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[DO NOT MERGE] boards: mro_pixracerpro remap GPS1 to 4xPWM/DSHOT

This commit is contained in:
Daniel Agar 2021-07-21 16:15:24 -04:00
parent bd17653383
commit 0c19fabbd7
No known key found for this signature in database
GPG Key ID: FD3CBA98017A69DE
10 changed files with 89 additions and 96 deletions
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88
boards/mro/pixracerpro/default.cmake
View File

@ -8,68 +8,68 @@ px4_add_board(
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
UAVCAN_INTERFACES 2
#UAVCAN_INTERFACES 2
SERIAL_PORTS
#SPARE:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
GPS1:/dev/ttyS3
#RC:/dev/ttyS4
#CONSOLE:/dev/ttyS5
#FRSKY:/dev/ttyS6
#RC:/dev/ttyS3
#CONSOLE:/dev/ttyS4
#FRSKY:/dev/ttyS5
DRIVERS
adc/ads1115
#adc/ads1115
adc/board_adc
#barometer # all available barometer drivers
barometer/dps310
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#batt_smbus
#camera_capture
#camera_trigger
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
distance_sensor/tfmini
dshot
gps
#gps
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948
irlock
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#irlock
#lights # all available light drivers
#magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#osd
#pca9685
#pca9685_pwm_out
#power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
#pwm_out_sim
#pwm_out
rc_input
roboclaw
rpm
smart_battery/batmon
telemetry # all available telemetry drivers
#roboclaw
#rpm
#smart_battery/batmon
#telemetry # all available telemetry drivers
tone_alarm
uavcan
#uavcan
MODULES
airspeed_selector
attitude_estimator_q
#airspeed_selector
#attitude_estimator_q
battery_status
camera_feedback
#camera_feedback
commander
dataman
ekf2
esc_battery
#esc_battery
events
flight_mode_manager
fw_att_control
fw_pos_control_l1
#fw_att_control
#fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
#landing_target_estimator
load_mon
local_position_estimator
#local_position_estimator
logger
mavlink
mc_att_control
@ -79,14 +79,14 @@ px4_add_board(
#micrortps_bridge
navigator
rc_update
rover_pos_control
#rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
#sih
#temperature_compensation
#uuv_att_control
#uuv_pos_control
#vmount
#vtol_att_control
SYSTEMCMDS
bl_update
dmesg
@ -94,7 +94,7 @@ px4_add_board(
esc_calib
gpio
hardfault_log
i2cdetect
#i2cdetect
led_control
mft
mixer
@ -118,7 +118,7 @@ px4_add_board(
ver
work_queue
EXAMPLES
fake_gps
#fake_gps
#fake_imu
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control

8
boards/mro/pixracerpro/nuttx-config/include/board.h
View File

@ -234,9 +234,6 @@
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
#define GPIO_USART6_TX 0 /* USART6 is RX-only */
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
@ -273,8 +270,3 @@
#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */

9
boards/mro/pixracerpro/nuttx-config/nsh/defconfig
View File

@ -76,8 +76,6 @@ CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
@ -165,9 +163,6 @@ CONFIG_STM32H7_DMA1=y
CONFIG_STM32H7_DMA2=y
CONFIG_STM32H7_DMACAPABLE=y
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
CONFIG_STM32H7_I2C1=y
CONFIG_STM32H7_I2C_DYNTIMEO=y
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
CONFIG_STM32H7_OTGFS=y
CONFIG_STM32H7_PROGMEM=y
CONFIG_STM32H7_RTC=y
@ -192,7 +187,6 @@ CONFIG_STM32H7_SPI_DMATHRESHOLD=8
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART7=y
CONFIG_STM32H7_UART8=y
CONFIG_STM32H7_USART1=y
@ -208,9 +202,6 @@ CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGSTP=y
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART7_BAUD=57600
CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_SERIAL_CONSOLE=y

10
boards/mro/pixracerpro/src/board_config.h
View File

@ -83,8 +83,8 @@
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define DIRECT_INPUT_TIMER_CHANNELS 4
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@ -118,7 +118,7 @@
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_PORT "/dev/ttyS3"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@ -147,8 +147,8 @@
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_NUM_IO_TIMERS 2
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
#define BOARD_ENABLE_CONSOLE_BUFFER

4
boards/mro/pixracerpro/src/i2c.cpp
View File

@ -33,6 +33,4 @@
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {};

15
boards/mro/pixracerpro/src/timer_config.cpp
View File

@ -34,20 +34,15 @@
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer5, 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}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

4
src/drivers/barometer/dps310/DPS310_I2C.cpp
View File

@ -37,6 +37,8 @@
* I2C interface for DPS310
*/
#if defined(CONFIG_I2C)
#include <lib/drivers/device/i2c.h>
namespace dps310
@ -89,3 +91,5 @@ DPS310_I2C::write(unsigned address, void *data, unsigned count)
}
} // namespace dps310
#endif // CONFIG_I2C

20
src/drivers/barometer/dps310/dps310_main.cpp
View File

@ -36,7 +36,9 @@
namespace dps310
{
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
#if defined(CONFIG_I2C)
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
#endif // CONFIG_I2C
}
#include <px4_platform_common/getopt.h>
@ -59,12 +61,16 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
{
device::Device *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
} else
#endif // CONFIG_I2C
if (config.bus_type == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
@ -95,9 +101,15 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
extern "C" int dps310_main(int argc, char *argv[])
{
using ThisDriver = DPS310;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
BusCLIArguments cli {true, true};
cli.i2c_address = 0x77;
cli.default_i2c_frequency = 400000;
#else
BusCLIArguments cli {false, true};
#endif // CONFIG_I2C
cli.default_spi_frequency = 10 * 1000 * 1000;
const char *verb = cli.parseDefaultArguments(argc, argv);

26
src/drivers/imu/invensense/icm20948/CMakeLists.txt
View File

@ -49,15 +49,17 @@ px4_add_module(
drivers_magnetometer
)
px4_add_module(
MODULE drivers__imu__invensense__icm20948_i2c_passthrough
MAIN icm20948_i2c_passthrough
COMPILE_FLAGS
SRCS
ICM20948_I2C_Passthrough.cpp
ICM20948_I2C_Passthrough.hpp
icm20948_i2c_passthrough_main.cpp
InvenSense_ICM20948_registers.hpp
DEPENDS
px4_work_queue
)
if(CONFIG_I2C)
px4_add_module(
MODULE drivers__imu__invensense__icm20948_i2c_passthrough
MAIN icm20948_i2c_passthrough
COMPILE_FLAGS
SRCS
ICM20948_I2C_Passthrough.cpp
ICM20948_I2C_Passthrough.hpp
icm20948_i2c_passthrough_main.cpp
InvenSense_ICM20948_registers.hpp
DEPENDS
px4_work_queue
)
endif()

1
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp
View File

@ -43,7 +43,6 @@
#include "AKM_AK09916_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>