|
||||
|
||||
*/
|
||||
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */
|
||||
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1 /* PB4 */
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */
|
||||
#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */
|
||||
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
#define GPIO_SPI4_SCK ADJ_SLEW_RATE(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)
|
||||
|
||||
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1 /* PD12 */
|
||||
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1 /* PD13 */
|
||||
|
||||
#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
|
||||
#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
/* SDMMC1
|
||||
*
|
||||
* SDMMC1_D0 PC8
|
||||
* SDMMC1_D1 PC9
|
||||
* SDMMC1_D2 PC10
|
||||
* SDMMC1_D3 PC11
|
||||
* SDMMC1_CK PC12
|
||||
* SDMMC1_CMD PD2
|
||||
*/
|
||||
|
||||
// #define GPIO_SDMMC1_D0 GPIO_SDMMC1_D0 /* PC8 */
|
||||
// #define GPIO_SDMMC1_D1 GPIO_SDMMC1_D1 /* PC9 */
|
||||
// #define GPIO_SDMMC1_D2 GPIO_SDMMC1_D2 /* PC10 */
|
||||
// #define GPIO_SDMMC1_D3 GPIO_SDMMC1_D3 /* PC11 */
|
||||
// #define GPIO_SDMMC1_CK GPIO_SDMMC1_CK /* PC12 */
|
||||
// #define GPIO_SDMMC1_CMD GPIO_SDMMC1_CMD /* PD2 */
|
||||
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
// #if defined(CONFIG_BOARD_USE_PROBES)
|
||||
// # include "stm32_gpio.h"
|
||||
// # define PROBE_N(n) (1<<((n)-1))
|
||||
// # define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0) /* PI0 AUX1 */
|
||||
// # define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12) /* PH12 AUX2 */
|
||||
// # define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11) /* PH11 AUX3 */
|
||||
// # define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* PH10 AUX4 */
|
||||
// # define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */
|
||||
// # define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */
|
||||
// # define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 AUX7 */
|
||||
// # define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 AUX8 */
|
||||
// # define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 CAP1 */
|
||||
|
||||
// # define PROBE_INIT(mask) \
|
||||
// do { \
|
||||
// if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
// if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
// if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
// if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
|
||||
// if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
|
||||
// if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
|
||||
// if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
|
||||
// if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
|
||||
// if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
|
||||
// } while(0)
|
||||
|
||||
// # define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
// # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
// #else
|
||||
// # define PROBE_INIT(mask)
|
||||
// # define PROBE(n,s)
|
||||
// # define PROBE_MARK(n)
|
||||
// #endif
|
||||
|
||||
#endif /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H */
|
||||
@@ -1,62 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
// #define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
|
||||
// #define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
|
||||
|
||||
#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
|
||||
#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
|
||||
|
||||
// DMAMUX2
|
||||
// #define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */
|
||||
// #define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */
|
||||
|
||||
// #define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
|
||||
// #define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
|
||||
|
||||
//TODO: UART DMA test
|
||||
// #define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_1 /*DMA2:41*/
|
||||
// #define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_1 /*DMA2:42*/
|
||||
|
||||
// #define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */
|
||||
// #define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */
|
||||
|
||||
// #define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */
|
||||
// #define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */
|
||||
|
||||
#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_1 /* DMA1:63 */
|
||||
#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_1 /* DMA1:64 */
|
||||
|
||||
// #define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_0 /* DMA1:65 */
|
||||
// #define DMAMAP_UART5_TX DMAMAP_DMA12_UART5RX_0 /* DMA1:66 */
|
||||
@@ -1,268 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slim/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743VI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_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=0x0036
|
||||
CONFIG_CDCACM_PRODUCTSTR="XC-FLY XC-SLIM"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x1B8C
|
||||
CONFIG_CDCACM_VENDORSTR="XC-FLY"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=3194
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_NCHAINS=24
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_IOB=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_MTD_W25=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_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_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC2=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLASH_OVERRIDE_I=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI2_DMA=y
|
||||
CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
|
||||
CONFIG_STM32H7_SPI3=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM2=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART5=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_UART4_BAUD=921600
|
||||
CONFIG_UART4_RXBUFSIZE=3000
|
||||
CONFIG_UART4_RXDMA=y
|
||||
CONFIG_UART4_TXBUFSIZE=3000
|
||||
CONFIG_UART4_TXDMA=y
|
||||
CONFIG_UART5_BAUD=57600
|
||||
CONFIG_UART5_RXBUFSIZE=600
|
||||
CONFIG_UART5_TXBUFSIZE=1500
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=3000
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=3000
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=3000
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=180
|
||||
CONFIG_USART3_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=180
|
||||
CONFIG_USART6_SERIAL_CONSOLE=y
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_WATCHDOG=y
|
||||
CONFIG_WQUEUE_NOTIFIER=y
|
||||
@@ -1,213 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
|
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,228 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
* 1) User Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
|
||||
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
|
||||
*
|
||||
* 2) System Flash memory:
|
||||
*
|
||||
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
|
||||
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
|
||||
*
|
||||
* 3) User option bytes for user configuration, only in Bank 1.
|
||||
*
|
||||
* In the STM32H743II, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash memory at 0x0800:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* There's a switch on board, the BOOT0 pin is at ground so by default,
|
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
|
||||
* drepresed, then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
* The STM32H743ZI also has 1024Kb of data SRAM.
|
||||
* SRAM is split up into several blocks and into three power domains:
|
||||
*
|
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
|
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
|
||||
*
|
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
|
||||
*
|
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
|
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time
|
||||
* data, such as interrupt service routines or stack / heap memory.
|
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations)
|
||||
* thanks to the Cortex-M7 dual issue capability.
|
||||
*
|
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
|
||||
*
|
||||
* This RAM is connected to ITCM 64-bit interface designed for
|
||||
* execution of critical real-times routines by the CPU.
|
||||
*
|
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
|
||||
* through D1 domain AXI bus matrix
|
||||
*
|
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
|
||||
*
|
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
|
||||
* through D2 domain AHB bus matrix
|
||||
*
|
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
|
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
|
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
|
||||
*
|
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
|
||||
*
|
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters
|
||||
* through D3 domain AHB bus matrix
|
||||
*
|
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
|
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
|
||||
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
|
||||
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
|
||||
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(32);
|
||||
/*
|
||||
This signature provides the bootloader with a way to delay booting
|
||||
*/
|
||||
_bootdelay_signature = ABSOLUTE(.);
|
||||
FILL(0xffecc2925d7d05c5)
|
||||
. += 8;
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > FLASH
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > FLASH
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,69 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
bootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
mtd.cpp
|
||||
)
|
||||
# add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -1,234 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* Board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
# define GPIO_nLED_RED /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
|
||||
# define GPIO_nLED_GREEN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
|
||||
# define GPIO_nLED_BLUE /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
|
||||
|
||||
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
# define BOARD_OVERLOAD_LED LED_RED
|
||||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
|
||||
|
||||
#define ADC12_CH(n) (n)
|
||||
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC4 */ GPIO_ADC12_INP4, \
|
||||
/* PC5 */ GPIO_ADC12_INP8
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(4)
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(8)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
#define BOARD_ADC_OPEN_CIRCUIT_V (1.6f)
|
||||
|
||||
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
// #define BOARD_BATTERY1_A_PER_V (40.0f)
|
||||
// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
|
||||
|
||||
|
||||
// /* HEATER PA15 TIM2_CH1
|
||||
// * PWM in future
|
||||
// */
|
||||
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
|
||||
|
||||
|
||||
|
||||
|
||||
/* Spare GPIO */
|
||||
#define GPIO_PA4 /* PA4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN4)
|
||||
#define GPIO_PC0 /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
|
||||
#define GPIO_PC1 /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||||
/* Tone alarm output */
|
||||
|
||||
#define TONE_ALARM_TIMER 2 /* Timer 2*/
|
||||
#define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1 NC */
|
||||
/*NC can be modified with Spare GPIO then connected with hardware */
|
||||
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PE15 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PE15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN15)
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
// #define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||
// #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
|
||||
|
||||
/* 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
|
||||
*/
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* 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 { \
|
||||
GPIO_CAN1_TX,\
|
||||
GPIO_CAN1_RX, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_PC0, \
|
||||
GPIO_PC1, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,75 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file 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();
|
||||
}
|
||||
@@ -1,505 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file flash_w25q128.c
|
||||
*
|
||||
* Board-specific external flash W25Q128 functions.
|
||||
*/
|
||||
|
||||
|
||||
#include "board_config.h"
|
||||
#include "qspi.h"
|
||||
#include "arm_internal.h"
|
||||
#include <assert.h>
|
||||
#include <debug.h>
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#define N25Q128_SECTOR_SIZE (4*1024)
|
||||
#define N25Q128_SECTOR_SHIFT (12)
|
||||
#define N25Q128_SECTOR_COUNT (4096)
|
||||
#define N25Q128_PAGE_SIZE (256)
|
||||
#define N25Q128_PAGE_SHIFT (8)
|
||||
|
||||
#define W25Q_DUMMY_CYCLES_FAST_READ_QUAD 6
|
||||
#define W25Q_INSTR_FAST_READ_QUAD 0xEB
|
||||
#define W25Q_ADDRESS_SIZE 3 // 3 bytes -> 24 bits
|
||||
|
||||
#define N25QXXX_READ_STATUS 0x05 /* Read status register: *
|
||||
* 0x05 | SR */
|
||||
#define N25QXXX_PAGE_PROGRAM 0x02 /* Page Program: *
|
||||
* 0x02 | ADDR(MS) | ADDR(MID) | *
|
||||
* ADDR(LS) | data */
|
||||
#define N25QXXX_WRITE_ENABLE 0x06 /* Write enable: *
|
||||
* 0x06 */
|
||||
#define N25QXXX_WRITE_DISABLE 0x04 /* Write disable command code: *
|
||||
* 0x04 */
|
||||
#define N25QXXX_SUBSECTOR_ERASE 0x20 /* Sub-sector Erase (4 kB) *
|
||||
* 0x20 | ADDR(MS) | ADDR(MID) | *
|
||||
* ADDR(LS) */
|
||||
|
||||
|
||||
/* N25QXXX Registers ****************************************************************/
|
||||
/* Status register bit definitions */
|
||||
|
||||
#define STATUS_BUSY_MASK (1 << 0) /* Bit 0: Device ready/busy status */
|
||||
# define STATUS_READY (0 << 0) /* 0 = Not Busy */
|
||||
# define STATUS_BUSY (1 << 0) /* 1 = Busy */
|
||||
#define STATUS_WEL_MASK (1 << 1) /* Bit 1: Write enable latch status */
|
||||
# define STATUS_WEL_DISABLED (0 << 1) /* 0 = Not Write Enabled */
|
||||
# define STATUS_WEL_ENABLED (1 << 1) /* 1 = Write Enabled */
|
||||
#define STATUS_BP_SHIFT (2) /* Bits 2-4: Block protect bits */
|
||||
#define STATUS_BP_MASK (7 << STATUS_BP_SHIFT)
|
||||
# define STATUS_BP_NONE (0 << STATUS_BP_SHIFT)
|
||||
# define STATUS_BP_ALL (7 << STATUS_BP_SHIFT)
|
||||
#define STATUS_TB_MASK (1 << 5) /* Bit 5: Top / Bottom Protect */
|
||||
# define STATUS_TB_TOP (0 << 5) /* 0 = BP2-BP0 protect Top down */
|
||||
# define STATUS_TB_BOTTOM (1 << 5) /* 1 = BP2-BP0 protect Bottom up */
|
||||
#define STATUS_BP3_MASK (1 << 5) /* Bit 6: BP3 */
|
||||
#define STATUS_SRP0_MASK (1 << 7) /* Bit 7: Status register protect 0 */
|
||||
# define STATUS_SRP0_UNLOCKED (0 << 7) /* 0 = WP# no effect / PS Lock Down */
|
||||
# define STATUS_SRP0_LOCKED (1 << 7) /* 1 = WP# protect / OTP Lock Down */
|
||||
|
||||
/************************************************************************************
|
||||
* Private Types
|
||||
************************************************************************************/
|
||||
|
||||
/* This type represents the state of the MTD device. The struct mtd_dev_s must
|
||||
* appear at the beginning of the definition so that you can freely cast between
|
||||
* pointers to struct mtd_dev_s and struct n25qxxx_dev_s.
|
||||
*/
|
||||
|
||||
struct n25qxxx_dev_s {
|
||||
//struct mtd_dev_s mtd; /* MTD interface */
|
||||
FAR struct qspi_dev_s *qspi; /* Saved QuadSPI interface instance */
|
||||
uint16_t nsectors; /* Number of erase sectors */
|
||||
uint8_t sectorshift; /* Log2 of sector size */
|
||||
uint8_t pageshift; /* Log2 of page size */
|
||||
FAR uint8_t *cmdbuf; /* Allocated command buffer */
|
||||
FAR uint8_t *readbuf; /* Allocated status read buffer */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct qspi_dev_s *ptr_qspi_dev;
|
||||
struct qspi_meminfo_s qspi_meminfo = {
|
||||
.flags = QSPIMEM_QUADIO,
|
||||
.addrlen = W25Q_ADDRESS_SIZE,
|
||||
.dummies = W25Q_DUMMY_CYCLES_FAST_READ_QUAD,
|
||||
.cmd = W25Q_INSTR_FAST_READ_QUAD
|
||||
};
|
||||
|
||||
struct n25qxxx_dev_s n25qxxx_dev;
|
||||
uint8_t cmdbuf[4] = {0u};
|
||||
uint8_t readbuf[1] = {0u};
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd);
|
||||
__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv);
|
||||
__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
FAR void *buffer, size_t buflen);
|
||||
__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv);
|
||||
__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv);
|
||||
|
||||
__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer,
|
||||
off_t address, size_t buflen);
|
||||
|
||||
__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo);
|
||||
|
||||
__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector);
|
||||
|
||||
__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status,
|
||||
off_t address);
|
||||
|
||||
__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
off_t addr, uint8_t addrlen);
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
void flash_w25q128_init(void)
|
||||
{
|
||||
int qspi_interface_number = 0;
|
||||
ptr_qspi_dev = stm32h7_qspi_initialize(qspi_interface_number);
|
||||
n25qxxx_dev.qspi = ptr_qspi_dev;
|
||||
n25qxxx_dev.cmdbuf = cmdbuf;
|
||||
n25qxxx_dev.readbuf = readbuf;
|
||||
n25qxxx_dev.sectorshift = N25Q128_SECTOR_SHIFT;
|
||||
n25qxxx_dev.pageshift = N25Q128_PAGE_SHIFT;
|
||||
n25qxxx_dev.nsectors = N25Q128_SECTOR_COUNT;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_getpage(size_t addr)
|
||||
{
|
||||
ssize_t page_address = (addr - STM32_FMC_BANK4) / N25Q128_SECTOR_COUNT;
|
||||
|
||||
return page_address;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_eraseblock(size_t block)
|
||||
{
|
||||
ssize_t size = N25Q128_SECTOR_COUNT;
|
||||
|
||||
irqstate_t irqstate = px4_enter_critical_section();
|
||||
stm32h7_qspi_exit_memorymapped(ptr_qspi_dev);
|
||||
|
||||
n25qxxx_erase_sector(&n25qxxx_dev, block);
|
||||
|
||||
stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0);
|
||||
px4_leave_critical_section(irqstate);
|
||||
return size;
|
||||
}
|
||||
|
||||
__ramfunc__ ssize_t up_progmem_ext_write(size_t addr, FAR const void *buf, size_t count)
|
||||
{
|
||||
ssize_t ret_val = 0;
|
||||
|
||||
irqstate_t irqstate = px4_enter_critical_section();
|
||||
stm32h7_qspi_exit_memorymapped(ptr_qspi_dev);
|
||||
|
||||
addr &= 0xFFFFFF;
|
||||
n25qxxx_write_page(&n25qxxx_dev, buf, (off_t)addr, count);
|
||||
|
||||
stm32h7_qspi_enter_memorymapped(ptr_qspi_dev, &qspi_meminfo, 0);
|
||||
px4_leave_critical_section(irqstate);
|
||||
|
||||
return ret_val;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command(FAR struct qspi_dev_s *qspi, uint8_t cmd)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 "\n", cmd);
|
||||
|
||||
cmdinfo.flags = 0;
|
||||
cmdinfo.addrlen = 0;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = 0;
|
||||
cmdinfo.addr = 0;
|
||||
cmdinfo.buffer = NULL;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_read_status
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ uint8_t n25qxxx_read_status(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
DEBUGVERIFY(n25qxxx_command_read(priv->qspi, N25QXXX_READ_STATUS,
|
||||
(FAR void *)&priv->readbuf[0], 1));
|
||||
return priv->readbuf[0];
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command_read
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command_read(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
FAR void *buffer, size_t buflen)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 " buflen: %zu\n", cmd, buflen);
|
||||
|
||||
cmdinfo.flags = QSPICMD_READDATA;
|
||||
cmdinfo.addrlen = 0;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = buflen;
|
||||
cmdinfo.addr = 0;
|
||||
cmdinfo.buffer = buffer;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_enable
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ void n25qxxx_write_enable(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
uint8_t status;
|
||||
|
||||
do {
|
||||
n25qxxx_command(priv->qspi, N25QXXX_WRITE_ENABLE);
|
||||
status = n25qxxx_read_status(priv);
|
||||
} while ((status & STATUS_WEL_MASK) != STATUS_WEL_ENABLED);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_disable
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ void n25qxxx_write_disable(FAR struct n25qxxx_dev_s *priv)
|
||||
{
|
||||
uint8_t status;
|
||||
|
||||
do {
|
||||
n25qxxx_command(priv->qspi, N25QXXX_WRITE_DISABLE);
|
||||
status = n25qxxx_read_status(priv);
|
||||
} while ((status & STATUS_WEL_MASK) != STATUS_WEL_DISABLED);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_write_page
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_write_page(struct n25qxxx_dev_s *priv, FAR const uint8_t *buffer,
|
||||
off_t address, size_t buflen)
|
||||
{
|
||||
struct qspi_meminfo_s meminfo;
|
||||
unsigned int pagesize;
|
||||
unsigned int npages;
|
||||
unsigned int firstpagesize = 0;
|
||||
int ret = OK;
|
||||
unsigned int i;
|
||||
|
||||
finfo("address: %08jx buflen: %zu\n", (intmax_t)address, buflen);
|
||||
|
||||
pagesize = (1 << priv->pageshift);
|
||||
|
||||
/* Set up non-varying parts of transfer description */
|
||||
|
||||
meminfo.flags = QSPIMEM_WRITE;
|
||||
meminfo.cmd = N25QXXX_PAGE_PROGRAM;
|
||||
meminfo.addrlen = 3;
|
||||
meminfo.dummies = 0;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
|
||||
if (0 != (address % pagesize)) {
|
||||
firstpagesize = pagesize - (address % pagesize);
|
||||
}
|
||||
|
||||
if (buflen <= firstpagesize) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buflen = buflen;
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
} else {
|
||||
|
||||
if (firstpagesize > 0) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buflen = firstpagesize;
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
buffer += firstpagesize;
|
||||
address += firstpagesize;
|
||||
buflen -= firstpagesize;
|
||||
}
|
||||
|
||||
npages = (buflen >> priv->pageshift);
|
||||
|
||||
meminfo.buflen = pagesize;
|
||||
|
||||
/* Then write each page */
|
||||
|
||||
for (i = 0; (i < npages) && (ret == OK); i++) {
|
||||
/* Set up varying parts of the transfer description */
|
||||
|
||||
meminfo.addr = address;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
|
||||
/* Update for the next time through the loop */
|
||||
|
||||
buffer += pagesize;
|
||||
address += pagesize;
|
||||
buflen -= pagesize;
|
||||
}
|
||||
|
||||
if ((ret == OK) && (buflen > 0)) {
|
||||
meminfo.addr = address;
|
||||
meminfo.buffer = (void *)buffer;
|
||||
meminfo.buflen = buflen;
|
||||
|
||||
ret = n25qxxx_write_one_page(priv, &meminfo);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
__ramfunc__ int n25qxxx_write_one_page(struct n25qxxx_dev_s *priv, struct qspi_meminfo_s *meminfo)
|
||||
{
|
||||
int ret;
|
||||
|
||||
n25qxxx_write_enable(priv);
|
||||
ret = qspi_memory(priv->qspi, meminfo);
|
||||
n25qxxx_write_disable(priv);
|
||||
|
||||
if (ret < 0) {
|
||||
ferr("ERROR: QSPI_MEMORY failed writing address=%06" PRIx32 "\n",
|
||||
meminfo->addr);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_erase_sector
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_erase_sector(struct n25qxxx_dev_s *priv, off_t sector)
|
||||
{
|
||||
off_t address;
|
||||
uint8_t status;
|
||||
|
||||
finfo("sector: %08jx\n", (intmax_t) sector);
|
||||
|
||||
/* Check that the flash is ready and unprotected */
|
||||
|
||||
status = n25qxxx_read_status(priv);
|
||||
|
||||
if ((status & STATUS_BUSY_MASK) != STATUS_READY) {
|
||||
ferr("ERROR: Flash busy: %02" PRIx8, status);
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* Get the address associated with the sector */
|
||||
|
||||
address = (off_t)sector << priv->sectorshift;
|
||||
|
||||
if ((status & (STATUS_BP3_MASK | STATUS_BP_MASK)) != 0 &&
|
||||
n25qxxx_isprotected(priv, status, address)) {
|
||||
ferr("ERROR: Flash protected: %02" PRIx8, status);
|
||||
return -EACCES;
|
||||
}
|
||||
|
||||
/* Send the sector erase command */
|
||||
|
||||
n25qxxx_write_enable(priv);
|
||||
n25qxxx_command_address(priv->qspi, N25QXXX_SUBSECTOR_ERASE, address, 3);
|
||||
|
||||
/* Wait for erasure to finish */
|
||||
|
||||
while ((n25qxxx_read_status(priv) & STATUS_BUSY_MASK) != 0);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_isprotected
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ bool n25qxxx_isprotected(FAR struct n25qxxx_dev_s *priv, uint8_t status,
|
||||
off_t address)
|
||||
{
|
||||
off_t protstart;
|
||||
off_t protend;
|
||||
off_t protsize;
|
||||
unsigned int bp;
|
||||
|
||||
/* The BP field is spread across non-contiguous bits */
|
||||
|
||||
bp = (status & STATUS_BP_MASK) >> STATUS_BP_SHIFT;
|
||||
|
||||
if (status & STATUS_BP3_MASK) {
|
||||
bp |= 8;
|
||||
}
|
||||
|
||||
/* the BP field is essentially the power-of-two of the number of 64k sectors,
|
||||
* saturated to the device size.
|
||||
*/
|
||||
|
||||
if (0 == bp) {
|
||||
return false;
|
||||
}
|
||||
|
||||
protsize = 0x00010000;
|
||||
protsize <<= (protsize << (bp - 1));
|
||||
protend = (1 << priv->sectorshift) * priv->nsectors;
|
||||
|
||||
if (protsize > protend) {
|
||||
protsize = protend;
|
||||
}
|
||||
|
||||
/* The final protection range then depends on if the protection region is
|
||||
* configured top-down or bottom up (assuming CMP=0).
|
||||
*/
|
||||
|
||||
if ((status & STATUS_TB_MASK) != 0) {
|
||||
protstart = 0x00000000;
|
||||
protend = protstart + protsize;
|
||||
|
||||
} else {
|
||||
protstart = protend - protsize;
|
||||
/* protend already computed above */
|
||||
}
|
||||
|
||||
return (address >= protstart && address < protend);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: n25qxxx_command_address
|
||||
************************************************************************************/
|
||||
|
||||
__ramfunc__ int n25qxxx_command_address(FAR struct qspi_dev_s *qspi, uint8_t cmd,
|
||||
off_t addr, uint8_t addrlen)
|
||||
{
|
||||
struct qspi_cmdinfo_s cmdinfo;
|
||||
|
||||
finfo("CMD: %02" PRIx8 " Address: %04jx addrlen=%" PRIx8 "\n", cmd, (intmax_t) addr, addrlen);
|
||||
|
||||
cmdinfo.flags = QSPICMD_ADDRESS;
|
||||
cmdinfo.addrlen = addrlen;
|
||||
cmdinfo.cmd = cmd;
|
||||
cmdinfo.buflen = 0;
|
||||
cmdinfo.addr = addr;
|
||||
cmdinfo.buffer = NULL;
|
||||
|
||||
int rv;
|
||||
rv = qspi_command(qspi, &cmdinfo);
|
||||
return rv;
|
||||
}
|
||||
@@ -1,135 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016:
|
||||
* To simplify the ripple effect on the tools, we will be using
|
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
|
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL "
|
||||
* in the USBDEVICESTRING
|
||||
* This Change will be made in an upcoming BL release
|
||||
****************************************************************************/
|
||||
/*
|
||||
* Define usage to configure a bootloader
|
||||
*
|
||||
*
|
||||
* Constant example Usage
|
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
|
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
|
||||
* BOARD_FMUV2
|
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
|
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
|
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
|
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig
|
||||
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
|
||||
* delay provided by an APP FW
|
||||
* BOARD_TYPE 9 - Must match .prototype boad_id
|
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
|
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
|
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
|
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
|
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
|
||||
* programmatically
|
||||
*
|
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
|
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
|
||||
* during a FW upgrade.
|
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
|
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device.
|
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined
|
||||
* in the table.
|
||||
*
|
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
|
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from
|
||||
* BOARD_FLASH_SIZE to determine the size of the App FW
|
||||
* and hence the address space of FLASH to erase and program.
|
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
|
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
|
||||
*
|
||||
* * Other defines are somewhat self explanatory.
|
||||
*/
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
|
||||
#define APP_LOAD_ADDRESS 0x08020000
|
||||
#define BOOTLOADER_DELAY 5000
|
||||
#define INTERFACE_USB 1
|
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
|
||||
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 6
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS5,57600"
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 319
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 16
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_RED // RED
|
||||
#define BOARD_LED_ON 1
|
||||
#define BOARD_LED_OFF 0
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH)
|
||||
# define ARCH_SN_MAX_LENGTH 12
|
||||
#endif
|
||||
|
||||
#if !defined(APP_RESERVATION_SIZE)
|
||||
# define APP_RESERVATION_SIZE 0
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
|
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
|
||||
#endif
|
||||
|
||||
#if !defined(USB_DATA_ALIGN)
|
||||
# define USB_DATA_ALIGN
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION
|
||||
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB
|
||||
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
@@ -1,39 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusExternal(4),
|
||||
};
|
||||
@@ -1,210 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* FMU-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
/*
|
||||
* On resets invoked from system (not boot) ensure we establish a low
|
||||
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
|
||||
* spinning up the motors.
|
||||
*/
|
||||
if (status >= 0) {
|
||||
up_mdelay(100);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX;
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Need hrt running before using the ADC */
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_BLUE);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
int ret = stm32_sdio_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_BLUE);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// TODO：internal flash store parameters
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{15, 128 * 1024, 0x081E0000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from arm_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
GPIO_nLED_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
|
||||
}
|
||||
@@ -1,131 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018-2021 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 manifest.c
|
||||
*
|
||||
* This module supplies the interface to the manifest of hardware that is
|
||||
* optional and dependent on the HW REV and HW VER IDs
|
||||
*
|
||||
* The manifest allows the system to know whether a hardware option
|
||||
* say for example the PX4IO is an no-pop option vs it is broken.
|
||||
*
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <stdbool.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include "systemlib/px4_macros.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
typedef struct {
|
||||
uint32_t hw_ver_rev; /* the version and revision */
|
||||
const px4_hw_mft_item_t *mft; /* The first entry */
|
||||
uint32_t entries; /* the length of the list */
|
||||
} px4_hw_mft_list_entry_t;
|
||||
|
||||
typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
|
||||
#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
|
||||
|
||||
static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
|
||||
|
||||
// List of components on a specific board configuration
|
||||
// The index of those components is given by the enum (px4_hw_mft_item_id_t)
|
||||
// declared in board_common.h
|
||||
static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
|
||||
{
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_unknown,
|
||||
},
|
||||
};
|
||||
|
||||
static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_query_manifest
|
||||
*
|
||||
* Description:
|
||||
* Optional returns manifest item.
|
||||
*
|
||||
* Input Parameters:
|
||||
* manifest_id - the ID for the manifest item to retrieve
|
||||
*
|
||||
* Returned Value:
|
||||
* 0 - item is not in manifest => assume legacy operations
|
||||
* pointer to a manifest item
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
|
||||
{
|
||||
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
|
||||
|
||||
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||
uint32_t ver_rev = board_get_hw_version() << 16;
|
||||
ver_rev |= board_get_hw_revision();
|
||||
|
||||
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
|
||||
if (mft_lists[i].hw_ver_rev == ver_rev) {
|
||||
boards_manifest = &mft_lists[i];
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
|
||||
}
|
||||
}
|
||||
|
||||
px4_hw_mft_item rv = &device_unsupported;
|
||||
|
||||
if (boards_manifest != px4_hw_mft_list_uninitialized &&
|
||||
id < boards_manifest->entries) {
|
||||
rv = &boards_manifest->mft[id];
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
//TODO:Prepare for NxtDual
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
// KiB BS nB
|
||||
static const px4_mft_device_t spi2 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
|
||||
.bus_type = px4_mft_device_t::SPI,
|
||||
.devid = SPIDEV_FLASH(2) // SPIDEV_FLASH(0)
|
||||
};
|
||||
|
||||
static const px4_mtd_entry_t fmum_flash = {
|
||||
.device = &spi2,
|
||||
.npart = 1,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_PARAMETERS,
|
||||
.path = "/fs/mtd_params",
|
||||
.nblocks = 32
|
||||
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 1,
|
||||
.entries = {
|
||||
&fmum_flash
|
||||
}
|
||||
};
|
||||
|
||||
static const px4_mft_entry_s mtd_mft = {
|
||||
.type = MTD,
|
||||
.pmft = (void *) &board_mtd_config,
|
||||
};
|
||||
|
||||
static const px4_mft_s mft = {
|
||||
.nmft = 1,
|
||||
.mfts = {
|
||||
&mtd_mft
|
||||
}
|
||||
};
|
||||
|
||||
const px4_mft_s *board_get_manifest(void)
|
||||
{
|
||||
return &mft;
|
||||
}
|
||||
@@ -1,177 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present;
|
||||
|
||||
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
@@ -1,55 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin3}, SPI::DRDY{GPIO::PortA, GPIO::Pin1}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin0}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(SPIDEV_FLASH(2), SPI::CS{GPIO::PortD, GPIO::Pin4})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
//initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin15})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -1,61 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*
|
||||
* * TIM2_CH1 T HEATER > PWM OUT or GPIO PA15
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
|
||||
// initIOTimer(Timer::Timer2),
|
||||
// initIOTimer(Timer::Timer3),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
|
||||
|
||||
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
#include <stm32_otg.h>
|
||||
#include <debug.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
+197
-197
@@ -95,207 +95,207 @@ They are not build into the module, and hence are neither published or subscribe
|
||||
|
||||
::: details See messages
|
||||
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
:::
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python2
|
||||
#!/usr/bin/env python3
|
||||
#***************************************************************************
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
@@ -35,9 +35,6 @@
|
||||
#
|
||||
# @author Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# The shebang of this file is currently Python2 because some
|
||||
# dependencies such as pymavlink don't play well with Python3 yet.
|
||||
from __future__ import division
|
||||
|
||||
PKG = 'px4'
|
||||
|
||||
@@ -46,7 +43,6 @@ from geometry_msgs.msg import Quaternion, Vector3
|
||||
from mavros_msgs.msg import AttitudeTarget
|
||||
from mavros_test_common import MavrosTestCommon
|
||||
from pymavlink import mavutil
|
||||
from six.moves import xrange
|
||||
from std_msgs.msg import Header
|
||||
from threading import Thread
|
||||
from tf.transformations import quaternion_from_euler
|
||||
@@ -124,7 +120,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
|
||||
loop_freq = 2 # Hz
|
||||
rate = rospy.Rate(loop_freq)
|
||||
crossed = False
|
||||
for i in xrange(timeout * loop_freq):
|
||||
for i in range(timeout * loop_freq):
|
||||
if (self.local_position.pose.position.x > boundary_x and
|
||||
self.local_position.pose.position.y > boundary_y and
|
||||
self.local_position.pose.position.z > boundary_z):
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user