mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 04:13:33 +08:00
henrykotze
8b58c01cd7
nsh console running on USB param module running working with i2c and common drivers provided implementation for drv_pwm_output.h i2cdetect working as expected with no device mavlink started succesfully mounts sd card and logger runs logger to file succesfully pwm_servo implemented without using Nuttx lib pwm_out outputs expected waveforms - however currently if the frequency is higher than what the pwm_out driver runs, there will be aliasing, based on how the registers gets resets wifi softap working - Seeing wifi hotspot - cant connect due to wrong password - problems with adjusting ssid and password wifi ssid and password being set accordinglu connected to wifi hotspot with dhpcd - made some changes to nuttx to only build for SoftAP mode, however this was effectivelyy removing the ifdef for STATION mode. Should investigate the coexist option again added ifdef to not use timer 0 when wifi enabled - reverted esp32 rt_timer to make use of timer 0 by default fix setting incorrect bit in hrt timer register - hrt running as expected, but on startup the pwm_out driver starts up at about 200Hz and then rises over a minute or so 250Hz. Not sure if this was present previously, and could be due to Wifi running at time priority on timer 0 pull xtensa compilers in setup.ubuntu.sh revert logger stacksize and cmake argument esp32 chip revision and PX4 UUID implemented spi board reset implemented, formatting checked devkit acts on startup as a wifi bridge for comms - the most usefull setting for the general developer when buying a esp32 devkit - testing Mavlink shell using ./Tools/mavlink_shell.py - todo: Test mavlink messages being forward improve wifi telemetry by increasing prio - Remove power save mode on wifi - increased daemon thread schedule priority to 50 compiles without Nuttx changes - updated compiler settings to match those of nuttx on px4 side add espressif_esp32 to excluded boards ci: allow docker to find xtensa compilers
86 lines
3.2 KiB
C
86 lines
3.2 KiB
C
/****************************************************************************
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* boards/xtensa/esp32/esp32-devkitc/include/board.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
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#define __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Clocking *****************************************************************/
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/* The ESP32 Core board V2 is fitted with either a 26 a 40MHz crystal */
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#ifdef CONFIG_ESP32_XTAL_26MHz
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# define BOARD_XTAL_FREQUENCY 26000000
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#else
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# define BOARD_XTAL_FREQUENCY 40000000
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#endif
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/* Clock reconfiguration is currently disabled, so the CPU will be running
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* at the XTAL frequency or at two times the XTAL frequency, depending upon
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* how we load the code:
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*
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* - If we load the code into FLASH at address 0x1000 where it is started by
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* the second level bootloader, then the frequency is the crystal
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* frequency.
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* - If we load the code into IRAM after the second level bootloader has run
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* this frequency will be twice the crystal frequency.
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*
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* Don't ask me for an explanation.
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*/
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/* Note: The bootloader (esp-idf bootloader.bin) configures:
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*
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* - CPU frequency to 80MHz
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* - The XTAL frequency according to the SDK config CONFIG_ESP32_XTAL_FREQ,
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* which is 40MHz by default.
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*
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* Reference:
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* https://github.com/espressif/esp-idf/blob
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* /6fd855ab8d00d23bad4660216bc2122c2285d5be/components
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* /bootloader_support/src/bootloader_clock.c#L38-L62
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*/
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#ifdef CONFIG_ESP32_RUN_IRAM
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# define BOARD_CLOCK_FREQUENCY (2 * BOARD_XTAL_FREQUENCY)
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#else
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#ifdef CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ
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# define BOARD_CLOCK_FREQUENCY (CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ * 1000000)
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#else
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# define BOARD_CLOCK_FREQUENCY 80000000
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#endif
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#endif
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/* LED definitions **********************************************************/
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/* Define how many LEDs this board has (needed by userleds) */
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#define BOARD_NLEDS 1
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/* GPIO pins used by the GPIO Subsystem */
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#define BOARD_NGPIOOUT 1 /* Amount of GPIO Output pins */
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#define BOARD_NGPIOIN 1 /* Amount of GPIO Input without Interruption */
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#define BOARD_NGPIOINT 1 /* Amount of GPIO Input w/ Interruption pins */
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#endif /* __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H */
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