diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index 94957c2..f669d83 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -13,6 +13,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_FTS=n CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_BOSCH_BMI055=y diff --git a/boards/px4/fmu-v6c/nuttx-config/include/board.h b/boards/px4/fmu-v6c/nuttx-config/include/board.h index e7fa4f6..8042d46 100644 --- a/boards/px4/fmu-v6c/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6c/nuttx-config/include/board.h @@ -93,10 +93,9 @@ * CPUCLK <= 480 MHz */ -#define STM32_BOARD_USEHSI 1 -#define STM32_BOARD_HSIDIV 1 +#define STM32_BOARD_USEHSE -#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSI +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR * diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board deleted file mode 100644 index 50b4f6b..0000000 --- a/boards/px4/fmu-v6u/default.px4board +++ /dev/null @@ -1,97 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" -CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" -CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" -CONFIG_DRIVERS_ADC_ADS1115=y -CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_COMMON_BAROMETERS=y -CONFIG_DRIVERS_BATT_SMBUS=y -CONFIG_DRIVERS_CAMERA_CAPTURE=y -CONFIG_DRIVERS_CAMERA_TRIGGER=y -CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y -CONFIG_COMMON_DISTANCE_SENSOR=y -CONFIG_DRIVERS_DSHOT=y -CONFIG_DRIVERS_GPS=y -CONFIG_DRIVERS_HEATER=y -CONFIG_DRIVERS_IMU_BOSCH_BMI088=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y -CONFIG_DRIVERS_IRLOCK=y -CONFIG_COMMON_LIGHT=y -CONFIG_COMMON_MAGNETOMETER=y -CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_DRIVERS_PCA9685_PWM_OUT=y -CONFIG_DRIVERS_POWER_MONITOR_INA226=y -CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_SAFETY_BUTTON=y -CONFIG_DRIVERS_SMART_BATTERY_BATMON=y -CONFIG_COMMON_TELEMETRY=y -CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 -CONFIG_MODULES_AIRSPEED_SELECTOR=y -CONFIG_MODULES_BATTERY_STATUS=y -CONFIG_MODULES_CAMERA_FEEDBACK=y -CONFIG_MODULES_COMMANDER=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y -CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_EKF2=y -CONFIG_MODULES_ESC_BATTERY=y -CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_FLIGHT_MODE_MANAGER=y -CONFIG_MODULES_FW_ATT_CONTROL=y -CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_FW_POS_CONTROL=y -CONFIG_MODULES_FW_RATE_CONTROL=y -CONFIG_MODULES_GIMBAL=y -CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y -CONFIG_MODULES_LAND_DETECTOR=y -CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y -CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_LOGGER=y -CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y -CONFIG_MODULES_MANUAL_CONTROL=y -CONFIG_MODULES_MAVLINK=y -CONFIG_MODULES_MC_ATT_CONTROL=y -CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y -CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y -CONFIG_MODULES_MC_POS_CONTROL=y -CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_NAVIGATOR=y -CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_ROVER_POS_CONTROL=y -CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y -CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_UXRCE_DDS_CLIENT=y -CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y -CONFIG_SYSTEMCMDS_BSONDUMP=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_VER=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin b/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin deleted file mode 100755 index f5b0a7e..0000000 Binary files a/boards/px4/fmu-v6u/extras/px4_fmu-v6u_bootloader.bin and /dev/null differ diff --git a/boards/px4/fmu-v6u/firmware.prototype b/boards/px4/fmu-v6u/firmware.prototype deleted file mode 100644 index 72f892d..0000000 --- a/boards/px4/fmu-v6u/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 54, - "magic": "PX4FWv1", - "description": "Firmware for the PX4FMUv6U board", - "image": "", - "build_time": 0, - "summary": "PX4FMUv6U", - "version": "0.1", - "image_size": 0, - "image_maxsize": 1966080, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/px4/fmu-v6u/init/rc.board_defaults b/boards/px4/fmu-v6u/init/rc.board_defaults deleted file mode 100644 index 9c542a7..0000000 --- a/boards/px4/fmu-v6u/init/rc.board_defaults +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh -# -# board specific defaults -#------------------------------------------------------------------------------ - -safety_button start diff --git a/boards/px4/fmu-v6u/init/rc.board_sensors b/boards/px4/fmu-v6u/init/rc.board_sensors deleted file mode 100644 index 3014a8c..0000000 --- a/boards/px4/fmu-v6u/init/rc.board_sensors +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/sh -# -# PX4 FMUv6U specific board sensors init -#------------------------------------------------------------------------------ - -board_adc start - -# Internal SPI bus ICM-20602 -icm20602 -R 12 -s start - -# Internal SPI bus ICM-42605 -icm42605 -R 14 -s start - -# Internal SPI bus BMI088 accel/gyro -bmi088 -A -R 14 -s start -bmi088 -G -R 14 -s start - -# internal compass -bmm150 -I -R 12 start - -# internal baro -bmp388 -I start - -# Baro on I2C3 -ms5611 -X start diff --git a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig deleted file mode 100644 index 745b587..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig +++ /dev/null @@ -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/px4/fmu-v6u/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H753II=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="PX4 BL FMU v6U.x" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1B8C -CONFIG_CDCACM_VENDORSTR="Gumstix" -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=2944 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SPI=y -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=32 -CONFIG_STM32H7_BKPSRAM=y -CONFIG_STM32H7_DMA1=y -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_USART3=y -CONFIG_SYSTEMTICK_HOOK=y -CONFIG_SYSTEM_CDCACM=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_TTY_SIGINT=y -CONFIG_TTY_SIGINT_CHAR=0x03 -CONFIG_TTY_SIGTSTP=y -CONFIG_USART3_RXBUFSIZE=600 -CONFIG_USART3_TXBUFSIZE=300 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 diff --git a/boards/px4/fmu-v6u/nuttx-config/include/board.h b/boards/px4/fmu-v6u/nuttx-config/include/board.h deleted file mode 100644 index a82a7bf..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/include/board.h +++ /dev/null @@ -1,530 +0,0 @@ -/************************************************************************************ - * nuttx-configs/px4_fmu-v6u/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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_PX4_FMU_V6U_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_PX4_FMU_V6U_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include "board_dma_map.h" - -#include - -#ifndef __ASSEMBLY__ -# include -#endif - -#include "stm32_rcc.h" -#include "stm32_sdmmc.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ -/* The px4_fmu-v6u 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 16000000ul - -#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 = (16,000,000 / 1) * 60 = 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(60) -#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) * 60) -#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) -#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) -#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) - -/* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) -#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) -#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(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 / 4) * 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(4) -#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 / 4) * 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 - -/* CAN FD 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 PX4 FMUV6U board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -/* LED definitions ******************************************************************/ -/* The px4_fmu-v6u board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_LED3 2 -#define BOARD_NLEDS 3 - -#define BOARD_LED_RED BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 -#define BOARD_LED_BLUE BOARD_LED3 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) -#define BOARD_LED3_BIT (1 << BOARD_LED3) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* Alternate function pin selections ************************************************/ - -#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ - -#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ - -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ - -#define GPIO_UART4_RX GPIO_UART4_RX_6 /* PH14 */ -#define GPIO_UART4_TX GPIO_UART4_TX_6 /* PH13 */ - -#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ -#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ -// GPIO_UART5_RTS no remap /* PC8 */ -// GPIO_UART5_CTS No remap /* PC9 */ - -#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_4 /* PF6 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ -#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */ -#define GPIO_UART7_CTS GPIO_UART7_CTS_1 /* PE10 */ - -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ - - -/* CAN - * - * CAN1 is routed to transceiver. - * CAN2 is routed to transceiver. - */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ - -/* SPI - * SPI1 is sensors1 - * SPI2 is sensors2 - * SPI3 is sensors3 - * SPI4 is Not Used - * SPI5 is FRAM - * SPI6 is EXTERNAL1 - * - */ - -#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) - -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_3 /* PG9 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */ -#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */ - -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ -#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ - -#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */ -#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */ -#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */ - -#define GPIO_SPI5_MISO GPIO_SPI5_MISO_2 /* PH7 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF11 */ -#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ - -#define GPIO_SPI6_MISO GPIO_SPI6_MISO_2 /* PA6 */ -#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ -#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ - -/* I2C - * - * The optional _GPIO configurations allow the I2C driver to manually - * reset the bus to clear stuck slaves. They match the pin configuration, - * but are normally-high GPIOs. - * - */ - -#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ - -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) - -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */ -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */ - -#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1) -#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0) - -#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */ -#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ - -#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8) -#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8) - -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ - -#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) -#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) - -/* SDMMC2 - * - * VDD 3.3 - * GND - * SDMMC2_CK PD6 - * SDMMC2_CMD PD7 - * SDMMC2_D0 PB14 - * SDMMC2_D1 PB15 - * SDMMC2_D2 PG11 - * SDMMC2_D3 PB4 - */ - -#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_2 /* PC1 */ -#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */ -// GPIO_SDMMC2_D0 No Remap /* PB14 */ -// GPIO_SDMMC2_D1 No Remap /* PB15 */ -#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_2 /* PB3 */ -// GPIO_SDMMC2_D3 No Remap /* PB4 */ - - -/* 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_PX4_FMU_V6U_INCLUDE_BOARD_H */ diff --git a/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h b/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h deleted file mode 100644 index f17c289..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/include/board_dma_map.h +++ /dev/null @@ -1,48 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -// DMAMUX1 -#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_1 /* DMA2:61 */ -#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */ - -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* BDMA:11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* BDMA:12 */ diff --git a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig deleted file mode 100644 index f716ae6..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,275 +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_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/px4/fmu-v6u/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H753II=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=95751 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BUILTIN=y -CONFIG_CDCACM=y -CONFIG_CDCACM_IFLOWCONTROL=y -CONFIG_CDCACM_PRODUCTID=0x0036 -CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6U.x" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x1B8C -CONFIG_CDCACM_VENDORSTR="Gumstix" -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEBUG_TCBINFO=y -CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_EXPERIMENTAL=y -CONFIG_FAT_DMAMEMORY=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_MAX_TASKS=64 -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 -CONFIG_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_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_SDMMC2_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_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_I2C2=y -CONFIG_STM32H7_I2C3=y -CONFIG_STM32H7_I2C4=y -CONFIG_STM32H7_I2C_DYNTIMEO=y -CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_RTC=y -CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y -CONFIG_STM32H7_RTC_MAGIC_REG=1 -CONFIG_STM32H7_SAVE_CRASHDUMP=y -CONFIG_STM32H7_SDMMC2=y -CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_SPI1=y -CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 -CONFIG_STM32H7_SPI2=y -CONFIG_STM32H7_SPI2_DMA=y -CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 -CONFIG_STM32H7_SPI3=y -CONFIG_STM32H7_SPI3_DMA=y -CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 -CONFIG_STM32H7_SPI5=y -CONFIG_STM32H7_SPI6=y -CONFIG_STM32H7_SPI6_DMA=y -CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 -CONFIG_STM32H7_TIM12=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_TIM4=y -CONFIG_STM32H7_TIM5=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=57600 -CONFIG_UART4_RXBUFSIZE=600 -CONFIG_UART4_TXBUFSIZE=1500 -CONFIG_UART5_IFLOWCONTROL=y -CONFIG_UART5_OFLOWCONTROL=y -CONFIG_UART7_BAUD=57600 -CONFIG_UART7_IFLOWCONTROL=y -CONFIG_UART7_OFLOWCONTROL=y -CONFIG_UART7_RXBUFSIZE=600 -CONFIG_UART7_TXBUFSIZE=3000 -CONFIG_UART8_BAUD=57600 -CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 -CONFIG_USART1_BAUD=57600 -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_TXBUFSIZE=1500 -CONFIG_USART2_BAUD=57600 -CONFIG_USART2_IFLOWCONTROL=y -CONFIG_USART2_OFLOWCONTROL=y -CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=3000 -CONFIG_USART3_BAUD=57600 -CONFIG_USART3_RXBUFSIZE=180 -CONFIG_USART3_SERIAL_CONSOLE=y -CONFIG_USART3_TXBUFSIZE=1500 -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_WATCHDOG=y -CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/px4/fmu-v6u/nuttx-config/scripts/bootloader_script.ld b/boards/px4/fmu-v6u/nuttx-config/scripts/bootloader_script.ld deleted file mode 100644 index 5d8eb37..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/scripts/bootloader_script.ld +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 PX4 FMUV6U uses an STM32H753II 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 PX4 FMUV6U has a test point on board, the BOOT0 pin is at ground so by - * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test - * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 - * - * The STM32H743II also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - * - * The bootloader uses the first sector of the flash, which is 128K in length. - */ - -MEMORY -{ - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K - dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K - sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K - sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K - sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K - sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K - bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - - .ARM.extab : { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld deleted file mode 100644 index 673116d..0000000 --- a/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,229 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 PX4 FMUV6U uses an STM32H753II 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 PX4 FMUV6U has a test point on board, the BOOT0 pin is at ground so by - * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test - * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 - * - * The STM32H743II also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K - - DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ - SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ - SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ - BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) -EXTERN(board_get_manifest) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > FLASH - - /* - * 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) } -} diff --git a/boards/px4/fmu-v6u/src/CMakeLists.txt b/boards/px4/fmu-v6u/src/CMakeLists.txt deleted file mode 100644 index c84d6f2..0000000 --- a/boards/px4/fmu-v6u/src/CMakeLists.txt +++ /dev/null @@ -1,71 +0,0 @@ -############################################################################ -# -# Copyright (c) 2016 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") - add_library(drivers_board - bootloader_main.c - usb.c - ) - target_link_libraries(drivers_board - PRIVATE - nuttx_arch # sdio - nuttx_drivers # sdio - bootloader - ) - target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) - -else() - add_library(drivers_board - can.c - i2c.cpp - init.c - led.c - mtd.cpp - manifest.c - sdio.c - spi.cpp - timer_config.cpp - usb.c - ) - add_dependencies(drivers_board arch_board_hw_info) - - target_link_libraries(drivers_board - PRIVATE - arch_io_pins - arch_spi - arch_board_hw_info - drivers__led # drv_led_start - nuttx_arch # sdio - nuttx_drivers # sdio - px4_layer - ) -endif() diff --git a/boards/px4/fmu-v6u/src/board_config.h b/boards/px4/fmu-v6u/src/board_config.h deleted file mode 100644 index a61f2a5..0000000 --- a/boards/px4/fmu-v6u/src/board_config.h +++ /dev/null @@ -1,440 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016, 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 board_config.h - * - * PX4FMU-v6u internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -/* Configuration ************************************************************************************/ - -#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks -#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid -#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage -#define BOARD_HAS_NBAT_I 2d // 2 Digital Current - -/* PX4FMU GPIOs ***********************************************************************************/ - -/* Trace Clock and D0-D3 are available on the trace connector - * - * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 - * TRACED0 PE3 - nLED_RED - Trace Connector Pin 3 - * TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5 - * TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7 - * TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8 - - */ -#undef TRACE_PINS - -/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ - -#if !defined(TRACE_PINS) -# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) -# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) - -# define BOARD_HAS_CONTROL_STATUS_LEDS 1 -# define BOARD_OVERLOAD_LED LED_RED -# define BOARD_ARMED_STATE_LED LED_BLUE - -#else -# if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3) -# error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be) -# endif -#endif - - -/* SPI */ - -#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10) -#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) - -/* I2C busses */ - -/* Devices on the onboard buses. - * - * Note that these are unshifted addresses. - */ -#define PX4_I2C_OBDEV_SE050 0x48 - -#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* ADC defines to be used in sensors.cpp to read from a particular channel */ - -#define ADC1_CH(n) (n) - -/* N.B. there is no offset mapping needed for ADC3 because */ -#define ADC3_CH(n) (n) - -/* We are only use ADC3 for REV/VER. - * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1 - * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3 - * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO - * PA0SO of 0. - * - * 0 Analog switch closed (pads are connected through the analog switch) - * - * So ADC3_INP0 is GPIO_ADC123_INP12 - * ADC3_INP1 is GPIO_ADC12_INP13 - */ - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ - -#define PX4_ADC_GPIO \ - /* PA0 */ GPIO_ADC1_INP16, \ - /* PA4 */ GPIO_ADC12_INP18, \ - /* PC2 */ GPIO_ADC123_INP12, \ - /* PC4 */ GPIO_ADC12_INP4, \ - /* PH3 */ GPIO_ADC3_INP14, \ - /* PH4 */ GPIO_ADC3_INP15 - -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC4 */ ADC1_CH(4) -#define ADC_SCALED_V5_CHANNEL /* PA0 */ ADC1_CH(16) -#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12) -#define ADC_ADC3_3V3_CHANNEL /* PA4 */ ADC1_CH(18) -#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14) -#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15) -#define ADC_BATTERY_VOLTAGE_CHANNEL ADC_ADC3_3V3_CHANNEL -#define ADC_BATTERY_CURRENT_CHANNEL ADC_ADC3_6V6_CHANNEL - -#define ADC_CHANNELS \ - ((1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \ - (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_ADC3_6V6_CHANNEL) | \ - (1 << ADC_ADC3_3V3_CHANNEL)) - -/* HW has to large of R termination on ADC todo:change when HW value is chosen */ - -#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE - -#define SYSTEM_ADC_BASE STM32_ADC1_BASE - -/* HW has to large of R termination on ADC todo:change when HW value is chosen */ -#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) - -/* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING - -#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) -#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 -#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 -#define HW_INFO_INIT_PREFIX "V6U" -#define V6U00 HW_VER_REV(0x0,0x0) - -/* HEATER - * PWM in future - */ -#define GPIO_HEATER_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) -#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) - -/* PE6 is nARMED - * The GPIO will be set as input while not armed HW will have external HW Pull UP. - * While armed it shall be configured at a GPIO OUT set LOW - */ -#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6) -#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6) - -#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT) - -/* PWM - */ -#define DIRECT_PWM_OUTPUT_CHANNELS 9 - - -/* Power supply control and monitoring GPIOs */ - -#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1) -#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2) -#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3) - -#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ -#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ -#define BOARD_NUMBER_BRICKS 2 -#define BOARD_NUMBER_DIGITAL_BRICKS 2 -#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ - -#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4) -#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15) -#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10) -#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) -#define GPIO_VDD_3V3_SENSORS_EN /* PG12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN12) -#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) -#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) - -/* Spare GPIO */ - -#define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) -#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) -#define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15) - - -/* Define True logic Power Control in arch agnostic form */ - -#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true)) -#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) -#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true)) -#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) -#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) -#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) - - -/* Tone alarm output */ - -#define TONE_ALARM_TIMER 14 /* Timer 14 */ -#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */ - -#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9) - -#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 -#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2 - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing - */ -#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) - -/* High-resolution timer */ -#define HRT_TIMER 8 /* use timer8 for the HRT */ -#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ - -#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */ -#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2 - -/* RC Serial port */ - -#define RC_SERIAL_PORT "/dev/ttyS5" -#define RC_SERIAL_SINGLEWIRE -#define RC_SERIAL_SWAP_RXTX - -/* Input Capture Channels. */ -#define INPUT_CAP1_TIMER 1 -#define INPUT_CAP1_CHANNEL /* T1C2 */ 2 -#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN - -/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ -#define PWMIN_TIMER 4 -#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 -#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 - -/* Safety Switch is HW version dependent on having an PX4IO - * So we init to a benign state with the _INIT definition - * and provide the the non _INIT one for the driver to make a run time - * decision to use it. - */ -#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10) -#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) - -/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ -#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT - -#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5) -/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ -#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ - -/* Power switch controls ******************************************************/ - -#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) - -/* - * FMUv6U has a separate RC_IN - * - * GPIO PPM_IN on PI5 T8CH1 - * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 - * Inversion is possible in the UART and can drive GPIO PPM_IN as an output - */ - -#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5) -#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) -#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ -#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) - -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* SD card bringup does not work if performed on the IDLE thread because it - * will cause waiting. Use either: - * - * CONFIG_BOARDCTL=y, OR - * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y - */ - -#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \ - !defined(CONFIG_BOARD_INITTHREAD) -# warning SDIO initialization cannot be perfomed on the IDLE thread -#endif - -/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) - * this board support the ADC system_power interface, and therefore - * provides the true logic GPIO BOARD_ADC_xxxx macros. - */ -#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) -#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) - -/* FMUv6U never powers off the Servo rail */ - -#define BOARD_ADC_SERVO_VALID (1) - -#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0 -# define BOARD_ADC_BRICK1_VALID (1) -# define BOARD_ADC_BRICK2_VALID (0) -#elif BOARD_HAS_LTC44XX_VALIDS == 1 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (0) -#elif BOARD_HAS_LTC44XX_VALIDS == 2 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -#elif BOARD_HAS_LTC44XX_VALIDS == 3 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) -#elif BOARD_HAS_LTC44XX_VALIDS == 4 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) -# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID)) -#else -# error Unsupported BOARD_HAS_LTC44XX_VALIDS value -#endif - -#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) -#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) - - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ - -#define BOARD_HAS_ON_RESET 1 - -#define PX4_GPIO_INIT_LIST { \ - PX4_ADC_GPIO, \ - GPIO_HW_VER_REV_DRIVE, \ - GPIO_CAN1_TX, \ - GPIO_CAN1_RX, \ - GPIO_HEATER_OUTPUT, \ - GPIO_nPOWER_IN_A, \ - GPIO_nPOWER_IN_B, \ - GPIO_nPOWER_IN_C, \ - GPIO_VDD_5V_PERIPH_nEN, \ - GPIO_VDD_5V_PERIPH_nOC, \ - GPIO_VDD_5V_HIPOWER_nEN, \ - GPIO_VDD_5V_HIPOWER_nOC, \ - GPIO_VDD_3V3_SENSORS_EN, \ - GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ - GPIO_VDD_3V3_SD_CARD_EN, \ - GPIO_PD15, \ - GPIO_SYNC, \ - SPI6_nRESET_EXTERNAL1, \ - GPIO_TONE_ALARM_IDLE, \ - GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \ - GPIO_SAFETY_SWITCH_IN, \ - GPIO_PG6, \ - GPIO_nARMED_INIT \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER - -#define BOARD_NUM_IO_TIMERS 5 - -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************** - * Name: stm32_sdio_initialize - * - * Description: - * Initialize SDIO-based MMC/SD card support - * - ****************************************************************************/ - -int stm32_sdio_initialize(void); - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/px4/fmu-v6u/src/bootloader_main.c b/boards/px4/fmu-v6u/src/bootloader_main.c deleted file mode 100644 index cec6abd..0000000 --- a/boards/px4/fmu-v6u/src/bootloader_main.c +++ /dev/null @@ -1,75 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file bootloader_main.c - * - * FMU-specific early startup code for bootloader -*/ - -#include "board_config.h" -#include "bl.h" - -#include -#include -#include -#include -#include -#include "arm_internal.h" -#include - -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(); -} diff --git a/boards/px4/fmu-v6u/src/hw_config.h b/boards/px4/fmu-v6u/src/hw_config.h deleted file mode 100644 index 2910288..0000000 --- a/boards/px4/fmu-v6u/src/hw_config.h +++ /dev/null @@ -1,128 +0,0 @@ -/* - * hw_config.h - * - * Created on: May 17, 2015 - * Author: david_s5 - */ - -#ifndef HW_CONFIG_H_ -#define HW_CONFIG_H_ - -/**************************************************************************** - * 10-8--2016: - * To simplify the ripple effect on the tools, we will be using - * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore - * moving forward all Bootloaders must contain the prefix "PX4 BL " - * in the USBDEVICESTRING - * This Change will be made in an upcoming BL release - ****************************************************************************/ -/* - * Define usage to configure a bootloader - * - * - * Constant example Usage - * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed - * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request - * BOARD_FMUV2 - * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading - * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading - * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string - * USBPRODUCTID 0x0011 - PID Should match defconfig - * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom - * delay provided by an APP FW - * BOARD_TYPE 9 - Must match .prototype boad_id - * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection - * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector - * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector - * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. - * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted - * programmatically - * - * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. - * This is to allow sectors to be reserved for app fw usage. That will NOT be erased - * during a FW upgrade. - * The default is 0, and selects the first sector to be erased, as the 0th entry in the - * flash_sectors table. Which is the second physical sector of FLASH in the device. - * The first physical sector of FLASH is used by the bootloader, and is not defined - * in the table. - * - * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus - * BOOTLOADER_RESERVATION_SIZE will be deducted from - * BOARD_FLASH_SIZE to determine the size of the App FW - * and hence the address space of FLASH to erase and program. - * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) - * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL - * - * * Other defines are somewhat self explanatory. - */ - -/* Boot device selection list*/ -#define USB0_DEV 0x01 -#define SERIAL0_DEV 0x02 -#define SERIAL1_DEV 0x04 - -#define APP_LOAD_ADDRESS 0x08020000 -#define BOOTLOADER_DELAY 5000 -#define INTERFACE_USB 1 -#define INTERFACE_USB_CONFIG "/dev/ttyACM0" -#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) - -//#define USE_VBUS_PULL_DOWN -#define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" -#define BOOT_DELAY_ADDRESS 0x000001a0 -#define BOARD_TYPE 54 -#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) -#define BOARD_FLASH_SECTORS (15) -#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) - -#define OSC_FREQ 16 - -#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE -#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN -#define BOARD_LED_ON 0 -#define BOARD_LED_OFF 1 - -#define SERIAL_BREAK_DETECT_DISABLED 1 - -/* - * Uncommenting this allows to force the bootloader through - * a PWM output pin. As this can accidentally initialize - * an ESC prematurely, it is not recommended. This feature - * has not been used and hence defaults now to off. - * - * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) - * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) - * - * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) - * # define BOARD_POWER_ON 1 - * # define BOARD_POWER_OFF 0 - * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) - * -*/ - -#if !defined(ARCH_SN_MAX_LENGTH) -# define ARCH_SN_MAX_LENGTH 12 -#endif - -#if !defined(APP_RESERVATION_SIZE) -# define APP_RESERVATION_SIZE 0 -#endif - -#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) -# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 -#endif - -#if !defined(USB_DATA_ALIGN) -# define USB_DATA_ALIGN -#endif - -#ifndef BOOT_DEVICES_SELECTION -# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#ifndef BOOT_DEVICES_FILTER_ONUSB -# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#endif /* HW_CONFIG_H_ */ diff --git a/boards/px4/fmu-v6u/src/i2c.cpp b/boards/px4/fmu-v6u/src/i2c.cpp deleted file mode 100644 index 8a55707..0000000 --- a/boards/px4/fmu-v6u/src/i2c.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusExternal(2), - initI2CBusExternal(3), - initI2CBusInternal(4), -}; diff --git a/boards/px4/fmu-v6u/src/init.c b/boards/px4/fmu-v6u/src/init.c deleted file mode 100644 index 1563331..0000000 --- a/boards/px4/fmu-v6u/src/init.c +++ /dev/null @@ -1,278 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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 init.c - * - * PX4FMU-specific early startup code. This file implements the - * board_app_initialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialization. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include "board_config.h" - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "arm_internal.h" - -#include -#include -#include -#include -#include -#include -#include -#include - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - /* set the peripheral rails off */ - - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); - VDD_3V3_SENSORS_EN(false); - - bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); - /* Keep Spektum on to discharge rail*/ - VDD_3V3_SPEKTRUM_POWER_EN(false); - - /* wait for the peripheral rail to reach GND */ - usleep(ms * 1000); - syslog(LOG_DEBUG, "reset done, %d ms\n", ms); - - /* re-enable power */ - - /* switch the peripheral rail back on */ - VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); - VDD_3V3_SENSORS_EN(true); - VDD_5V_PERIPH_EN(true); - -} - -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); - } - - if (status >= 0) { - up_mdelay(6); - } -} - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) -{ - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); - - /* configure pins */ - - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version - - * otherwise we need to move this after board_determine_hw_info()) */ - _Static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support"); - - 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; the meaning of the argument is a contract - * between the board-specific initalization logic and the the - * matching application logic. The value cold be such things as a - * mode enumeration value, a set of DIP switch switch settings, a - * pointer to configuration data read from a file or serial FLASH, - * or whatever you would like to do with it. Every implementation - * should accept zero/NULL as a default configuration. - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ - - -__EXPORT int board_app_initialize(uintptr_t arg) -{ - /* Power on Interfaces */ - VDD_3V3_SD_CARD_EN(true); - VDD_5V_PERIPH_EN(true); - VDD_5V_HIPOWER_EN(true); - board_spi_reset(10, 0xffff); - VDD_3V3_SENSORS_EN(true); - VDD_3V3_SPEKTRUM_POWER_EN(true); - - /* Need hrt running before using the ADC */ - - px4_platform_init(); - - - if (OK == board_determine_hw_info()) { - syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), - board_get_hw_type_name()); - - } else { - syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); - } - - /* configure the DMA allocator */ - - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - -#if defined(SERIAL_HAVE_RXDMA) - // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. - static struct hrt_call serial_dma_call; - hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); -#endif - - /* initial LED state */ - drv_led_start(); - led_off(LED_RED); - led_on(LED_GREEN); // Indicate Power. - led_off(LED_BLUE); - - if (board_hardfault_init(2, true) != 0) { - led_on(LED_RED); - } - - // Ensure Power is off for > 10 mS - usleep(15 * 1000); - VDD_3V3_SD_CARD_EN(true); - usleep(500 * 1000); - -#ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); - - if (ret != OK) { - led_on(LED_RED); - } - -#endif /* CONFIG_MMCSD */ - - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - - return OK; -} diff --git a/boards/px4/fmu-v6u/src/led.c b/boards/px4/fmu-v6u/src/led.c deleted file mode 100644 index bff4b09..0000000 --- a/boards/px4/fmu-v6u/src/led.c +++ /dev/null @@ -1,235 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu2_led.c - * - * PX4FMU LED backend. - */ - -#include - -#include - -#include "chip.h" -#include "stm32_gpio.h" -#include "board_config.h" - -#include -#include - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - -#ifdef CONFIG_ARCH_LEDS -static bool nuttx_owns_leds = true; -// B R S G -// 0 1 2 3 -static const uint8_t xlatpx4[] = {1, 2, 4, 0}; -# define xlat(p) xlatpx4[(p)] -static uint32_t g_ledmap[] = { - GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN - GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE - GPIO_nLED_RED, // Indexed by BOARD_LED_RED - GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4 -}; - -#else - -# define xlat(p) (p) -static uint32_t g_ledmap[] = { - GPIO_nLED_BLUE, // Indexed by LED_BLUE - GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER - 0, // Indexed by LED_SAFETY (defaulted to an input) - GPIO_nLED_GREEN, // Indexed by LED_GREEN -}; - -#endif - -__EXPORT void led_init(void) -{ - for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { - if (g_ledmap[l] != 0) { - stm32_configgpio(g_ledmap[l]); - } - } -} - -static void phy_set_led(int led, bool state) -{ - /* Drive Low to switch on */ - - if (g_ledmap[led] != 0) { - stm32_gpiowrite(g_ledmap[led], !state); - } -} - -static bool phy_get_led(int led) -{ - /* If Low it is on */ - if (g_ledmap[led] != 0) { - return !stm32_gpioread(g_ledmap[led]); - } - - return false; -} - -__EXPORT void led_on(int led) -{ - phy_set_led(xlat(led), true); -} - -__EXPORT void led_off(int led) -{ - phy_set_led(xlat(led), false); -} - -__EXPORT void led_toggle(int led) -{ - phy_set_led(xlat(led), !phy_get_led(xlat(led))); -} - -#ifdef CONFIG_ARCH_LEDS -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: board_autoled_initialize - ****************************************************************************/ - -void board_autoled_initialize(void) -{ - led_init(); -} - -/**************************************************************************** - * Name: board_autoled_on - ****************************************************************************/ - -void board_autoled_on(int led) -{ - if (!nuttx_owns_leds) { - return; - } - - switch (led) { - default: - break; - - case LED_HEAPALLOCATE: - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_IRQSENABLED: - phy_set_led(BOARD_LED_BLUE, false); - phy_set_led(BOARD_LED_GREEN, true); - break; - - case LED_STACKCREATED: - phy_set_led(BOARD_LED_GREEN, true); - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_INIRQ: - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_SIGNAL: - phy_set_led(BOARD_LED_GREEN, true); - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, true); - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_PANIC: - phy_set_led(BOARD_LED_RED, true); - break; - - case LED_IDLE : /* IDLE */ - phy_set_led(BOARD_LED_RED, true); - break; - } -} - -/**************************************************************************** - * Name: board_autoled_off - ****************************************************************************/ - -void board_autoled_off(int led) -{ - if (!nuttx_owns_leds) { - return; - } - - switch (led) { - default: - break; - - case LED_SIGNAL: - phy_set_led(BOARD_LED_GREEN, false); - break; - - case LED_INIRQ: - phy_set_led(BOARD_LED_BLUE, false); - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, false); - phy_set_led(BOARD_LED_BLUE, false); - break; - - case LED_PANIC: - phy_set_led(BOARD_LED_RED, false); - break; - - case LED_IDLE : /* IDLE */ - phy_set_led(BOARD_LED_RED, false); - break; - } -} - -#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/px4/fmu-v6u/src/manifest.c b/boards/px4/fmu-v6u/src/manifest.c deleted file mode 100644 index e13f3d0..0000000 --- a/boards/px4/fmu-v6u/src/manifest.c +++ /dev/null @@ -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 -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_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; -} diff --git a/boards/px4/fmu-v6u/src/spi.cpp b/boards/px4/fmu-v6u/src/spi.cpp deleted file mode 100644 index 7e54358..0000000 --- a/boards/px4/fmu-v6u/src/spi.cpp +++ /dev/null @@ -1,58 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include -#include - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/px4/fmu-v6u/src/timer_config.cpp b/boards/px4/fmu-v6u/src/timer_config.cpp deleted file mode 100644 index 928f491..0000000 --- a/boards/px4/fmu-v6u/src/timer_config.cpp +++ /dev/null @@ -1,80 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -/* Timer allocation - * - * TIM5_CH4 T FMU_CH1 - * TIM5_CH3 T FMU_CH2 - * TIM5_CH2 T FMU_CH3 - * TIM5_CH1 T FMU_CH4 - * - * TIM4_CH2 T FMU_CH5 - * TIM4_CH3 T FMU_CH6 - * - * TIM12_CH1 T FMU_CH7 - * TIM12_CH2 T FMU_CH8 - * - * TIM1_CH2 T FMU_CAP1 < Capture - * TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT - * TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe - * - * TIM2_CH3 T HEATER > PWM OUT or GPIO - * - * TIM14_CH1 T BUZZER_1 - Driven by other driver - * TIM8_CH1_IN T FMU_PPM_INPUT - Sampled byt HRT by other driver - */ - -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOTimer(Timer::Timer5, DMA{DMA::Index1}), - initIOTimer(Timer::Timer4, DMA{DMA::Index1}), - initIOTimer(Timer::Timer12), - initIOTimer(Timer::Timer1), - initIOTimer(Timer::Timer2), -}; - -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), - initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}), - initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}), - initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), -}; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = - initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/px4/fmu-v6x/bootloader.px4board b/boards/px4/fmu-v6x/bootloader.px4board deleted file mode 100644 index 19b6e66..0000000 --- a/boards/px4/fmu-v6x/bootloader.px4board +++ /dev/null @@ -1,3 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin b/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin deleted file mode 100755 index 9668fdb..0000000 Binary files a/boards/px4/fmu-v6x/extras/px4_fmu-v6x_bootloader.bin and /dev/null differ diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults deleted file mode 100644 index ba812e4..0000000 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ /dev/null @@ -1,21 +0,0 @@ -#!/bin/sh -# -# board specific defaults -#------------------------------------------------------------------------------ - -# Mavlink ethernet (CFG 1000) -param set-default MAV_2_CONFIG 1000 -param set-default MAV_2_BROADCAST 1 -param set-default MAV_2_MODE 0 -param set-default MAV_2_RADIO_CTL 0 -param set-default MAV_2_RATE 100000 -param set-default MAV_2_REMOTE_PRT 14550 -param set-default MAV_2_UDP_PRT 14550 - -param set-default SENS_EN_INA238 0 -param set-default SENS_EN_INA228 0 -param set-default SENS_EN_INA226 1 - -param set-default SYS_USE_IO 1 - -safety_button start diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors deleted file mode 100644 index e59fb0c..0000000 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ /dev/null @@ -1,134 +0,0 @@ -#!/bin/sh -# -# PX4 FMUv6X specific board sensors init -#------------------------------------------------------------------------------ -set HAVE_PM2 yes - -if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004 -then - set HAVE_PM2 no -fi -if param compare -s ADC_ADS1115_EN 1 -then - ads1115 start -X -else - board_adc start -fi - - -if param compare SENS_EN_INA226 1 -then - # Start Digital power monitors - ina226 -X -b 1 -t 1 -k start - - if [ $HAVE_PM2 = yes ] - then - ina226 -X -b 2 -t 2 -k start - fi -fi - -if param compare SENS_EN_INA228 1 -then - # Start Digital power monitors - ina228 -X -b 1 -t 1 -k start - if [ $HAVE_PM2 = yes ] - then - ina228 -X -b 2 -t 2 -k start - fi -fi - -if param compare SENS_EN_INA238 1 -then - # Start Digital power monitors - ina238 -X -b 1 -t 1 -k start - if [ $HAVE_PM2 = yes ] - then - ina238 -X -b 2 -t 2 -k start - fi -fi - - -if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004 -then - # Internal SPI bus ICM20649 - icm20649 -s -R 6 start -else - # Internal SPI BMI088 - if ver hwtypecmp V6X009010 V6X010010 - then - bmi088 -A -R 6 -s start - bmi088 -G -R 6 -s start - else - if ver hwtypecmp V6X000010 - then - bmi088 -A -R 0 -s start - bmi088 -G -R 0 -s start - else - bmi088 -A -R 4 -s start - bmi088 -G -R 4 -s start - fi - fi -fi - -# Internal SPI bus ICM42688p -if ver hwtypecmp V6X009010 V6X010010 -then - icm42688p -R 12 -s start -else - if ver hwtypecmp V6X000010 - then - icm42688p -R 14 -s start - else - icm42688p -R 6 -s start - fi -fi - -if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004 -then - # Internal SPI bus ICM-42670-P (hard-mounted) - icm42670p -R 10 -s start -else - if ver hwtypecmp V6X009010 V6X010010 - then - icm20602 -R 6 -s start - else - # Internal SPI bus ICM-20649 (hard-mounted) - icm20649 -R 14 -s start - fi -fi - -# Internal magnetometer on I2c -if ver hwtypecmp V6X002001 -then - rm3100 -I -b 4 start -else - # Internal magnetometer on I2C - bmm150 -I -R 0 start -fi - -# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) -ist8310 -X -b 1 -R 10 start - -# Possible internal Baro -if param compare SENS_INT_BARO_EN 1 -then - if ver hwtypecmp V6X002001 - then - icp201xx -I -a 0x64 start - else - bmp388 -I -a 0x77 start - fi -fi - -#external baro -if ver hwtypecmp V6X002001 -then - icp201xx -X start -else - bmp388 -X start -fi - -# Baro on I2C3 -ms5611 -X start - -unset HAVE_PM2 diff --git a/boards/px4/fmu-v6x/nuttx-config/Kconfig b/boards/px4/fmu-v6x/nuttx-config/Kconfig deleted file mode 100644 index bb33d3c..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/Kconfig +++ /dev/null @@ -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. diff --git a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig deleted file mode 100644 index c206903..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig +++ /dev/null @@ -1,95 +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_DISABLE_PTHREAD 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/px4/fmu-v6x/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H753II=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=0x0035 -CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6X.x" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x3185 -CONFIG_CDCACM_VENDORSTR="Auterion" -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=2944 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PTHREAD_MUTEX_ROBUST=y -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_DMA2=y -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_UART5=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_UART5_RXBUFSIZE=512 -CONFIG_UART5_RXDMA=y -CONFIG_UART5_TXBUFSIZE=512 -CONFIG_UART5_TXDMA=y -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board.h b/boards/px4/fmu-v6x/nuttx-config/include/board.h deleted file mode 100644 index eb30041..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/include/board.h +++ /dev/null @@ -1,558 +0,0 @@ -/************************************************************************************ - * nuttx-configs/px4_fmu-v6x/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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_PX4_FMU_V6X_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include "board_dma_map.h" - -#include - -#ifndef __ASSEMBLY__ -# include -#endif - -#include "stm32_rcc.h" -#include "stm32_sdmmc.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ -/* The px4_fmu-v6X 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 16000000ul - -#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 = (16,000,000 / 1) * 60 = 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(60) -#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) * 60) -#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) -#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) -#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) - -/* PLL2 */ - -#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ - RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ - RCC_PLLCFGR_DIVP2EN | \ - RCC_PLLCFGR_DIVQ2EN | \ - RCC_PLLCFGR_DIVR2EN) -#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4) -#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(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 / 4) * 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(4) -#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 / 4) * 48) -#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) -#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) -#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) - -/* SYSCLK = PLL1P = 480MHz - * CPUCLK = SYSCLK / 1 = 480 MHz - */ - -#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) -#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) -#define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) - -/* Configure Clock Assignments */ - -/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) - * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240 - */ - -#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ -#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ -#define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ -#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ - -/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ -#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ -#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */ - -#define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ -#define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */ - -#define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ -#define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* Timer clock frequencies */ - -/* Timers driven from APB1 will be twice PCLK1 */ - -#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) - -/* Timers driven from APB2 will be twice PCLK2 */ - -#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) - -/* Kernel Clock Configuration - * - * Note: look at Table 54 in ST Manual - */ - -/* I2C123 clock source */ - -#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI - -/* I2C4 clock source */ - -#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI - -/* SPI123 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 - -/* SPI45 clock source */ - -#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 - -/* SPI6 clock source */ - -#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 - -/* USB 1 and 2 clock source */ - -#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 - -/* ADC 1 2 3 clock source */ - -#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 - -/* FDCAN 1 2 clock source */ - -#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ - -#define STM32_FDCANCLK STM32_HSE_FREQUENCY - -/* FLASH wait states - * - * ------------ ---------- ----------- - * Vcore MAX ACLK WAIT STATES - * ------------ ---------- ----------- - * 1.15-1.26 V 70 MHz 0 - * (VOS1 level) 140 MHz 1 - * 210 MHz 2 - * 1.05-1.15 V 55 MHz 0 - * (VOS2 level) 110 MHz 1 - * 165 MHz 2 - * 220 MHz 3 - * 0.95-1.05 V 45 MHz 0 - * (VOS3 level) 90 MHz 1 - * 135 MHz 2 - * 180 MHz 3 - * 225 MHz 4 - * ------------ ---------- ----------- - */ - -#define BOARD_FLASH_WAITSTATES 2 - -/* SDMMC definitions ********************************************************/ - -/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */ - -#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) - -/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq) - * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s - */ - -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif -#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA) -# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#else -# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) -#endif - -#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE - -/* LED definitions ******************************************************************/ -/* The PX4 FMUV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -/* LED definitions ******************************************************************/ -/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_LED3 2 -#define BOARD_NLEDS 3 - -#define BOARD_LED_RED BOARD_LED1 -#define BOARD_LED_GREEN BOARD_LED2 -#define BOARD_LED_BLUE BOARD_LED3 - -/* LED bits for use with board_userled_all() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) -#define BOARD_LED3_BIT (1 << BOARD_LED3) - -/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in - * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related - * events as follows: - * - * - * SYMBOL Meaning LED state - * Red Green Blue - * ---------------------- -------------------------- ------ ------ ----*/ - -#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ -#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ -#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ -#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ -#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ -#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ -#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ -#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ -#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ - -/* Thus if the Green LED is statically on, NuttX has successfully booted and - * is, apparently, running normally. If the Red LED is flashing at - * approximately 2Hz, then a fatal error has been detected and the system - * has halted. - */ - -/* Alternate function pin selections ************************************************/ - -#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ -#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ - -#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */ -#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ -#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ - -#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ -#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ - -#define GPIO_UART4_RX GPIO_UART4_RX_6 /* PH14 */ -#define GPIO_UART4_TX GPIO_UART4_TX_6 /* PH13 */ - -#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ -#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ -// GPIO_UART5_RTS no remap /* PC8 */ -// GPIO_UART5_CTS No remap /* PC9 */ - -#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_4 /* PF6 */ -#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ -#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */ -#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */ - -#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ -#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */ - - -/* CAN - * - * CAN1 is routed to transceiver. - * CAN2 is routed to transceiver. - */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ -#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ -#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ - -/* SPI - * SPI1 is sensors1 - * SPI2 is sensors2 - * SPI3 is sensors3 - * SPI4 is Not Used - * SPI5 is FRAM - * SPI6 is EXTERNAL1 - * - */ - -#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) - -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_3 /* PG9 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */ -#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ - -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ -#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ - -#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */ -#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PB2 */ -#define GPIO_SPI3_SCK ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */ - -#define GPIO_SPI5_MISO GPIO_SPI5_MISO_2 /* PH7 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF11 */ -#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ - -#define GPIO_SPI6_MISO GPIO_SPI6_MISO_2 /* PA6 */ -#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ -#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3 */ - -/* I2C - * - * The optional _GPIO configurations allow the I2C driver to manually - * reset the bus to clear stuck slaves. They match the pin configuration, - * but are normally-high GPIOs. - * - */ - -#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ - -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) - -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */ -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */ - -#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1) -#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0) - -#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */ -#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ - -#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8) -#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8) - -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ - -#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) -#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) - -/* SDMMC2 - * - * VDD 3.3 - * GND - * SDMMC2_CK PD6 - * SDMMC2_CMD PD7 - * SDMMC2_D0 PB14 - * SDMMC2_D1 PB15 - * SDMMC2_D2 PG11 - * SDMMC2_D3 PB4 - */ - -#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_1 /* PD6 */ -#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */ -// GPIO_SDMMC2_D0 No Remap /* PB14 */ -// GPIO_SDMMC2_D1 No Remap /* PB15 */ -#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_1 /* PG11 */ -// GPIO_SDMMC2_D3 No Remap /* PB4 */ - -/* The STM32 H7 connects to a TI DP83848TSQ/NOPB - * using RMII - * - * STM32 H7 BOARD DP83848TSQ/NOPB - * GPIO SIGNAL PIN NAME - * -------- ------------ ------------- - * PA7 ETH_CRS_DV CRS_DV - * PC1 ETH_MDC MDC - * PA2 ETH_MDIO MDIO - * PA1 ETH_REF_CL X1 - * PC4 ETH_RXD0 RX_D0 - * PC5 ETH_RXD1 RX_D1 - * PB11 ETH_TX_EN TX_EN - * PG13 ETH_TXD0 TX_D0 - * PG12 ETH_TXD1 TX_D1 - * - * The PHY address is 1, since COL/PHYAD0 features a pull up. - */ - -#define GPIO_ETH_RMII_TX_EN GPIO_ETH_RMII_TX_EN_1 /* PB11 */ -#define GPIO_ETH_RMII_TXD0 GPIO_ETH_RMII_TXD0_2 /* PG13 */ -#define GPIO_ETH_RMII_TXD1 GPIO_ETH_RMII_TXD1_2 /* PG12 */ - - -/* 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_PX4_FMU_V6X_INCLUDE_BOARD_H */ diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h b/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h deleted file mode 100644 index 1f45efc..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned -// V - -#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 ICM-20649 */ -#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 ICM-20649 */ - -#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 ICM-42688-P */ -#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 ICM-42688-P */ - -//#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */ -//#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */ - -//#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 Telem3 */ -//#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 Telem3 */ - -//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */ -//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */ - -//#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 EXT2 */ -//#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 EXT2 */ - -#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 PX4IO */ -#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 PX4IO */ - -// Assigned in timer_config.cpp - -// Timer 4 /* 7 DMA1:32 TIM4UP */ -// Timer 5 /* 8 DMA1:50 TIM5UP */ - -// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned -// V - -#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* 1 DMA2:61 BMI088 */ -#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* 2 DMA2:62 BMI088 */ - -#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 3 DMA2:45 DEBUG */ -#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 4 DMA2:46 DEBUG */ - -#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 5 DMA2:65 TELEM2 */ -#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 6 DMA2:66 TELEM2 */ - -#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 7 DMA1:79 TELEM1 */ -#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 8 DMA1:80 TELEM1 */ - -//#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA1:81 GPS2 */ -//#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_1 /* DMA1:82 GPS2 */ - -// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned -// V - -#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */ -#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */ diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig deleted file mode 100644 index edb5e8a..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,328 +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_ARP 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_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_IFCONFIG is not set -# CONFIG_NSH_DISABLE_IFUPDOWN 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_NSLOOKUP 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_TELNETD 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/px4/fmu-v6x/nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H753II=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=95751 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BUILTIN=y -CONFIG_CDCACM=y -CONFIG_CDCACM_IFLOWCONTROL=y -CONFIG_CDCACM_PRODUCTID=0x0035 -CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6X.x" -CONFIG_CDCACM_RXBUFSIZE=600 -CONFIG_CDCACM_TXBUFSIZE=12000 -CONFIG_CDCACM_VENDORID=0x3185 -CONFIG_CDCACM_VENDORSTR="Auterion" -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEBUG_TCBINFO=y -CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_ETH0_PHY_LAN8742A=y -CONFIG_EXPERIMENTAL=y -CONFIG_FAT_DMAMEMORY=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FSUTILS_IPCFG=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y -CONFIG_FS_PROCFS_MAX_TASKS=64 -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_INIT_ENTRYPOINT="nsh_main" -CONFIG_INIT_STACKSIZE=2944 -CONFIG_IOB_NBUFFERS=24 -CONFIG_IOB_THROTTLE=0 -CONFIG_IPCFG_BINARY=y -CONFIG_IPCFG_CHARDEV=y -CONFIG_IPCFG_PATH="/fs/mtd_net" -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_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_REGIONS=4 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_MTD_PROGMEM=y -CONFIG_MTD_RAMTRON=y -CONFIG_NAME_MAX=40 -CONFIG_NET=y -CONFIG_NETDB_DNSCLIENT=y -CONFIG_NETDB_DNSCLIENT_ENTRIES=8 -CONFIG_NETDB_DNSSERVER_NOADDR=y -CONFIG_NETDEV_PHY_IOCTL=y -CONFIG_NETINIT_DHCPC=y -CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0XC0A800FE -CONFIG_NETINIT_DRIPADDR=0XC0A800FE -CONFIG_NETINIT_MONITOR=y -CONFIG_NETINIT_THREAD=y -CONFIG_NETINIT_THREAD_PRIORITY=49 -CONFIG_NETUTILS_TELNETD=y -CONFIG_NET_ARP_IPIN=y -CONFIG_NET_ARP_SEND=y -CONFIG_NET_BROADCAST=y -CONFIG_NET_ETH_PKTSIZE=1518 -CONFIG_NET_ICMP=y -CONFIG_NET_ICMP_SOCKET=y -CONFIG_NET_NACTIVESOCKETS=16 -CONFIG_NET_SOLINGER=y -CONFIG_NET_TCP=y -CONFIG_NET_TCPBACKLOG=y -CONFIG_NET_TCP_DELAYED_ACK=y -CONFIG_NET_TCP_WRITE_BUFFERS=y -CONFIG_NET_UDP=y -CONFIG_NET_UDP_CHECKSUMS=y -CONFIG_NET_UDP_WRITE_BUFFERS=y -CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARGCAT=y -CONFIG_NSH_BUILTIN_APPS=y -CONFIG_NSH_CMDPARMS=y -CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_LINELEN=128 -CONFIG_NSH_MAXARGUMENTS=15 -CONFIG_NSH_NESTDEPTH=8 -CONFIG_NSH_QUOTE=y -CONFIG_NSH_ROMFSETC=y -CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y -CONFIG_NSH_TELNET=y -CONFIG_NSH_TELNET_LOGIN=y -CONFIG_NSH_VARS=y -CONFIG_OTG_ID_GPIO_DISABLE=y -CONFIG_PIPES=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y -CONFIG_PTHREAD_MUTEX_ROBUST=y -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAMTRON_SETSPEED=y -CONFIG_RAM_SIZE=245760 -CONFIG_RAM_START=0x20010000 -CONFIG_RAW_BINARY=y -CONFIG_READLINE_CMD_HISTORY=y -CONFIG_READLINE_TABCOMPLETION=y -CONFIG_RTC_DATETIME=y -CONFIG_SCHED_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_SDMMC2_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_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_ETHMAC=y -CONFIG_STM32H7_FLASH_OVERRIDE_I=y -CONFIG_STM32H7_FLOWCONTROL_BROKEN=y -CONFIG_STM32H7_I2C1=y -CONFIG_STM32H7_I2C2=y -CONFIG_STM32H7_I2C3=y -CONFIG_STM32H7_I2C4=y -CONFIG_STM32H7_I2C_DYNTIMEO=y -CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 -CONFIG_STM32H7_OTGFS=y -CONFIG_STM32H7_PHYSR=31 -CONFIG_STM32H7_PHYSR_100MBPS=0x8 -CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10 -CONFIG_STM32H7_PHYSR_MODE=0x10 -CONFIG_STM32H7_PHYSR_SPEED=0x8 -CONFIG_STM32H7_PHY_POLLING=y -CONFIG_STM32H7_PROGMEM=y -CONFIG_STM32H7_RTC=y -CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y -CONFIG_STM32H7_RTC_MAGIC_REG=1 -CONFIG_STM32H7_SAVE_CRASHDUMP=y -CONFIG_STM32H7_SDMMC2=y -CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y -CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32H7_SPI1=y -CONFIG_STM32H7_SPI1_DMA=y -CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 -CONFIG_STM32H7_SPI2=y -CONFIG_STM32H7_SPI2_DMA=y -CONFIG_STM32H7_SPI2_DMA_BUFFER=4096 -CONFIG_STM32H7_SPI3=y -CONFIG_STM32H7_SPI3_DMA=y -CONFIG_STM32H7_SPI3_DMA_BUFFER=1024 -CONFIG_STM32H7_SPI5=y -CONFIG_STM32H7_SPI6=y -CONFIG_STM32H7_SPI6_DMA=y -CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 -CONFIG_STM32H7_TIM12=y -CONFIG_STM32H7_TIM1=y -CONFIG_STM32H7_TIM4=y -CONFIG_STM32H7_TIM5=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_DHCPC_RENEW=y -CONFIG_SYSTEM_NSH=y -CONFIG_SYSTEM_PING=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_UART4_BAUD=57600 -CONFIG_UART4_RXBUFSIZE=600 -CONFIG_UART4_TXBUFSIZE=1500 -CONFIG_UART5_IFLOWCONTROL=y -CONFIG_UART5_OFLOWCONTROL=y -CONFIG_UART5_RXDMA=y -CONFIG_UART5_TXBUFSIZE=3000 -CONFIG_UART5_TXDMA=y -CONFIG_UART7_BAUD=57600 -CONFIG_UART7_IFLOWCONTROL=y -CONFIG_UART7_OFLOWCONTROL=y -CONFIG_UART7_RXBUFSIZE=600 -CONFIG_UART7_RXDMA=y -CONFIG_UART7_TXBUFSIZE=3000 -CONFIG_UART7_TXDMA=y -CONFIG_UART8_BAUD=57600 -CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 -CONFIG_USART1_BAUD=57600 -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_TXBUFSIZE=1500 -CONFIG_USART2_BAUD=57600 -CONFIG_USART2_IFLOWCONTROL=y -CONFIG_USART2_OFLOWCONTROL=y -CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_TXBUFSIZE=3000 -CONFIG_USART3_BAUD=57600 -CONFIG_USART3_RXBUFSIZE=180 -CONFIG_USART3_RXDMA=y -CONFIG_USART3_SERIAL_CONSOLE=y -CONFIG_USART3_TXBUFSIZE=1500 -CONFIG_USART3_TXDMA=y -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 -CONFIG_USBDEV=y -CONFIG_USBDEV_BUSPOWERED=y -CONFIG_USBDEV_MAXPOWER=500 -CONFIG_USEC_PER_TICK=1000 -CONFIG_WATCHDOG=y diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld deleted file mode 100644 index 2e6eba3..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 PX4 FMUV6X uses an STM32H753II 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 PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by - * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test - * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 - * - * The STM32H743II also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - * - * The bootloader uses the first sector of the flash, which is 128K in length. - */ - -MEMORY -{ - itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K - dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K - sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K - sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K - sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K - sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K - bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - - .ARM.extab : { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld deleted file mode 100644 index b6b341d..0000000 --- a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,229 +0,0 @@ -/**************************************************************************** - * scripts/script.ld - * - * Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * - * 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 PX4 FMUV6X uses an STM32H753II 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 PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by - * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test - * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000 - * - * The STM32H743II also has 1024Kb of data SRAM. - * SRAM is split up into several blocks and into three power domains: - * - * 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with - * 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus - * - * 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 - * - * The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit - * DTCM ports. The DTCM-RAM could be used for critical real-time - * data, such as interrupt service routines or stack / heap memory. - * Both DTCM-RAMs can be used in parallel (for load/store operations) - * thanks to the Cortex-M7 dual issue capability. - * - * 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 - * - * This RAM is connected to ITCM 64-bit interface designed for - * execution of critical real-times routines by the CPU. - * - * 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA - * through D1 domain AXI bus matrix - * - * 2.1) 512Kb of SRAM beginning at address 0x2400:0000 - * - * 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA - * through D2 domain AHB bus matrix - * - * 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 - * 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 - * 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 - * - * SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 - * - * 4) AHB SRAM (D3 domain) accessible by most of system masters - * through D3 domain AHB bus matrix - * - * 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 - * 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - */ - -MEMORY -{ - ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K - - DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K - AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */ - SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */ - SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */ - SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */ - BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K -} - -OUTPUT_ARCH(arm) -EXTERN(_vectors) -ENTRY(_stext) - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(_bootdelay_signature) -EXTERN(board_get_manifest) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.glue_7) - *(.glue_7t) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > FLASH - - /* - * 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) } -} diff --git a/boards/px4/fmu-v6x/src/CMakeLists.txt b/boards/px4/fmu-v6x/src/CMakeLists.txt deleted file mode 100644 index d4a16ff..0000000 --- a/boards/px4/fmu-v6x/src/CMakeLists.txt +++ /dev/null @@ -1,76 +0,0 @@ -############################################################################ -# -# Copyright (c) 2016 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") - add_compile_definitions(BOOTLOADER) - add_library(drivers_board - bootloader_main.c - init.c - usb.c - timer_config.cpp - ) - target_link_libraries(drivers_board - PRIVATE - nuttx_arch # sdio - nuttx_drivers # sdio - px4_layer #gpio - arch_io_pins # iotimer - bootloader - ) - target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) - -else() - add_library(drivers_board - can.c - i2c.cpp - init.c - led.c - mtd.cpp - manifest.c - sdio.c - spi.cpp - timer_config.cpp - usb.c - ) - add_dependencies(drivers_board arch_board_hw_info) - - target_link_libraries(drivers_board - PRIVATE - arch_io_pins - arch_spi - arch_board_hw_info - drivers__led # drv_led_start - nuttx_arch # sdio - nuttx_drivers # sdio - px4_layer - ) -endif() diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h deleted file mode 100644 index fecd7ef..0000000 --- a/boards/px4/fmu-v6x/src/board_config.h +++ /dev/null @@ -1,534 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file board_config.h - * - * PX4FMU-v6x internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - - -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ - -#undef TRACE_PINS - -/* PX4IO connection configuration */ - -#define BOARD_USES_PX4IO_VERSION 2 -#define PX4IO_SERIAL_DEVICE "/dev/ttyS5" -#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX -#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX -#define PX4IO_SERIAL_BASE STM32_USART6_BASE -#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 -#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX -#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX -#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR -#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN -#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY -#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ - -/* Configuration ************************************************************************************/ - -#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks -#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid -#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage -#define BOARD_HAS_NBAT_I 2d // 2 Digital Current - -/* PX4FMU GPIOs ***********************************************************************************/ - -/* Trace Clock and D0-D3 are available on the trace connector - * - * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 - * TRACED0 PE3 - nLED_RED - Trace Connector Pin 3 - * TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5 - * TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7 - * TRACED3 PE6 - nARMED - Trace Connector Pin 8 - - */ - -/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ - -#if !defined(TRACE_PINS) -# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) -# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) - -# define BOARD_HAS_CONTROL_STATUS_LEDS 1 -# define BOARD_OVERLOAD_LED LED_RED -# define BOARD_ARMED_STATE_LED LED_BLUE - -#else - -# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2) -# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3) -# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4) -# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5) -# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6) -//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3) - -# undef BOARD_HAS_CONTROL_STATUS_LEDS -# undef BOARD_OVERLOAD_LED -# undef BOARD_ARMED_STATE_LED - -# define GPIO_nLED_RED GPIO_TRACED0 -# define GPIO_nLED_GREEN GPIO_TRACED1 -# define GPIO_nLED_BLUE GPIO_TRACED2 -# define GPIO_nARMED GPIO_TRACED3 -# define GPIO_nARMED_INIT GPIO_TRACED3 -#endif - - -/* SPI */ - -#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10) -#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) - -/* I2C busses */ - -/* Devices on the onboard buses. - * - * Note that these are unshifted addresses. - */ -#define BOARD_MTD_NUM_EEPROM 2 /* MTD: base_eeprom, imu_eeprom*/ - -#define PX4_I2C_OBDEV_SE050 0x48 - -#define GPIO_I2C2_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that - * can be used by the Px4 Firmware in the adc driver - */ - -/* ADC defines to be used in sensors.cpp to read from a particular channel */ - -#define ADC1_CH(n) (n) - -/* N.B. there is no offset mapping needed for ADC3 because */ -#define ADC3_CH(n) (n) - -/* We are only use ADC3 for REV/VER. - * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1 - * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3 - * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO - * PA0SO of 0. - * - * 0 Analog switch closed (pads are connected through the analog switch) - * - * So ADC3_INP0 is GPIO_ADC123_INP12 - * ADC3_INP1 is GPIO_ADC12_INP13 - */ - -/* Define GPIO pins used as ADC N.B. Channel numbers must match below */ - -#define PX4_ADC_GPIO \ - /* PA0 */ GPIO_ADC1_INP16, \ - /* PA4 */ GPIO_ADC12_INP18, \ - /* PB0 */ GPIO_ADC12_INP9, \ - /* PB1 */ GPIO_ADC12_INP5, \ - /* PC2 */ GPIO_ADC123_INP12, \ - /* PC3 */ GPIO_ADC12_INP13, \ - /* PF12 */ GPIO_ADC1_INP6, \ - /* PH3 */ GPIO_ADC3_INP14, \ - /* PH4 */ GPIO_ADC3_INP15 - -/* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16) -#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(18) -#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL /* PB0 */ ADC1_CH(9) -#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5) -#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12) -#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13) -#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL /* PF12 */ ADC1_CH(6) -#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14) -#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15) - -#define ADC_CHANNELS \ - ((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \ - (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \ - (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \ - (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_ADC3_6V6_CHANNEL) | \ - (1 << ADC_ADC3_3V3_CHANNEL)) | \ - (1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL) - -/* HW has to large of R termination on ADC todo:change when HW value is chosen */ - -#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE - -#define SYSTEM_ADC_BASE STM32_ADC1_BASE - -/* HW has to large of R termination on ADC todo:change when HW value is chosen */ -#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) - -/* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING - -#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) -#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 -#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 -#define HW_INFO_INIT_PREFIX "V6X" - -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 11 // Rev 0 and Rev 3,4 Sensor sets -// Base/FMUM -#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0 -#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1 -#define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3 -#define V6X04 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4 -#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 -#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3 -#define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4 -#define V6X21 HW_VER_REV(0x2,0x1) // FMUV6X, CUAV Sensor Set -#define V6X40 HW_VER_REV(0x4,0x0) // FMUV6X, HB CM4 base Rev 0 -#define V6X41 HW_VER_REV(0x4,0x1) // FMUV6X, BMI388 I2C2 HB CM4 base Rev 1 -#define V6X43 HW_VER_REV(0x4,0x3) // FMUV6X, Sensor Set HB CM4 base Rev 3 -#define V6X44 HW_VER_REV(0x4,0x4) // FMUV6X, Sensor Set HB CM4 base Rev 4 -#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0 -#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1 -#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3 -#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4 -#define V6X90 HW_VER_REV(0x9,0x0) // Rev 0 -#define V6X0910 HW_VER_REV(0x9,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver9 -#define V6X1010 HW_VER_REV(0x10,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver10 - - - -#define UAVCAN_NUM_IFACES_RUNTIME 1 - -/* HEATER - * PWM in future - */ -#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) -#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) - -/* PE6 is nARMED - * The GPIO will be set as input while not armed HW will have external HW Pull UP. - * While armed it shall be configured at a GPIO OUT set LOW - */ -#if !defined(TRACE_PINS) -#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6) -#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6) -#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) -#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED) -#endif - - -/* PWM - */ -#define DIRECT_PWM_OUTPUT_CHANNELS 9 - - -/* Power supply control and monitoring GPIOs */ - -#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1) -#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2) -#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3) - -#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ -#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ -#define BOARD_NUMBER_BRICKS 2 -#define BOARD_NUMBER_DIGITAL_BRICKS 2 -#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ - -#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4) -#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15) -#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10) -#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) -#define GPIO_VDD_3V3_SENSORS4_EN /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8) -#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) -#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) - -/* Spare GPIO */ - -#define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6) -#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15) - -/* ETHERNET GPIO */ - -#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15) - -/* NFC GPIO */ - -#define GPIO_NFC_GPIO /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0) - - -/* Define True logic Power Control in arch agnostic form */ - -#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true)) -#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true)) -#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true)) -#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true)) -#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) -#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) -#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true)) - - -/* Tone alarm output */ - -#define TONE_ALARM_TIMER 14 /* Timer 14 */ -#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */ - -#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9) - -#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 -#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2 - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing - */ -#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) - -/* High-resolution timer */ -#define HRT_TIMER 8 /* use timer8 for the HRT */ -#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ - -#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */ -#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2 - -/* RC Serial port */ - -#define RC_SERIAL_PORT "/dev/ttyS5" -#define RC_SERIAL_SINGLEWIRE - -/* Input Capture Channels. */ -#define INPUT_CAP1_TIMER 1 -#define INPUT_CAP1_CHANNEL /* T1C2 */ 2 -#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN - -/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ -#define PWMIN_TIMER 4 -#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 -#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 - -/* Safety Switch is HW version dependent on having an PX4IO - * So we init to a benign state with the _INIT definition - * and provide the the non _INIT one for the driver to make a run time - * decision to use it. - */ -#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10) -#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) - -/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ -#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT - -#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5) -/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ -#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ - -/* Power switch controls ******************************************************/ - -#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) - -/* - * FMUv6X has a separate RC_IN - * - * GPIO PPM_IN on PI5 T8CH1 - * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 - * Inversion is possible in the UART and can drive GPIO PPM_IN as an output - */ - -#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5) -#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) -#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ -#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) - -#define SDIO_SLOTNO 0 /* Only one slot */ -#define SDIO_MINOR 0 - -/* SD card bringup does not work if performed on the IDLE thread because it - * will cause waiting. Use either: - * - * CONFIG_BOARDCTL=y, OR - * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y - */ - -#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \ - !defined(CONFIG_BOARD_INITTHREAD) -# warning SDIO initialization cannot be perfomed on the IDLE thread -#endif - -/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) - * this board support the ADC system_power interface, and therefore - * provides the true logic GPIO BOARD_ADC_xxxx macros. - */ -#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) -#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) - -/* FMUv6X never powers off the Servo rail */ - -#define BOARD_ADC_SERVO_VALID (1) - -#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0 -# define BOARD_ADC_BRICK1_VALID (1) -# define BOARD_ADC_BRICK2_VALID (0) -#elif BOARD_HAS_LTC44XX_VALIDS == 1 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (0) -#elif BOARD_HAS_LTC44XX_VALIDS == 2 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -#elif BOARD_HAS_LTC44XX_VALIDS == 3 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) -#elif BOARD_HAS_LTC44XX_VALIDS == 4 -# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) -# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) -# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID)) -#else -# error Unsupported BOARD_HAS_LTC44XX_VALIDS value -#endif - -#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) -#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) - - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -/* This board provides the board_on_reset interface */ - -#define BOARD_HAS_ON_RESET 1 - -#if defined(TRACE_PINS) -#define GPIO_TRACE \ - GPIO_TRACECLK1, \ - GPIO_TRACED0, \ - GPIO_TRACED1, \ - GPIO_TRACED2, \ - GPIO_TRACED3 -#else -#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) -#endif - -#define PX4_GPIO_INIT_LIST { \ - GPIO_TRACE, \ - PX4_ADC_GPIO, \ - GPIO_HW_VER_REV_DRIVE, \ - GPIO_CAN1_TX, \ - GPIO_CAN1_RX, \ - GPIO_CAN2_TX, \ - GPIO_CAN2_RX, \ - GPIO_HEATER_OUTPUT, \ - GPIO_nPOWER_IN_A, \ - GPIO_nPOWER_IN_B, \ - GPIO_nPOWER_IN_C, \ - GPIO_VDD_5V_PERIPH_nEN, \ - GPIO_VDD_5V_PERIPH_nOC, \ - GPIO_VDD_5V_HIPOWER_nEN, \ - GPIO_VDD_5V_HIPOWER_nOC, \ - GPIO_VDD_3V3_SENSORS4_EN, \ - GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ - GPIO_VDD_3V3_SD_CARD_EN, \ - GPIO_PD15, \ - GPIO_SYNC, \ - SPI6_nRESET_EXTERNAL1, \ - GPIO_ETH_POWER_EN, \ - GPIO_NFC_GPIO, \ - GPIO_TONE_ALARM_IDLE, \ - GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \ - GPIO_SAFETY_SWITCH_IN, \ - GPIO_PG6, \ - GPIO_nARMED_INIT \ - } - -#define BOARD_ENABLE_CONSOLE_BUFFER - -#define PX4_I2C_BUS_MTD 4,5 - - -#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 PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -extern void stm32_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/px4/fmu-v6x/src/can.c b/boards/px4/fmu-v6x/src/can.c deleted file mode 100644 index 1f4e1f2..0000000 --- a/boards/px4/fmu-v6x/src/can.c +++ /dev/null @@ -1,142 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_can.c - * - * Board-specific CAN functions. - */ - -#if !defined(CONFIG_CAN) - -#include - -#include "board_config.h" - - -__EXPORT -uint16_t board_get_can_interfaces(void) -{ - uint16_t enabled_interfaces = 0x3; - - if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) { - enabled_interfaces &= ~(1 << 1); - } - - return enabled_interfaces; -} - -#else - -#include -#include - -#include -#include - -#include "chip.h" -#include "arm_internal.h" - -#include "chip.h" -#include "stm32_can.h" -#include "board_config.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ -/* Configuration ********************************************************************/ - -#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) -# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." -# undef CONFIG_STM32_CAN2 -#endif - -#ifdef CONFIG_STM32_CAN1 -# define CAN_PORT 1 -#else -# define CAN_PORT 2 -#endif - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ -int can_devinit(void); - -/************************************************************************************ - * Name: can_devinit - * - * Description: - * All STM32 architectures must provide the following interface to work with - * examples/can. - * - ************************************************************************************/ - -int can_devinit(void) -{ - static bool initialized = false; - struct can_dev_s *can; - int ret; - - /* Check if we have already initialized */ - - if (!initialized) { - /* Call stm32_caninitialize() to get an instance of the CAN interface */ - - can = stm32_caninitialize(CAN_PORT); - - if (can == NULL) { - canerr("ERROR: Failed to get CAN interface\n"); - return -ENODEV; - } - - /* Register the CAN driver at "/dev/can0" */ - - ret = can_register("/dev/can0", can); - - if (ret < 0) { - canerr("ERROR: can_register failed: %d\n", ret); - return ret; - } - - /* Now we are initialized */ - - initialized = true; - } - - return OK; -} -#endif /* CONFIG_CAN */ diff --git a/boards/px4/fmu-v6x/src/hw_config.h b/boards/px4/fmu-v6x/src/hw_config.h deleted file mode 100644 index 4ad1049..0000000 --- a/boards/px4/fmu-v6x/src/hw_config.h +++ /dev/null @@ -1,128 +0,0 @@ -/* - * hw_config.h - * - * Created on: May 17, 2015 - * Author: david_s5 - */ - -#ifndef HW_CONFIG_H_ -#define HW_CONFIG_H_ - -/**************************************************************************** - * 10-8--2016: - * To simplify the ripple effect on the tools, we will be using - * /dev/serial/by-id/PX4 to locate PX4 devices. Therefore - * moving forward all Bootloaders must contain the prefix "PX4 BL " - * in the USBDEVICESTRING - * This Change will be made in an upcoming BL release - ****************************************************************************/ -/* - * Define usage to configure a bootloader - * - * - * Constant example Usage - * APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed - * BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request - * BOARD_FMUV2 - * INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading - * INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading - * USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string - * USBPRODUCTID 0x0011 - PID Should match defconfig - * BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom - * delay provided by an APP FW - * BOARD_TYPE 9 - Must match .prototype boad_id - * _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection - * BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector - * BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector - * BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. - * (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted - * programmatically - * - * BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. - * This is to allow sectors to be reserved for app fw usage. That will NOT be erased - * during a FW upgrade. - * The default is 0, and selects the first sector to be erased, as the 0th entry in the - * flash_sectors table. Which is the second physical sector of FLASH in the device. - * The first physical sector of FLASH is used by the bootloader, and is not defined - * in the table. - * - * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus - * BOOTLOADER_RESERVATION_SIZE will be deducted from - * BOARD_FLASH_SIZE to determine the size of the App FW - * and hence the address space of FLASH to erase and program. - * USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) - * SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL - * - * * Other defines are somewhat self explanatory. - */ - -/* Boot device selection list*/ -#define USB0_DEV 0x01 -#define SERIAL0_DEV 0x02 -#define SERIAL1_DEV 0x04 - -#define APP_LOAD_ADDRESS 0x08020000 -#define BOOTLOADER_DELAY 5000 -#define INTERFACE_USB 1 -#define INTERFACE_USB_CONFIG "/dev/ttyACM0" -#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) - -//#define USE_VBUS_PULL_DOWN -#define INTERFACE_USART 1 -#define INTERFACE_USART_CONFIG "/dev/ttyS0,1500000" -#define BOOT_DELAY_ADDRESS 0x000001a0 -#define BOARD_TYPE 53 -#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) -#define BOARD_FLASH_SECTORS (15) -#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) - -#define OSC_FREQ 16 - -#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE -#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN -#define BOARD_LED_ON 0 -#define BOARD_LED_OFF 1 - -#define SERIAL_BREAK_DETECT_DISABLED 1 - -/* - * Uncommenting this allows to force the bootloader through - * a PWM output pin. As this can accidentally initialize - * an ESC prematurely, it is not recommended. This feature - * has not been used and hence defaults now to off. - * - * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) - * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) - * - * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) - * # define BOARD_POWER_ON 1 - * # define BOARD_POWER_OFF 0 - * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) - * -*/ - -#if !defined(ARCH_SN_MAX_LENGTH) -# define ARCH_SN_MAX_LENGTH 12 -#endif - -#if !defined(APP_RESERVATION_SIZE) -# define APP_RESERVATION_SIZE 0 -#endif - -#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) -# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 -#endif - -#if !defined(USB_DATA_ALIGN) -# define USB_DATA_ALIGN -#endif - -#ifndef BOOT_DEVICES_SELECTION -# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#ifndef BOOT_DEVICES_FILTER_ONUSB -# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV -#endif - -#endif /* HW_CONFIG_H_ */ diff --git a/boards/px4/fmu-v6x/src/i2c.cpp b/boards/px4/fmu-v6x/src/i2c.cpp deleted file mode 100644 index 8a55707..0000000 --- a/boards/px4/fmu-v6x/src/i2c.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusExternal(2), - initI2CBusExternal(3), - initI2CBusInternal(4), -}; diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c deleted file mode 100644 index cd6714a..0000000 --- a/boards/px4/fmu-v6x/src/init.c +++ /dev/null @@ -1,286 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file init.c - * - * PX4FMU-specific early startup code. This file implements the - * board_app_initialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialization. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include "board_config.h" - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "arm_internal.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - - -/************************************************************************************ - * Name: board_peripheral_reset - * - * Description: - * - ************************************************************************************/ -__EXPORT void board_peripheral_reset(int ms) -{ - /* set the peripheral rails off */ - - VDD_5V_PERIPH_EN(false); - board_control_spi_sensors_power(false, 0xffff); - VDD_3V3_SENSORS4_EN(false); - - bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN(); - /* Keep Spektum on to discharge rail*/ - VDD_3V3_SPEKTRUM_POWER_EN(false); - - /* wait for the peripheral rail to reach GND */ - usleep(ms * 1000); - syslog(LOG_DEBUG, "reset done, %d ms\n", ms); - - /* re-enable power */ - - /* switch the peripheral rail back on */ - VDD_3V3_SPEKTRUM_POWER_EN(last); - board_control_spi_sensors_power(true, 0xffff); - VDD_3V3_SENSORS4_EN(true); - VDD_5V_PERIPH_EN(true); - -} - -/************************************************************************************ - * Name: board_on_reset - * - * Description: - * Optionally provided function called on entry to board_system_reset - * It should perform any house keeping prior to the rest. - * - * status - 1 if resetting to boot loader - * 0 if just resetting - * - ************************************************************************************/ -__EXPORT void board_on_reset(int status) -{ - for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { - px4_arch_configgpio(io_timer_channel_get_gpio_output(i)); - } - - if (status >= 0) { - up_mdelay(6); - } -} - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void -stm32_boardinitialize(void) -{ - board_on_reset(-1); /* Reset PWM first thing */ - - /* configure LEDs */ - - board_autoled_initialize(); - - /* configure pins */ - - const uint32_t gpio[] = PX4_GPIO_INIT_LIST; - px4_gpio_init(gpio, arraySize(gpio)); - - /* configure USB interfaces */ - - stm32_usbinitialize(); - - VDD_3V3_ETH_POWER_EN(true); - -} - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform application specific initialization. This function is never - * called directly from application code, but only indirectly via the - * (non-standard) boardctl() interface using the command BOARDIOC_INIT. - * - * Input Parameters: - * arg - The boardctl() argument is passed to the board_app_initialize() - * implementation without modification. The argument has no - * meaning to NuttX; the meaning of the argument is a contract - * between the board-specific initalization logic and the the - * matching application logic. The value cold be such things as a - * mode enumeration value, a set of DIP switch switch settings, a - * pointer to configuration data read from a file or serial FLASH, - * or whatever you would like to do with it. Every implementation - * should accept zero/NULL as a default configuration. - * - * Returned Value: - * Zero (OK) is returned on success; a negated errno value is returned on - * any failure to indicate the nature of the failure. - * - ****************************************************************************/ - -__EXPORT int board_app_initialize(uintptr_t arg) -{ -#if !defined(BOOTLOADER) - - /* Power on Interfaces */ - VDD_3V3_SD_CARD_EN(true); - VDD_5V_PERIPH_EN(true); - VDD_5V_HIPOWER_EN(true); - VDD_3V3_SENSORS4_EN(true); - VDD_3V3_SPEKTRUM_POWER_EN(true); - - /* Need hrt running before using the ADC */ - - px4_platform_init(); - - // Use the default HW_VER_REV(0x0,0x0) for Ramtron - - stm32_spiinitialize(); - - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - - if (OK == board_determine_hw_info()) { - syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), - board_get_hw_type_name()); - - } else { - syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); - } - - /* Configure the Actual SPI interfaces (after we determined the HW version) */ - - stm32_spiinitialize(); - - board_spi_reset(10, 0xffff); - - /* Configure the DMA allocator */ - - if (board_dma_alloc_init() < 0) { - syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); - } - -# if defined(SERIAL_HAVE_RXDMA) - // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. - static struct hrt_call serial_dma_call; - hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); -# endif - - /* initial LED state */ - drv_led_start(); - led_off(LED_RED); - led_on(LED_GREEN); // Indicate Power. - led_off(LED_BLUE); - - if (board_hardfault_init(2, true) != 0) { - led_on(LED_RED); - } - - // Ensure Power is off for > 10 mS - usleep(15 * 1000); - VDD_3V3_SD_CARD_EN(true); - usleep(500 * 1000); - -# ifdef CONFIG_MMCSD - int ret = stm32_sdio_initialize(); - - if (ret != OK) { - led_on(LED_RED); - return ret; - } - -# endif /* CONFIG_MMCSD */ - -#endif /* !defined(BOOTLOADER) */ - - return OK; -} diff --git a/boards/px4/fmu-v6x/src/led.c b/boards/px4/fmu-v6x/src/led.c deleted file mode 100644 index bff4b09..0000000 --- a/boards/px4/fmu-v6x/src/led.c +++ /dev/null @@ -1,235 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu2_led.c - * - * PX4FMU LED backend. - */ - -#include - -#include - -#include "chip.h" -#include "stm32_gpio.h" -#include "board_config.h" - -#include -#include - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - -#ifdef CONFIG_ARCH_LEDS -static bool nuttx_owns_leds = true; -// B R S G -// 0 1 2 3 -static const uint8_t xlatpx4[] = {1, 2, 4, 0}; -# define xlat(p) xlatpx4[(p)] -static uint32_t g_ledmap[] = { - GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN - GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE - GPIO_nLED_RED, // Indexed by BOARD_LED_RED - GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4 -}; - -#else - -# define xlat(p) (p) -static uint32_t g_ledmap[] = { - GPIO_nLED_BLUE, // Indexed by LED_BLUE - GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER - 0, // Indexed by LED_SAFETY (defaulted to an input) - GPIO_nLED_GREEN, // Indexed by LED_GREEN -}; - -#endif - -__EXPORT void led_init(void) -{ - for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { - if (g_ledmap[l] != 0) { - stm32_configgpio(g_ledmap[l]); - } - } -} - -static void phy_set_led(int led, bool state) -{ - /* Drive Low to switch on */ - - if (g_ledmap[led] != 0) { - stm32_gpiowrite(g_ledmap[led], !state); - } -} - -static bool phy_get_led(int led) -{ - /* If Low it is on */ - if (g_ledmap[led] != 0) { - return !stm32_gpioread(g_ledmap[led]); - } - - return false; -} - -__EXPORT void led_on(int led) -{ - phy_set_led(xlat(led), true); -} - -__EXPORT void led_off(int led) -{ - phy_set_led(xlat(led), false); -} - -__EXPORT void led_toggle(int led) -{ - phy_set_led(xlat(led), !phy_get_led(xlat(led))); -} - -#ifdef CONFIG_ARCH_LEDS -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: board_autoled_initialize - ****************************************************************************/ - -void board_autoled_initialize(void) -{ - led_init(); -} - -/**************************************************************************** - * Name: board_autoled_on - ****************************************************************************/ - -void board_autoled_on(int led) -{ - if (!nuttx_owns_leds) { - return; - } - - switch (led) { - default: - break; - - case LED_HEAPALLOCATE: - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_IRQSENABLED: - phy_set_led(BOARD_LED_BLUE, false); - phy_set_led(BOARD_LED_GREEN, true); - break; - - case LED_STACKCREATED: - phy_set_led(BOARD_LED_GREEN, true); - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_INIRQ: - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_SIGNAL: - phy_set_led(BOARD_LED_GREEN, true); - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, true); - phy_set_led(BOARD_LED_BLUE, true); - break; - - case LED_PANIC: - phy_set_led(BOARD_LED_RED, true); - break; - - case LED_IDLE : /* IDLE */ - phy_set_led(BOARD_LED_RED, true); - break; - } -} - -/**************************************************************************** - * Name: board_autoled_off - ****************************************************************************/ - -void board_autoled_off(int led) -{ - if (!nuttx_owns_leds) { - return; - } - - switch (led) { - default: - break; - - case LED_SIGNAL: - phy_set_led(BOARD_LED_GREEN, false); - break; - - case LED_INIRQ: - phy_set_led(BOARD_LED_BLUE, false); - break; - - case LED_ASSERTION: - phy_set_led(BOARD_LED_RED, false); - phy_set_led(BOARD_LED_BLUE, false); - break; - - case LED_PANIC: - phy_set_led(BOARD_LED_RED, false); - break; - - case LED_IDLE : /* IDLE */ - phy_set_led(BOARD_LED_RED, false); - break; - } -} - -#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/px4/fmu-v6x/src/manifest.c b/boards/px4/fmu-v6x/src/manifest.c deleted file mode 100644 index 313d49f..0000000 --- a/boards/px4/fmu-v6x/src/manifest.c +++ /dev/null @@ -1,205 +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 -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0600[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0610[] = { - { - // PX4_MFT_PX4IO - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0650[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, -}; - - -static px4_hw_mft_list_entry_t mft_lists[] = { -// ver_rev - {V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, - {V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 - {V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3 - {V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // HB CM4 base - {V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 HB CM4 base - {V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3 - {V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4 - {V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini - {V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini - {V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3 - {V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4 - {V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO - {V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3 - {V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4 - {V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4 - {V6X21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, - {V6X0910, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver9 - {V6X1010, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver10 -}; - -/************************************************************************************ - * 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; -} diff --git a/boards/px4/fmu-v6x/src/mtd.cpp b/boards/px4/fmu-v6x/src/mtd.cpp deleted file mode 100644 index fc1e97d..0000000 --- a/boards/px4/fmu-v6x/src/mtd.cpp +++ /dev/null @@ -1,133 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include -// KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 - .bus_type = px4_mft_device_t::SPI, - .devid = SPIDEV_FLASH(0) -}; -static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 256 - .bus_type = px4_mft_device_t::I2C, - .devid = PX4_MK_I2C_DEVID(3, 0x51) -}; -static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256 - .bus_type = px4_mft_device_t::I2C, - .devid = PX4_MK_I2C_DEVID(4, 0x50) -}; - - -static const px4_mtd_entry_t fmum_fram = { - .device = &spi5, - .npart = 2, - .partd = { - { - .type = MTD_PARAMETERS, - .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - - } - }, -}; - -static const px4_mtd_entry_t base_eeprom = { - .device = &i2c3, - .npart = 2, - .partd = { - { - .type = MTD_MFT_VER, - .path = "/fs/mtd_mft_ver", - .nblocks = 248 - }, - { - .type = MTD_NET, - .path = "/fs/mtd_net", - .nblocks = 8 // 256 = 32 * 8 - - } - }, -}; - -static const px4_mtd_entry_t imu_eeprom = { - .device = &i2c4, - .npart = 3, - .partd = { - { - .type = MTD_CALDATA, - .path = "/fs/mtd_caldata", - .nblocks = 240 - }, - { - .type = MTD_MFT_REV, - .path = "/fs/mtd_mft_rev", - .nblocks = 8 - }, - { - .type = MTD_ID, - .path = "/fs/mtd_id", - .nblocks = 8 // 256 = 32 * 8 - } - }, -}; - -static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 3, - .entries = { - &fmum_fram, - &base_eeprom, - &imu_eeprom - } -}; - -static const px4_mft_entry_s mtd_mft = { - .type = MTD, - .pmft = (void *) &board_mtd_config, -}; - -static const px4_mft_s mft = { - .nmft = 1, - .mfts = { - &mtd_mft - } -}; - -const px4_mft_s *board_get_manifest(void) -{ - return &mft; -} diff --git a/boards/px4/fmu-v6x/src/sdio.c b/boards/px4/fmu-v6x/src/sdio.c deleted file mode 100644 index 869d757..0000000 --- a/boards/px4/fmu-v6x/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 -#include - -#include -#include -#include -#include - -#include -#include - -#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 */ diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp deleted file mode 100644 index d3bbdb9..0000000 --- a/boards/px4/fmu-v6x/src/spi.cpp +++ /dev/null @@ -1,321 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include -#include - -constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { - initSPIHWVersion(V6X00, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X03, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X21, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X43, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X50, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - initSPIHWVersion(V6X44, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - - // never shipped - //initSPIHWVersion(V6X50, { - // initSPIBus(SPI::Bus::SPI1, { - // initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - // }, {GPIO::PortI, GPIO::Pin11}), - // initSPIBus(SPI::Bus::SPI2, { - // initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - // }, {GPIO::PortF, GPIO::Pin4}), - // initSPIBus(SPI::Bus::SPI3, { - // initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - // initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - // }, {GPIO::PortE, GPIO::Pin7}), - // // initSPIBus(SPI::Bus::SPI4, { - // // // no devices - // // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // // }, {GPIO::PortG, GPIO::Pin8}), - // initSPIBus(SPI::Bus::SPI5, { - // initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - // }), - // initSPIBusExternal(SPI::Bus::SPI6, { - // initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - // initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - // }), - //}), - initSPIHWVersion(V6X04, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X53, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X54, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X0910, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), - initSPIHWVersion(V6X1010, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}), - }, {GPIO::PortE, GPIO::Pin7}), - // initSPIBus(SPI::Bus::SPI4, { - // // no devices - // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h - // }, {GPIO::PortG, GPIO::Pin8}), - initSPIBus(SPI::Bus::SPI5, { - initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}) - }), - initSPIBusExternal(SPI::Bus::SPI6, { - initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}), - initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}), - }), - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw); diff --git a/boards/px4/fmu-v6x/src/timer_config.cpp b/boards/px4/fmu-v6x/src/timer_config.cpp deleted file mode 100644 index 928f491..0000000 --- a/boards/px4/fmu-v6x/src/timer_config.cpp +++ /dev/null @@ -1,80 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -/* Timer allocation - * - * TIM5_CH4 T FMU_CH1 - * TIM5_CH3 T FMU_CH2 - * TIM5_CH2 T FMU_CH3 - * TIM5_CH1 T FMU_CH4 - * - * TIM4_CH2 T FMU_CH5 - * TIM4_CH3 T FMU_CH6 - * - * TIM12_CH1 T FMU_CH7 - * TIM12_CH2 T FMU_CH8 - * - * TIM1_CH2 T FMU_CAP1 < Capture - * TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT - * TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe - * - * TIM2_CH3 T HEATER > PWM OUT or GPIO - * - * TIM14_CH1 T BUZZER_1 - Driven by other driver - * TIM8_CH1_IN T FMU_PPM_INPUT - Sampled byt HRT by other driver - */ - -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { - initIOTimer(Timer::Timer5, DMA{DMA::Index1}), - initIOTimer(Timer::Timer4, DMA{DMA::Index1}), - initIOTimer(Timer::Timer12), - initIOTimer(Timer::Timer1), - initIOTimer(Timer::Timer2), -}; - -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}), - initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), - initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), - initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}), - initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}), - initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), -}; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = - initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/px4/fmu-v6x/src/usb.c b/boards/px4/fmu-v6x/src/usb.c deleted file mode 100644 index 6d42476..0000000 --- a/boards/px4/fmu-v6x/src/usb.c +++ /dev/null @@ -1,105 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_usb.c - * - * Board-specific USB functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include "board_config.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32H7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} - -/************************************************************************************ - * Name: stm32_usbsuspend - * - * Description: - * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is - * used. This function is called whenever the USB enters or leaves suspend mode. - * This is an opportunity for the board logic to shutdown clocks, power, etc. - * while the USB is suspended. - * - ************************************************************************************/ - -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - uinfo("resume: %d\n", resume); -} diff --git a/boards/px4/fmu-v6u/bootloader.px4board b/boards/px4/fts-auto/bootloader.px4board similarity index 100% rename from boards/px4/fmu-v6u/bootloader.px4board rename to boards/px4/fts-auto/bootloader.px4board diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fts-auto/default.px4board similarity index 80% rename from boards/px4/fmu-v6x/default.px4board rename to boards/px4/fts-auto/default.px4board index 484b844..f371ebf 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fts-auto/default.px4board @@ -1,16 +1,11 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_ETHERNET=y CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" -CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" -CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3" -CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_DRIVERS_BAROMETER_BMP388=y -CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_BATT_SMBUS=y CONFIG_DRIVERS_CAMERA_CAPTURE=y @@ -18,26 +13,21 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_FTS=n CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y -CONFIG_DRIVERS_IMU_BOSCH_BMI088=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y -CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y +CONFIG_DRIVERS_IMU_BOSCH_BMI055=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_COMMON_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_PX4IO=y -CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_SAFETY_BUTTON=y +CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 @@ -47,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_FTS_CONTROL=n CONFIG_MODULES_EKF2=y CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y @@ -57,6 +48,7 @@ CONFIG_MODULES_FW_POS_CONTROL=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 @@ -71,24 +63,25 @@ CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=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_NETMAN=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/px4/fts-auto/extras/px4_fmu-v6c_bootloader.bin b/boards/px4/fts-auto/extras/px4_fmu-v6c_bootloader.bin new file mode 100755 index 0000000..21cc353 Binary files /dev/null and b/boards/px4/fts-auto/extras/px4_fmu-v6c_bootloader.bin differ diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fts-auto/extras/px4_io-v2_default.bin similarity index 100% rename from boards/px4/fmu-v6x/extras/px4_io-v2_default.bin rename to boards/px4/fts-auto/extras/px4_io-v2_default.bin diff --git a/boards/px4/fmu-v6x/firmware.prototype b/boards/px4/fts-auto/firmware.prototype similarity index 59% rename from boards/px4/fmu-v6x/firmware.prototype rename to boards/px4/fts-auto/firmware.prototype index fa1910a..9fbf049 100644 --- a/boards/px4/fmu-v6x/firmware.prototype +++ b/boards/px4/fts-auto/firmware.prototype @@ -1,10 +1,10 @@ { - "board_id": 53, + "board_id": 56, "magic": "PX4FWv1", - "description": "Firmware for the PX4FMUv6X board", + "description": "Firmware for the Nimbus AUTO-FTS module - Holybro 6C mini", "image": "", "build_time": 0, - "summary": "PX4FMUv6X", + "summary": "NIMBUSAFTS", "version": "0.1", "image_size": 0, "image_maxsize": 1966080, diff --git a/boards/px4/fts-auto/init/rc.board_defaults b/boards/px4/fts-auto/init/rc.board_defaults new file mode 100644 index 0000000..6418e58 --- /dev/null +++ b/boards/px4/fts-auto/init/rc.board_defaults @@ -0,0 +1,13 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ + + +param set-default BAT1_V_DIV 18.1 +param set-default BAT2_V_DIV 18.1 + +param set-default BAT1_A_PER_V 36.367515152 +param set-default BAT2_A_PER_V 36.367515152 + +param set-default SYS_USE_IO 1 diff --git a/boards/px4/fts-auto/init/rc.board_sensors b/boards/px4/fts-auto/init/rc.board_sensors new file mode 100644 index 0000000..f7ee065 --- /dev/null +++ b/boards/px4/fts-auto/init/rc.board_sensors @@ -0,0 +1,21 @@ +#!/bin/sh +# +# PX4 FMUv6C specific board sensors init +#------------------------------------------------------------------------------ +board_adc start + +# Internal SPI bus BMI055 accel/gyro +bmi055 -A -R 4 -s start +bmi055 -G -R 4 -s start + +# Internal SPI bus ICM42688p +icm42688p -R 6 -s start + +# Internal barometer on I2C4 (The same bus is also exposed externally, and therefore marked as external) +ms5611 -X -b 4 -a 0x77 start + +# Internal compass on IMU I2C4 (The same bus is also exposed externally, and therefore marked as external) +ist8310 -X -b 4 -a 0xc start + +# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) +ist8310 -X -b 1 -R 10 start diff --git a/boards/px4/fmu-v6u/nuttx-config/Kconfig b/boards/px4/fts-auto/nuttx-config/Kconfig similarity index 100% rename from boards/px4/fmu-v6u/nuttx-config/Kconfig rename to boards/px4/fts-auto/nuttx-config/Kconfig diff --git a/boards/px4/fts-proto/nuttx-config/bootloader/defconfig b/boards/px4/fts-auto/nuttx-config/bootloader/defconfig similarity index 94% rename from boards/px4/fts-proto/nuttx-config/bootloader/defconfig rename to boards/px4/fts-auto/nuttx-config/bootloader/defconfig index b14faa5..23d151b 100644 --- a/boards/px4/fts-proto/nuttx-config/bootloader/defconfig +++ b/boards/px4/fts-auto/nuttx-config/bootloader/defconfig @@ -11,7 +11,7 @@ # CONFIG_STM32H7_SYSCFG is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fts-proto/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fts-auto/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -32,11 +32,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2 CONFIG_CDCACM=y CONFIG_CDCACM_IFLOWCONTROL=y CONFIG_CDCACM_PRODUCTID=0x0038 -CONFIG_CDCACM_PRODUCTSTR="FTS-PROTO" +CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6C.x" CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x3185 -CONFIG_CDCACM_VENDORSTR="Nimbus" +CONFIG_CDCACM_VENDORSTR="Auterion" CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEBUG_TCBINFO=y diff --git a/boards/px4/fts-proto/nuttx-config/include/board.h b/boards/px4/fts-auto/nuttx-config/include/board.h similarity index 89% rename from boards/px4/fts-proto/nuttx-config/include/board.h rename to boards/px4/fts-auto/nuttx-config/include/board.h index 7f33dc1..124c8f7 100644 --- a/boards/px4/fts-proto/nuttx-config/include/board.h +++ b/boards/px4/fts-auto/nuttx-config/include/board.h @@ -1,39 +1,8 @@ /************************************************************************************ - * nuttx-configs/px4_fts-proto/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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_PX4_FTS_CAN_INCLUDE_BOARD_H -#define __NUTTX_CONFIG_PX4_FTS_CAN_INCLUDE_BOARD_H + * nuttx-configs/px4_fts-auto/include/board.h +************************************************************************************/ +#ifndef __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H /************************************************************************************ * Included Files @@ -55,7 +24,7 @@ ************************************************************************************/ /* Clocking *************************************************************************/ -/* The FTS_CAN board provides the following clock sources: +/* The px4_fts-auto board provides the following clock sources: * * X1: 16 MHz crystal for HSE * @@ -93,10 +62,9 @@ * CPUCLK <= 480 MHz */ -#define STM32_BOARD_USEHSI 1 -#define STM32_BOARD_HSIDIV 1 +#define STM32_BOARD_USEHSE -#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSI +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR * @@ -313,7 +281,7 @@ /* LED index values for use with board_userled() */ /* LED definitions ******************************************************************/ -/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and +/* The px4_fts-auto board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and * LED_RED a Red LED, that can be controlled by software. * * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. diff --git a/boards/px4/fts-proto/nuttx-config/include/board_dma_map.h b/boards/px4/fts-auto/nuttx-config/include/board_dma_map.h similarity index 100% rename from boards/px4/fts-proto/nuttx-config/include/board_dma_map.h rename to boards/px4/fts-auto/nuttx-config/include/board_dma_map.h diff --git a/boards/px4/fts-proto/nuttx-config/nsh/defconfig b/boards/px4/fts-auto/nuttx-config/nsh/defconfig similarity index 97% rename from boards/px4/fts-proto/nuttx-config/nsh/defconfig rename to boards/px4/fts-auto/nuttx-config/nsh/defconfig index 0cca1fa..d4e3940 100644 --- a/boards/px4/fts-proto/nuttx-config/nsh/defconfig +++ b/boards/px4/fts-auto/nuttx-config/nsh/defconfig @@ -51,7 +51,7 @@ # CONFIG_NSH_DISABLE_USLEEP is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fts-proto/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fts-auto/nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" @@ -75,11 +75,11 @@ CONFIG_BUILTIN=y CONFIG_CDCACM=y CONFIG_CDCACM_IFLOWCONTROL=y CONFIG_CDCACM_PRODUCTID=0x0038 -CONFIG_CDCACM_PRODUCTSTR="FTS-PROTO" +CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6C.x" CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x3185 -CONFIG_CDCACM_VENDORSTR="Nimbus" +CONFIG_CDCACM_VENDORSTR="Auterion" CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_MEMFAULT=y diff --git a/boards/px4/fts-proto/nuttx-config/scripts/bootloader_script.ld b/boards/px4/fts-auto/nuttx-config/scripts/bootloader_script.ld similarity index 100% rename from boards/px4/fts-proto/nuttx-config/scripts/bootloader_script.ld rename to boards/px4/fts-auto/nuttx-config/scripts/bootloader_script.ld diff --git a/boards/px4/fts-proto/nuttx-config/scripts/script.ld b/boards/px4/fts-auto/nuttx-config/scripts/script.ld similarity index 100% rename from boards/px4/fts-proto/nuttx-config/scripts/script.ld rename to boards/px4/fts-auto/nuttx-config/scripts/script.ld diff --git a/boards/px4/fts-proto/src/CMakeLists.txt b/boards/px4/fts-auto/src/CMakeLists.txt similarity index 100% rename from boards/px4/fts-proto/src/CMakeLists.txt rename to boards/px4/fts-auto/src/CMakeLists.txt diff --git a/boards/px4/fts-proto/src/board_config.h b/boards/px4/fts-auto/src/board_config.h similarity index 94% rename from boards/px4/fts-proto/src/board_config.h rename to boards/px4/fts-auto/src/board_config.h index edea3c2..0ed1f0f 100644 --- a/boards/px4/fts-proto/src/board_config.h +++ b/boards/px4/fts-auto/src/board_config.h @@ -34,7 +34,7 @@ /** * @file board_config.h * - * PX4FMU-v6c internal definitions + * PX4fts-auto internal definitions */ #pragma once @@ -57,7 +57,7 @@ #undef TRACE_PINS /* PX4IO connection configuration */ -/* + #define BOARD_USES_PX4IO_VERSION 2 #define PX4IO_SERIAL_DEVICE "/dev/ttyS4" #define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX @@ -69,8 +69,8 @@ #define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR #define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN #define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY -#define PX4IO_SERIAL_BITRATE 1500000 // 1.5Mbps -> max rate for IO -*/ +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + /* PX4FMU GPIOs ***********************************************************************************/ @@ -139,7 +139,7 @@ #define GPIO_HW_VER_REV_DRIVE /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12) #define GPIO_HW_REV_SENSE /* PC0 */ GPIO_ADC123_INP10 #define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11 -#define HW_INFO_INIT_PREFIX "FTSCAN" +#define HW_INFO_INIT_PREFIX "V6C" #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 10 and Mini Sensor sets // Base/FMUM @@ -149,11 +149,6 @@ #define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External #define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External -/*FTS*/ -#define GPIO_FTS_CAN_OUTPUT /* PB9 FTS CAN CUT */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) -#define GPIO_FTS_CHUTE_OUTPUT /* PB9 FTS CHUTE FIRE */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) -#define FTS_TERMINATE_CAN(on_true) px4_arch_gpiowrite(GPIO_FTS_CAN_OUTPUT, (on_true)) -#define FTS_TRIGGER_CHUTE(on_true) px4_arch_gpiowrite(GPIO_FTS_CHUTE_OUTPUT, (on_true)) /* HEATER * PWM in future @@ -236,7 +231,7 @@ #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) #define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) -/* FTS-CAN never powers off the Servo rail */ +/* FMUv6C never powers off the Servo rail */ #define BOARD_ADC_SERVO_VALID (1) @@ -271,8 +266,6 @@ GPIO_VDD_5V_HIPOWER_nOC, \ GPIO_VDD_3V3_SENSORS_EN, \ GPIO_TONE_ALARM_IDLE, \ - GPIO_FTS_CAN_OUTPUT, \ - GPIO_FTS_CHUTE_OUTPUT, \ } #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/px4/fmu-v6x/src/bootloader_main.c b/boards/px4/fts-auto/src/bootloader_main.c similarity index 100% rename from boards/px4/fmu-v6x/src/bootloader_main.c rename to boards/px4/fts-auto/src/bootloader_main.c diff --git a/boards/px4/fmu-v6u/src/can.c b/boards/px4/fts-auto/src/can.c similarity index 100% rename from boards/px4/fmu-v6u/src/can.c rename to boards/px4/fts-auto/src/can.c diff --git a/boards/px4/fts-proto/src/hw_config.h b/boards/px4/fts-auto/src/hw_config.h similarity index 100% rename from boards/px4/fts-proto/src/hw_config.h rename to boards/px4/fts-auto/src/hw_config.h diff --git a/boards/px4/fts-proto/src/i2c.cpp b/boards/px4/fts-auto/src/i2c.cpp similarity index 100% rename from boards/px4/fts-proto/src/i2c.cpp rename to boards/px4/fts-auto/src/i2c.cpp diff --git a/boards/px4/fts-proto/src/init.c b/boards/px4/fts-auto/src/init.c similarity index 100% rename from boards/px4/fts-proto/src/init.c rename to boards/px4/fts-auto/src/init.c diff --git a/boards/px4/fts-proto/src/led.c b/boards/px4/fts-auto/src/led.c similarity index 100% rename from boards/px4/fts-proto/src/led.c rename to boards/px4/fts-auto/src/led.c diff --git a/boards/px4/fts-proto/src/manifest.c b/boards/px4/fts-auto/src/manifest.c similarity index 90% rename from boards/px4/fts-proto/src/manifest.c rename to boards/px4/fts-auto/src/manifest.c index 5e89cb9..4a0401b 100644 --- a/boards/px4/fts-proto/src/manifest.c +++ b/boards/px4/fts-auto/src/manifest.c @@ -73,6 +73,18 @@ 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 = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; static const px4_hw_mft_item_t hw_mft_list_v0610[] = { { @@ -90,7 +102,11 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = { static px4_hw_mft_list_entry_t mft_lists[] = { // ver_rev + {V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0 + {V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 {V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO + {V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO + {V6C21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 MINI }; /************************************************************************************ diff --git a/boards/px4/fts-proto/src/mtd.cpp b/boards/px4/fts-auto/src/mtd.cpp similarity index 98% rename from boards/px4/fts-proto/src/mtd.cpp rename to boards/px4/fts-auto/src/mtd.cpp index b3784bc..b315ff3 100644 --- a/boards/px4/fts-proto/src/mtd.cpp +++ b/boards/px4/fts-auto/src/mtd.cpp @@ -86,10 +86,10 @@ static const px4_mtd_entry_t imu_eeprom = { }; static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 1, + .nconfigs = 2, .entries = { &fmum_fram, - //&imu_eeprom + &imu_eeprom } }; diff --git a/boards/px4/fmu-v6u/src/sdio.c b/boards/px4/fts-auto/src/sdio.c similarity index 100% rename from boards/px4/fmu-v6u/src/sdio.c rename to boards/px4/fts-auto/src/sdio.c diff --git a/boards/px4/fts-proto/src/spi.cpp b/boards/px4/fts-auto/src/spi.cpp similarity index 100% rename from boards/px4/fts-proto/src/spi.cpp rename to boards/px4/fts-auto/src/spi.cpp diff --git a/boards/px4/fts-proto/src/timer_config.cpp b/boards/px4/fts-auto/src/timer_config.cpp similarity index 100% rename from boards/px4/fts-proto/src/timer_config.cpp rename to boards/px4/fts-auto/src/timer_config.cpp diff --git a/boards/px4/fmu-v6u/src/usb.c b/boards/px4/fts-auto/src/usb.c similarity index 100% rename from boards/px4/fmu-v6u/src/usb.c rename to boards/px4/fts-auto/src/usb.c diff --git a/boards/px4/fts-can/default.px4board b/boards/px4/fts-can/default.px4board index cbae8d0..f7fb7ca 100644 --- a/boards/px4/fts-can/default.px4board +++ b/boards/px4/fts-can/default.px4board @@ -1,32 +1,23 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" -CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_DSHOT=y -CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y -CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_TELEMETRY=y -CONFIG_DRIVERS_TONE_ALARM=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2 -CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_BATTERY_STATUS=n CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_ESC_BATTERY=y +CONFIG_MODULES_FTS_CONTROL=y CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_LOAD_MON=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y CONFIG_SYSTEMCMDS_MTD=y diff --git a/boards/px4/fts-can/extras/px4_fts-can_bootloader.bin b/boards/px4/fts-can/extras/px4_fts-can_bootloader.bin new file mode 100755 index 0000000..db685ea Binary files /dev/null and b/boards/px4/fts-can/extras/px4_fts-can_bootloader.bin differ diff --git a/boards/px4/fts-can/firmware.prototype b/boards/px4/fts-can/firmware.prototype index 981905d..5de7113 100644 --- a/boards/px4/fts-can/firmware.prototype +++ b/boards/px4/fts-can/firmware.prototype @@ -1,10 +1,10 @@ { - "board_id": 56, + "board_id": 0, "magic": "PX4FWv1", "description": "Firmware for the Nimbus FTS-CAN systems", "image": "", "build_time": 0, - "summary": "NIMBUSFTS", + "summary": "NIMBUSMFTS", "version": "0.1", "image_size": 0, "image_maxsize": 1966080, diff --git a/boards/px4/fts-can/init/rc.board_defaults b/boards/px4/fts-can/init/rc.board_defaults index d13ce43..504b3ec 100644 --- a/boards/px4/fts-can/init/rc.board_defaults +++ b/boards/px4/fts-can/init/rc.board_defaults @@ -4,11 +4,32 @@ #------------------------------------------------------------------------------ -param set-default BAT1_V_DIV 18.1 -param set-default BAT2_V_DIV 18.1 +#param set-default FTS_TYPE 1 +#param set-default FTS_SIM_MODE 0 -param set-default BAT1_A_PER_V 36.367515152 -param set-default BAT2_A_PER_V 36.367515152 +#param set-default SYS_USE_IO 0 +#param set-default SENS_IMU_MODE 0 -param set-default SYS_USE_IO 0 -param set-default SENS_IMU_MODE 0 \ No newline at end of file +# FC INTERFACE (9600 BAUD) +# MAV_0 - TELEM 1 - TTYS5 - UART7 (PE7/PE8) +param set-default MAV_0_CONFIG 101 +param set-default MAV_0_FORWARD 0 +param set-default MAV_0_MODE 1 +param set-default MAV_0_RADIO_CTL 0 +param set-default MAV_0_RATE 2400 + +# GROUND FTS INTERFACE (9600 BAUD) +# MAV_1 - TELEM 2 - TTYS3 - UART5 (PD2/PC12) +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_FORWARD 0 +param set-default MAV_1_MODE 1 +param set-default MAV_1_RADIO_CTL 0 +param set-default MAV_1_RATE 2400 + +# AUTO FTS INTERFACE (9600 BAUD) +# MAV_2 - TELEM 3 - TTYS1 - USART2 (PA3/PD5) +param set-default MAV_2_CONFIG 103 +param set-default MAV_2_FORWARD 0 +param set-default MAV_2_MODE 1 +param set-default MAV_2_RADIO_CTL 0 +param set-default MAV_2_RATE 2400 diff --git a/boards/px4/fts-can/init/rc.board_sensors b/boards/px4/fts-can/init/rc.board_sensors index 4be6269..2935cad 100644 --- a/boards/px4/fts-can/init/rc.board_sensors +++ b/boards/px4/fts-can/init/rc.board_sensors @@ -3,19 +3,4 @@ # PX4 FTS-CAN specific board sensors init #------------------------------------------------------------------------------ board_adc start - -# Internal SPI bus BMI055 accel/gyro -#bmi055 -A -R 4 -s start -#bmi055 -G -R 4 -s start - -# Internal SPI bus ICM42688p -#icm42688p -R 6 -s start - -# Internal barometer on I2C4 (The same bus is also exposed externally, and therefore marked as external) -#ms5611 -X -b 4 -a 0x77 start - -# Internal compass on IMU I2C4 (The same bus is also exposed externally, and therefore marked as external) -#ist8310 -X -b 4 -a 0xc start - -# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer) -#ist8310 -X -b 1 -R 10 start +fts_control start diff --git a/boards/px4/fts-can/nuttx-config/include/board.h b/boards/px4/fts-can/nuttx-config/include/board.h index 99ca17b..4b45c7a 100644 --- a/boards/px4/fts-can/nuttx-config/include/board.h +++ b/boards/px4/fts-can/nuttx-config/include/board.h @@ -1,37 +1,6 @@ /************************************************************************************ * nuttx-configs/px4_fts-can/include/board.h - * - * Copyright (C) 2016-2019 Gregory Nutt. All rights reserved. - * Authors: David Sidrane - * - * 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_PX4_FTS_CAN_INCLUDE_BOARD_H #define __NUTTX_CONFIG_PX4_FTS_CAN_INCLUDE_BOARD_H @@ -93,10 +62,9 @@ * CPUCLK <= 480 MHz */ -#define STM32_BOARD_USEHSI 1 -#define STM32_BOARD_HSIDIV 1 +#define STM32_BOARD_USEHSE -#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSI +#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR * @@ -302,65 +270,7 @@ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE -/* LED definitions ******************************************************************/ -/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -/* LED definitions ******************************************************************/ -/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and - * LED_RED a Red LED, that can be controlled by software. - * - * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. - * The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with board_userled() */ - -#define BOARD_LED1 0 -#define BOARD_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. - */ +#define BOARD_NLEDS 0 /* Alternate function pin selections ************************************************/ diff --git a/boards/px4/fts-can/src/board_config.h b/boards/px4/fts-can/src/board_config.h index d69d253..598e81f 100644 --- a/boards/px4/fts-can/src/board_config.h +++ b/boards/px4/fts-can/src/board_config.h @@ -111,19 +111,15 @@ /* PA4 */ GPIO_ADC12_INP18 \ /* Define Channel numbers must match above GPIO pin IN(n)*/ -#define ADC_BATTERY1_CURRENT_CHANNEL /* PC4 */ ADC1_CH(4) -#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PB1 */ ADC1_CH(5) -#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PC5 */ ADC1_CH(8) +#define ADC_BATTERY_CURRENT_CHANNEL /* PC4 */ ADC1_CH(4) +#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC5 */ ADC1_CH(8) #define ADC_HW_REV_SENSE_CHANNEL /* PC0 */ ADC3_CH(10) #define ADC_HW_VER_SENSE_CHANNEL /* PC1 */ ADC3_CH(11) -#define ADC_BATTERY2_CURRENT_CHANNEL /* PA2 */ ADC1_CH(14) #define ADC_SCALED_V5_CHANNEL /* PA4 */ ADC1_CH(18) #define ADC_CHANNELS \ - ((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \ - (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ - (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ + ((1 << ADC_BATTERY_CURRENT_CHANNEL) | \ + (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL )) #define HW_REV_VER_ADC_BASE STM32_ADC3_BASE @@ -149,12 +145,16 @@ #define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External #define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External +/*FTS*/ +#define GPIO_FTS_ARM /* PE0 FTS CAN ARM NEGATED */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN0) +#define GPIO_FTS_CAN_OUTPUT /* PE2 FTS CAN CUT */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN2) +#define GPIO_FTS_CHUTE_OUTPUT /* PE4 FTS CHUTE FIRE */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) +#define FTS_TERMINATE_CAN(on_true) px4_arch_gpiowrite(GPIO_FTS_CAN_OUTPUT, (on_true)) +#define FTS_TRIGGER_CHUTE(on_true) px4_arch_gpiowrite(GPIO_FTS_CHUTE_OUTPUT, (on_true)) -/* HEATER - * PWM in future - */ -#define GPIO_HEATER_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) -#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) +/*EBYTE MODULE MODE PINS*/ +#define GPIO_GFTS_M0 /* PE13 EBYTE MODE PIN M0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) +#define GPIO_GFTS_M1 /* PE14 EBYTE MODE PIN M0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PWM */ @@ -168,8 +168,7 @@ #define GPIO_nPOWER_IN_C /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) #define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ -#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */ -#define BOARD_NUMBER_BRICKS 2 +#define BOARD_NUMBER_BRICKS 0 #define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */ #define GPIO_VDD_5V_PERIPH_nEN /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) @@ -231,12 +230,10 @@ #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) #define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) -/* FTS-CAN never powers off the Servo rail */ #define BOARD_ADC_SERVO_VALID (1) -#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) -#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) +#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) #define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC)) #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC)) @@ -256,7 +253,6 @@ GPIO_CAN1_RX, \ GPIO_CAN2_TX, \ GPIO_CAN2_RX, \ - GPIO_HEATER_OUTPUT, \ GPIO_nPOWER_IN_A, \ GPIO_nPOWER_IN_B, \ GPIO_nPOWER_IN_C, \ @@ -266,7 +262,12 @@ GPIO_VDD_5V_HIPOWER_nOC, \ GPIO_VDD_3V3_SENSORS_EN, \ GPIO_TONE_ALARM_IDLE, \ - } + GPIO_FTS_CAN_OUTPUT, \ + GPIO_FTS_CHUTE_OUTPUT, \ + GPIO_FTS_ARM, \ + GPIO_GFTS_M0, \ + GPIO_GFTS_M1 \ + } #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/px4/fts-can/src/mtd.cpp b/boards/px4/fts-can/src/mtd.cpp index b315ff3..b3784bc 100644 --- a/boards/px4/fts-can/src/mtd.cpp +++ b/boards/px4/fts-can/src/mtd.cpp @@ -86,10 +86,10 @@ static const px4_mtd_entry_t imu_eeprom = { }; static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 2, + .nconfigs = 1, .entries = { &fmum_fram, - &imu_eeprom + //&imu_eeprom } }; diff --git a/boards/px4/fts-proto/bootloader.px4board b/boards/px4/fts-proto/bootloader.px4board deleted file mode 100644 index 19b6e66..0000000 --- a/boards/px4/fts-proto/bootloader.px4board +++ /dev/null @@ -1,3 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/px4/fts-proto/default.px4board b/boards/px4/fts-proto/default.px4board deleted file mode 100644 index f0240dc..0000000 --- a/boards/px4/fts-proto/default.px4board +++ /dev/null @@ -1,35 +0,0 @@ -CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" -CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" -CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" -CONFIG_DRIVERS_ADC_BOARD_ADC=y -CONFIG_DRIVERS_DSHOT=y -CONFIG_COMMON_LIGHT=y -CONFIG_COMMON_TELEMETRY=y -CONFIG_MODULES_BATTERY_STATUS=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y -CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_FTS_CONTROL=y -CONFIG_MODULES_EVENTS=y -CONFIG_MODULES_LOGGER=y -CONFIG_MODULES_MAVLINK=y -CONFIG_MODULES_UXRCE_DDS_CLIENT=y -CONFIG_SYSTEMCMDS_BSONDUMP=y -CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_HARDFAULT_LOG=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_SYSTEM_TIME=y -CONFIG_SYSTEMCMDS_TOP=y -CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y -CONFIG_SYSTEMCMDS_TUNE_CONTROL=y -CONFIG_SYSTEMCMDS_UORB=y -CONFIG_SYSTEMCMDS_VER=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/px4/fts-proto/extras/px4_fmu-v6c_bootloader.bin b/boards/px4/fts-proto/extras/px4_fmu-v6c_bootloader.bin deleted file mode 100755 index 536dcc4..0000000 Binary files a/boards/px4/fts-proto/extras/px4_fmu-v6c_bootloader.bin and /dev/null differ diff --git a/boards/px4/fts-proto/extras/px4_io-v2_default.bin b/boards/px4/fts-proto/extras/px4_io-v2_default.bin deleted file mode 100755 index 957f0f1..0000000 Binary files a/boards/px4/fts-proto/extras/px4_io-v2_default.bin and /dev/null differ diff --git a/boards/px4/fts-proto/firmware.prototype b/boards/px4/fts-proto/firmware.prototype deleted file mode 100644 index 1475442..0000000 --- a/boards/px4/fts-proto/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 0, - "magic": "PX4FWv1", - "description": "Firmware for the Nimbus FTS-CAN systems", - "image": "", - "build_time": 0, - "summary": "NIMBUSFTS", - "version": "0.1", - "image_size": 0, - "image_maxsize": 1966080, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/px4/fts-proto/init/rc.board_defaults b/boards/px4/fts-proto/init/rc.board_defaults deleted file mode 100644 index 504b3ec..0000000 --- a/boards/px4/fts-proto/init/rc.board_defaults +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/sh -# -# board specific defaults -#------------------------------------------------------------------------------ - - -#param set-default FTS_TYPE 1 -#param set-default FTS_SIM_MODE 0 - -#param set-default SYS_USE_IO 0 -#param set-default SENS_IMU_MODE 0 - -# FC INTERFACE (9600 BAUD) -# MAV_0 - TELEM 1 - TTYS5 - UART7 (PE7/PE8) -param set-default MAV_0_CONFIG 101 -param set-default MAV_0_FORWARD 0 -param set-default MAV_0_MODE 1 -param set-default MAV_0_RADIO_CTL 0 -param set-default MAV_0_RATE 2400 - -# GROUND FTS INTERFACE (9600 BAUD) -# MAV_1 - TELEM 2 - TTYS3 - UART5 (PD2/PC12) -param set-default MAV_1_CONFIG 102 -param set-default MAV_1_FORWARD 0 -param set-default MAV_1_MODE 1 -param set-default MAV_1_RADIO_CTL 0 -param set-default MAV_1_RATE 2400 - -# AUTO FTS INTERFACE (9600 BAUD) -# MAV_2 - TELEM 3 - TTYS1 - USART2 (PA3/PD5) -param set-default MAV_2_CONFIG 103 -param set-default MAV_2_FORWARD 0 -param set-default MAV_2_MODE 1 -param set-default MAV_2_RADIO_CTL 0 -param set-default MAV_2_RATE 2400 diff --git a/boards/px4/fts-proto/init/rc.board_sensors b/boards/px4/fts-proto/init/rc.board_sensors deleted file mode 100644 index 2935cad..0000000 --- a/boards/px4/fts-proto/init/rc.board_sensors +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh -# -# PX4 FTS-CAN specific board sensors init -#------------------------------------------------------------------------------ -board_adc start -fts_control start diff --git a/boards/px4/fts-proto/nuttx-config/Kconfig b/boards/px4/fts-proto/nuttx-config/Kconfig deleted file mode 100644 index 67c47cf..0000000 --- a/boards/px4/fts-proto/nuttx-config/Kconfig +++ /dev/null @@ -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 n - ---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. diff --git a/boards/px4/fts-proto/src/bootloader_main.c b/boards/px4/fts-proto/src/bootloader_main.c deleted file mode 100644 index 77df9e7..0000000 --- a/boards/px4/fts-proto/src/bootloader_main.c +++ /dev/null @@ -1,62 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file bootloader_main.c - * - * FMU-specific early startup code for bootloader -*/ - -#include "board_config.h" -#include "bl.h" - -#include -#include -#include -#include -#include -#include "arm_internal.h" -#include - -extern int sercon_main(int c, char **argv); - -void board_late_initialize(void) -{ - sercon_main(0, NULL); -} - -extern void sys_tick_handler(void); -void board_timerhook(void) -{ - sys_tick_handler(); -} diff --git a/boards/px4/fts-proto/src/can.c b/boards/px4/fts-proto/src/can.c deleted file mode 100644 index c71b2e8..0000000 --- a/boards/px4/fts-proto/src/can.c +++ /dev/null @@ -1,128 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_can.c - * - * Board-specific CAN functions. - */ - -#ifdef CONFIG_CAN - -#include -#include - -#include -#include - -#include "chip.h" -#include "arm_internal.h" - -#include "chip.h" -#include "stm32_can.h" -#include "board_config.h" - -#ifdef CONFIG_CAN - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ -/* Configuration ********************************************************************/ - -#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) -# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." -# undef CONFIG_STM32_CAN2 -#endif - -#ifdef CONFIG_STM32_CAN1 -# define CAN_PORT 1 -#else -# define CAN_PORT 2 -#endif - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ -int can_devinit(void); - -/************************************************************************************ - * Name: can_devinit - * - * Description: - * All STM32 architectures must provide the following interface to work with - * examples/can. - * - ************************************************************************************/ - -int can_devinit(void) -{ - static bool initialized = false; - struct can_dev_s *can; - int ret; - - /* Check if we have already initialized */ - - if (!initialized) { - /* Call stm32_caninitialize() to get an instance of the CAN interface */ - - can = stm32_caninitialize(CAN_PORT); - - if (can == NULL) { - canerr("ERROR: Failed to get CAN interface\n"); - return -ENODEV; - } - - /* Register the CAN driver at "/dev/can0" */ - - ret = can_register("/dev/can0", can); - - if (ret < 0) { - canerr("ERROR: can_register failed: %d\n", ret); - return ret; - } - - /* Now we are initialized */ - - initialized = true; - } - - return OK; -} - -#endif - -#endif /* CONFIG_CAN */ diff --git a/boards/px4/fts-proto/src/sdio.c b/boards/px4/fts-proto/src/sdio.c deleted file mode 100644 index 869d757..0000000 --- a/boards/px4/fts-proto/src/sdio.c +++ /dev/null @@ -1,177 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * 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 -#include - -#include -#include -#include -#include - -#include -#include - -#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 */ diff --git a/boards/px4/fts-proto/src/usb.c b/boards/px4/fts-proto/src/usb.c deleted file mode 100644 index 6d42476..0000000 --- a/boards/px4/fts-proto/src/usb.c +++ /dev/null @@ -1,105 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_usb.c - * - * Board-specific USB functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include "board_config.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32H7_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); -#endif -} - -/************************************************************************************ - * Name: stm32_usbsuspend - * - * Description: - * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is - * used. This function is called whenever the USB enters or leaves suspend mode. - * This is an opportunity for the board logic to shutdown clocks, power, etc. - * while the USB is suspended. - * - ************************************************************************************/ - -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - uinfo("resume: %d\n", resume); -} diff --git a/boards/px4/io-v2/default.px4board b/boards/px4/io-v2/default.px4board new file mode 100644 index 0000000..9e69a1e --- /dev/null +++ b/boards/px4/io-v2/default.px4board @@ -0,0 +1,5 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m3" +CONFIG_BOARD_ROMFSROOT="" +CONFIG_BOARD_CONSTRAINED_FLASH=y +CONFIG_MODULES_PX4IOFIRMWARE=y diff --git a/boards/px4/io-v2/extras/px4_io-v2_bootloader.bin b/boards/px4/io-v2/extras/px4_io-v2_bootloader.bin new file mode 100644 index 0000000..235c65c Binary files /dev/null and b/boards/px4/io-v2/extras/px4_io-v2_bootloader.bin differ diff --git a/boards/px4/io-v2/firmware.prototype b/boards/px4/io-v2/firmware.prototype new file mode 100644 index 0000000..5758931 --- /dev/null +++ b/boards/px4/io-v2/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 10, + "magic": "PX4FWv2", + "description": "Firmware for the PX4IOv2 board", + "image": "", + "build_time": 0, + "summary": "PX4IOv2", + "version": "2.0", + "image_size": 0, + "image_maxsize": 61440, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/px4/io-v2/nuttx-config/include/board.h b/boards/px4/io-v2/nuttx-config/include/board.h new file mode 100644 index 0000000..577e02d --- /dev/null +++ b/boards/px4/io-v2/nuttx-config/include/board.h @@ -0,0 +1,141 @@ +/************************************************************************************ + * nuttx-configs/px4io/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name 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 __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#ifndef __ASSEMBLY__ +# include +#endif +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ + +/* On-board crystal frequency is 24MHz (HSE) */ + +#define STM32_BOARD_XTAL 24000000ul + +/* Use the HSE output as the system clock */ + +#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE +#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE +#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL + +/* AHB clock (HCLK) is SYSCLK (24MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB2 clock (PCLK2) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK +#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY +#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */ + +/* APB2 timer 1 will receive PCLK2. */ + +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY) + +/* APB1 clock (PCLK1) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* All timers run off PCLK */ + + +#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1, 15-17 are on APB2, others on APB1 + */ + +#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN +#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN +#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN +#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN +#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN +#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN +#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN +#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN +#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN +#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN +#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN +#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN +#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN + + +/* + * Some of the USART pins are not available; override the GPIO + * definitions with an invalid pin configuration. + */ +#undef GPIO_USART2_CTS +#define GPIO_USART2_CTS 0xffffffff +#undef GPIO_USART2_RTS +#define GPIO_USART2_RTS 0xffffffff +#undef GPIO_USART2_CK +#define GPIO_USART2_CK 0xffffffff +#undef GPIO_USART3_CK +#define GPIO_USART3_CK 0xffffffff +#undef GPIO_USART3_CTS +#define GPIO_USART3_CTS 0xffffffff +#undef GPIO_USART3_RTS +#define GPIO_USART3_RTS 0xffffffff + +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/boards/px4/io-v2/nuttx-config/nsh/defconfig b/boards/px4/io-v2/nuttx-config/nsh/defconfig new file mode 100644 index 0000000..79f11ed --- /dev/null +++ b/boards/px4/io-v2/nuttx-config/nsh/defconfig @@ -0,0 +1,61 @@ +# +# 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_NULL is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/io-v2/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F100C8=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARM_MPU_EARLY_RESET=y +CONFIG_BOARD_LOOPSPERMSEC=2000 +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=316 +CONFIG_INIT_ENTRYPOINT="user_start" +CONFIG_INIT_STACKSIZE=1100 +CONFIG_MM_FILL_ALLOCATIONS=y +CONFIG_MM_SMALL=y +CONFIG_NAME_MAX=12 +CONFIG_PREALLOC_TIMERS=0 +CONFIG_RAM_SIZE=8192 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_ADC1=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +CONFIG_STM32_DMA1=y +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_USART_SINGLEWIRE=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USART1_RXBUFSIZE=64 +CONFIG_USART1_RXDMA=y +CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART1_TXBUFSIZE=32 +CONFIG_USART2_RXBUFSIZE=64 +CONFIG_USART2_TXBUFSIZE=64 +CONFIG_USART3_RXBUFSIZE=64 +CONFIG_USART3_RXDMA=y +CONFIG_USART3_TXBUFSIZE=64 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/px4/io-v2/nuttx-config/scripts/script.ld b/boards/px4/io-v2/nuttx-config/scripts/script.ld new file mode 100644 index 0000000..c842153 --- /dev/null +++ b/boards/px4/io-v2/nuttx-config/scripts/script.ld @@ -0,0 +1,131 @@ +/**************************************************************************** + * configs/px4io-v2/scripts/ld.script + * + * Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and + * 8Kb of SRAM beginning at address 0x2000:0000. 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 +{ + flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K +} + +OUTPUT_ARCH(arm) +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.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(.); + + /* The STM32F100CB has 8Kb of SRAM beginning at the following address */ + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + . = ALIGN(4); + } > 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) } +} diff --git a/boards/px4/fmu-v6x/cmake/upload.cmake b/boards/px4/io-v2/src/CMakeLists.txt similarity index 75% rename from boards/px4/fmu-v6x/cmake/upload.cmake rename to boards/px4/io-v2/src/CMakeLists.txt index 7319b46..5cef2f6 100644 --- a/boards/px4/fmu-v6x/cmake/upload.cmake +++ b/boards/px4/io-v2/src/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2023 PX4 Development Team. All rights reserved. +# Copyright (c) 2015 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 @@ -31,19 +31,12 @@ # ############################################################################ - -set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4) - -add_custom_target(upload_skynode_usb - COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} - DEPENDS ${PX4_FW_NAME} - COMMENT "Uploading PX4" - USES_TERMINAL +add_library(drivers_board + init.c + timer_config.cpp ) -add_custom_target(upload_skynode_wifi - COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi - DEPENDS ${PX4_FW_NAME} - COMMENT "Uploading PX4" - USES_TERMINAL +target_link_libraries(drivers_board + PRIVATE + nuttx_arch ) diff --git a/boards/px4/io-v2/src/board_config.h b/boards/px4/io-v2/src/board_config.h new file mode 100644 index 0000000..e934397 --- /dev/null +++ b/boards/px4/io-v2/src/board_config.h @@ -0,0 +1,165 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * PX4IOV2 internal definitions + */ + +#pragma once + +/****************************************************************************** + * Included Files + ******************************************************************************/ + +#include +#include +#include + +/****************************************************************************** + * Definitions + ******************************************************************************/ +/* Configuration **************************************************************/ + +/****************************************************************************** + * Serial + ******************************************************************************/ +#define PX4FMU_SERIAL_BASE STM32_USART2_BASE +#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2 +#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX +#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX +#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX +#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX +#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY +#define PX4FMU_SERIAL_BITRATE 1500000 + +/****************************************************************************** + * GPIOS + ******************************************************************************/ + +/* LEDS **********************************************************************/ + +#define GPIO_LED_BLUE (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) // IO-LED_BLUE or IMU_TEMPERATURE_CONTROL on Pixhawk 2.1 +#define GPIO_LED_AMBER (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER +#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY +#define GPIO_LED_GREEN (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING + +#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14) +#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15) + +/* PixHawk 1: + * PC14 Floating + * PC15 Floating + * + * PixHawk 2: + * PC14 3.3v + * PC15 GND + */ +#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14) +#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15) +# define SENSE_PH1 0b10 /* Floating pulled as set */ +# define SENSE_PH2 0b01 /* Driven as tied */ + +#define SENSE_PIXHAWK2() (((stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN)) == SENSE_PH2) ? 1 : 0) + +#define LED_BLUE(on_true) (SENSE_PIXHAWK2() ? (void)0 : stm32_gpiowrite(GPIO_LED_BLUE, !(on_true))) +#define LED_AMBER(on_true) stm32_gpiowrite(GPIO_LED_AMBER, !(on_true)) +#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true)) +#define LED_GREEN(on_true) stm32_gpiowrite(GPIO_LED_GREEN, (on_true)) + + +/* HEATER */ +#define GPIO_HEATER_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) +#define HEATER_OUTPUT_EN(on_true) (SENSE_PIXHAWK2() ? stm32_gpiowrite(GPIO_HEATER_OUTPUT, !(on_true)) : (void)0) + + +#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10) + +/* Safety switch button *******************************************************/ + +#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) + +/* Power switch controls ******************************************************/ + +#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true)) + +#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true)) +#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX) +#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM) + +#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15) + +/* Analog inputs **************************************************************/ + +#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) + +/* the same rssi signal goes to both an adc and a timer input */ +#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) +#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12) + +/* PWM pins **************************************************************/ + +#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8) + +#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) +#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) +#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) +#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) +#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) + +#define DIRECT_PWM_OUTPUT_CHANNELS 8 +#define BOARD_HAS_NO_CAPTURE + +/* SBUS pins *************************************************************/ + +/* XXX these should be UART pins */ +#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) +#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) + +/* + * High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ +#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */ +#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8) + +#define BOARD_NUM_IO_TIMERS 3 + +#include diff --git a/boards/px4/io-v2/src/init.c b/boards/px4/io-v2/src/init.c new file mode 100644 index 0000000..404a362 --- /dev/null +++ b/boards/px4/io-v2/src/init.c @@ -0,0 +1,163 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * PX4FMU-specific early startup code. This file implements the + * stm32_boardinitialize() function that is called during cpu startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include "board_config.h" + +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure GPIOs */ + + /* Set up for sensing HW */ + stm32_configgpio(GPIO_SENSE_PC14_DN); + stm32_configgpio(GPIO_SENSE_PC15_UP); + + /* some boards such as Pixhawk 2.1 made + the unfortunate choice to combine the blue led channel with + the IMU heater. We need a software hack to fix the hardware hack + by allowing to disable the LED / heater. + */ + if (SENSE_PIXHAWK2()) { + stm32_configgpio(GPIO_HEATER_OUTPUT); + + } else { + stm32_configgpio(GPIO_LED_BLUE); + } + + stm32_configgpio(GPIO_PC14); + stm32_configgpio(GPIO_PC15); + + + /* LEDS - default to off */ + stm32_configgpio(GPIO_LED_AMBER); + stm32_configgpio(GPIO_LED_SAFETY); + stm32_configgpio(GPIO_LED_GREEN); + + stm32_configgpio(GPIO_BTN_SAFETY); + + /* spektrum power enable is active high - enable it by default */ + stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); + + stm32_configgpio(GPIO_SERVO_FAULT_DETECT); + + /* RSSI inputs */ + stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */ + stm32_configgpio(GPIO_ADC_RSSI); + + /* servo rail voltage */ + stm32_configgpio(GPIO_ADC_VSERVO); + + stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ + stm32_configgpio(GPIO_SBUS_OUTPUT); + + /* sbus output enable is active low - disable it by default */ + stm32_gpiowrite(GPIO_SBUS_OENABLE, true); + stm32_configgpio(GPIO_SBUS_OENABLE); + + stm32_configgpio(GPIO_PPM); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_PWM1, true); + stm32_configgpio(GPIO_PWM1); + + stm32_gpiowrite(GPIO_PWM2, true); + stm32_configgpio(GPIO_PWM2); + + stm32_gpiowrite(GPIO_PWM3, true); + stm32_configgpio(GPIO_PWM3); + + stm32_gpiowrite(GPIO_PWM4, true); + stm32_configgpio(GPIO_PWM4); + + stm32_gpiowrite(GPIO_PWM5, true); + stm32_configgpio(GPIO_PWM5); + + stm32_gpiowrite(GPIO_PWM6, true); + stm32_configgpio(GPIO_PWM6); + + stm32_gpiowrite(GPIO_PWM7, true); + stm32_configgpio(GPIO_PWM7); + + stm32_gpiowrite(GPIO_PWM8, true); + stm32_configgpio(GPIO_PWM8); + + /* disable heater */ + HEATER_OUTPUT_EN(false); +} diff --git a/boards/px4/fmu-v6u/src/mtd.cpp b/boards/px4/io-v2/src/timer_config.cpp similarity index 58% rename from boards/px4/fmu-v6u/src/mtd.cpp rename to boards/px4/io-v2/src/timer_config.cpp index 644b965..bb7dfa8 100644 --- a/boards/px4/fmu-v6u/src/mtd.cpp +++ b/boards/px4/io-v2/src/timer_config.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2012 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,52 +31,24 @@ * ****************************************************************************/ -#include -#include -// KiB BS nB -static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64 - .bus_type = px4_mft_device_t::SPI, - .devid = SPIDEV_FLASH(0) +#include + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer2), + initIOTimer(Timer::Timer4), + initIOTimer(Timer::Timer3), }; -static const px4_mtd_entry_t fmum_fram = { - .device = &spi5, - .npart = 2, - .partd = { - { - .type = MTD_PARAMETERS, - .path = "/fs/mtd_params", - .nblocks = 32 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 32 - - } - }, +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}), + initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortA, GPIO::Pin6}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), }; -static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 1, - .entries = { - &fmum_fram - } -}; - -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; -} +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/build_afts.sh b/build_afts.sh index 4c85a91..e2aa61a 100755 --- a/build_afts.sh +++ b/build_afts.sh @@ -2,8 +2,5 @@ rm -rf build/ git submodule update --recursive -#make px4_fmu-v6x_default -#make px4_fmu-v6c_default -#make px4_fmu-v6c_bootloader #make -j$(nproc) px4_fts-can -make px4_fts-can \ No newline at end of file +make px4_fts-auto \ No newline at end of file diff --git a/build_bl.sh b/build_bl.sh index 097e55c..c5b008b 100755 --- a/build_bl.sh +++ b/build_bl.sh @@ -3,4 +3,5 @@ rm -rf build/ git submodule update --recursive -make -j${nproc} px4_fmu-v6c_bootloader \ No newline at end of file +#make -j${nproc} px4_fmu-v6c_bootloader +make -j${nproc} px4_fts-can_bootloader \ No newline at end of file diff --git a/build_mfts.sh b/build_mfts.sh index 078f5ec..9f89423 100755 --- a/build_mfts.sh +++ b/build_mfts.sh @@ -1,8 +1,7 @@ #!/bin/bash -xe # BUILD MAIN-FTS FIRMWARE - +source venv/bin/activate rm -rf build/ git submodule update --recursive -#make -j$(nproc) px4_fts-can -#make -j$(nproc) px4_fts-proto -make px4_fts-proto_default \ No newline at end of file +make px4_fts-can +#make px4_fts-proto_default \ No newline at end of file diff --git a/flash_afts.sh b/flash_afts.sh new file mode 100755 index 0000000..92398e4 --- /dev/null +++ b/flash_afts.sh @@ -0,0 +1,6 @@ +#!/bin/bash -xe + +# build firmware +./build_afts.sh +# flash firmware +st-flash write build/px4_fts-auto_default/px4_fts-auto_default.bin 0x08020000 diff --git a/flash_bl.sh b/flash_bl.sh index f5db419..afeee71 100755 --- a/flash_bl.sh +++ b/flash_bl.sh @@ -1,4 +1,7 @@ #!/bin/bash -xe +# build bootloader +./build_bl.sh + # flash bootloader st-flash write build/px4_fts-can_bootloader/px4_fts-can_bootloader.bin 0x08000000 \ No newline at end of file diff --git a/flash_fw.sh b/flash_fw.sh deleted file mode 100755 index 4dbb0fd..0000000 --- a/flash_fw.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/bash -xe - -# flash firmware -./build_mfts.sh -#st-flash write build/px4_fts-can_default/px4_fts-can_default.bin 0x08020000 -st-flash write build/px4_fts-proto_default/px4_fts-proto_default.bin 0x08020000 \ No newline at end of file diff --git a/flash_mfts.sh b/flash_mfts.sh new file mode 100755 index 0000000..762a287 --- /dev/null +++ b/flash_mfts.sh @@ -0,0 +1,7 @@ +#!/bin/bash -xe + +# build firmware +./build_mfts.sh +# flash firmware +st-flash write build/px4_fts-can_default/px4_fts-can_default.bin 0x08020000 +#st-flash write build/px4_fts-proto_default/px4_fts-proto_default.bin 0x08020000 \ No newline at end of file diff --git a/init.sh b/init.sh index 9d8d036..fb25313 100755 --- a/init.sh +++ b/init.sh @@ -1,3 +1,11 @@ #!/bin/bash -xe -sudo apt install stlink-tools \ No newline at end of file +sudo apt install stlink-tools + +sudo add-apt-repository ppa:deadsnakes/ppa +sudo apt update +sudo apt install python3.11 +sudo apt install python3.11-venv +python3.11 -m venv venv +python3 -m pip install --requirement ./Tools/setup/requirements.txt +pip install empy==3.3.4 \ No newline at end of file diff --git a/src/drivers/fts/fts.cpp b/src/drivers/fts/fts.cpp index 788e532..1eda06a 100644 --- a/src/drivers/fts/fts.cpp +++ b/src/drivers/fts/fts.cpp @@ -8,20 +8,7 @@ #include #include -#define IO_HEATER_DEVICE_PATH "/dev/px4io" -#define _IO_HEATER_BASE (0x2e00) - -#define PX4IO_HEATER_CONTROL _PX4_IOC(_IO_HEATER_BASE, 0) - -/* ... to IOX_SET_VALUE + 8 */ - -/* enum passed to IO_HEATER_CONTROL ioctl()*/ -enum IO_HEATER_MODE { - HEATER_MODE_OFF = 0, - HEATER_MODE_ON = 1, - HEATER_MODE_DISABLED = -1 -}; // Use direct calls to turn GPIO pin on/off #if !defined(GPIO_FTS_CAN_OUTPUT) || !defined(GPIO_FTS_CHUTE_OUTPUT)