diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index eb805a1361..5d6c74691b 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -20,6 +20,7 @@ jobs: ark_can-flow, ark_can-gps, ark_can-rtk-gps, + ark_cannode, atl_mantis-edu, av_x-v1, bitcraze_crazyflie, diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 4c023f3580..9e983b46b5 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -121,6 +121,16 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: ark_can-rtk-gps_canbootloader + ark_cannode_default: + short: ark_cannode_default + buildType: MinSizeRel + settings: + CONFIG: ark_cannode_default + ark_cannode_canbootloader: + short: ark_cannode_canbootloader + buildType: MinSizeRel + settings: + CONFIG: ark_cannode_canbootloader atl_mantis-edu_default: short: atl_mantis-edu buildType: MinSizeRel diff --git a/boards/ark/cannode/canbootloader.px4board b/boards/ark/cannode/canbootloader.px4board new file mode 100644 index 0000000000..51093ca338 --- /dev/null +++ b/boards/ark/cannode/canbootloader.px4board @@ -0,0 +1,6 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m4" +CONFIG_BOARD_ROMFSROOT="" +CONFIG_BOARD_CONSTRAINED_MEMORY=y +CONFIG_DRIVERS_BOOTLOADERS=y +CONFIG_NSH_BUILTIN_APPS=y diff --git a/boards/ark/cannode/default.px4board b/boards/ark/cannode/default.px4board new file mode 100644 index 0000000000..14493945ba --- /dev/null +++ b/boards/ark/cannode/default.px4board @@ -0,0 +1,37 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m4" +CONFIG_BOARD_ROMFSROOT="cannode" +CONFIG_BOARD_CONSTRAINED_FLASH=y +#CONFIG_BOARD_NO_HELP=y +CONFIG_BOARD_CONSTRAINED_MEMORY=y +CONFIG_BOARD_EXTERNAL_METADATA=y +CONFIG_COMMON_BAROMETERS=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_COMMON_HYGROMETERS=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_LIGHT=y +CONFIG_DRIVERS_BATT_SMBUS=y +CONFIG_DRIVERS_BOOTLOADERS=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IRLOCK=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_BOARD_UAVCAN_INTERFACES=1 +CONFIG_DRIVERS_UAVCANNODE=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +#CONFIG_MODULES_SENSORS=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MIXER=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_PWM=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/ark/cannode/firmware.prototype b/boards/ark/cannode/firmware.prototype new file mode 100644 index 0000000000..8b149d8c5f --- /dev/null +++ b/boards/ark/cannode/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 83, + "magic": "PX4FWv1", + "description": "Firmware for the ARK CANnode board", + "image": "", + "build_time": 0, + "summary": "ARKCANNODE", + "version": "0.1", + "image_size": 0, + "image_maxsize": 2080768, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/ark/cannode/init/rc.board_defaults b/boards/ark/cannode/init/rc.board_defaults new file mode 100644 index 0000000000..ba6faf3d0a --- /dev/null +++ b/boards/ark/cannode/init/rc.board_defaults @@ -0,0 +1,7 @@ +#!/bin/sh +# +# board specific defaults +#------------------------------------------------------------------------------ +pwm_out start + +control_allocator start diff --git a/boards/ark/cannode/init/rc.board_sensors b/boards/ark/cannode/init/rc.board_sensors new file mode 100644 index 0000000000..c14e6a4cbc --- /dev/null +++ b/boards/ark/cannode/init/rc.board_sensors @@ -0,0 +1,118 @@ +#!/bin/sh +# +# board sensors init +#------------------------------------------------------------------------------ +icm42688p -R 0 -s start + +if param compare -s SENS_EN_BATT 1 +then + batt_smbus start -X +fi + +# Lidar-Lite on I2C +if param compare -s SENS_EN_LL40LS 2 +then + ll40ls start -X +fi + +# mappydot lidar sensor +if param compare -s SENS_EN_MPDT 1 +then + mappydot start -X +fi + +# mb12xx sonar sensor +if param greater -s SENS_EN_MB12XX 0 +then + mb12xx start -X +fi + +# Lightware i2c lidar sensor +if param greater -s SENS_EN_SF1XX 0 +then + lightware_laser_i2c start -X +fi + +# vl53l1x i2c distance sensor +if param compare -s SENS_EN_VL53L1X 1 +then + vl53l1x start -X +fi + +# ADIS16448 spi external IMU +if param compare -s SENS_EN_ADIS164X 1 +then + if param compare -s SENS_OR_ADIS164X 0 + then + adis16448 -S start + fi + if param compare -s SENS_OR_ADIS164X 4 + then + adis16448 -S start -R 4 + fi +fi + +# Eagle Tree airspeed sensor external I2C +if param compare -s SENS_EN_ETSASPD 1 +then + ets_airspeed start -X +fi + +# Sensirion SDP3X differential pressure sensor external I2C +if param compare -s SENS_EN_SDP3X 1 +then + if ! sdp3x_airspeed start -X + then + # try another common address + sdp3x_airspeed start -X -a 0x22 + fi +fi + +# SHT3x temperature and hygrometer sensor, external I2C +if param compare -s SENS_EN_SHT3X 1 +then + sht3x start -X + sht3x start -X -a 0x45 +fi + +# TE MS4525 differential pressure sensor external I2C +if param compare -s SENS_EN_MS4525 1 +then + ms4525_airspeed start -X +fi + +# TE MS5525 differential pressure sensor external I2C +if param compare -s SENS_EN_MS5525 1 +then + ms5525_airspeed start -X +fi + +# IR-LOCK sensor external I2C +if param compare -s SENS_EN_IRLOCK 1 +then + irlock start -X +fi + +# SPL06 sensor external I2C +if param compare -s SENS_EN_SPL06 1 +then + spl06 -X start + spl06 -X -a 0x77 start +fi + +gps start -d /dev/ttyS0 -p ubx + +# probe for optional external I2C devices +icm20948_i2c_passthrough -X -q start + +# compasses +hmc5883 -T -X -q start +ist8308 -X -q start +ist8310 -X -q start +lis2mdl -X -q start +lis3mdl -X -q start +qmc5883l -X -q start +rm3100 -X -q start + +# start last (wait for possible icm20948 passthrough mode) +ak09916 -X -q start diff --git a/boards/ark/cannode/nuttx-config/canbootloader/defconfig b/boards/ark/cannode/nuttx-config/canbootloader/defconfig new file mode 100644 index 0000000000..2e99504e20 --- /dev/null +++ b/boards/ark/cannode/nuttx-config/canbootloader/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_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/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_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=4096 +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BINFMT_DISABLE=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_C99_BOOL8=y +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_PTHREAD=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=4096 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_LIB_BOARDCTL=y +CONFIG_FS_PROCFS_MAX_TASKS=0 +CONFIG_MM_REGIONS=2 +CONFIG_NAME_MAX=0 +CONFIG_NUNGET_CHARS=0 +CONFIG_PREALLOC_TIMERS=0 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=262144 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_NOEXT_VECTORS=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=4096 diff --git a/boards/ark/cannode/nuttx-config/include/board.h b/boards/ark/cannode/nuttx-config/include/board.h new file mode 100644 index 0000000000..aa06711854 --- /dev/null +++ b/boards/ark/cannode/nuttx-config/include/board.h @@ -0,0 +1,149 @@ +/************************************************************************************ + * configs/px4fmu/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 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. + * + ************************************************************************************/ +#include "board_dma_map.h" + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/* HSI - 8 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - 8 MHz Crystal + * LSE - not installed + */ +#define STM32_BOARD_USEHSE 1 +#define STM32_BOARD_XTAL 8000000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 + +/* Main PLL Configuration */ +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8) +#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2) + +#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16) +#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192) +#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/ + +#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL +#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB +#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ + +#define STM32_SYSCLK_FREQUENCY 96000000ul + +/* AHB clock (HCLK) is SYSCLK (96MHz) */ +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */ +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */ +#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) + +/* APB2 clock (PCLK2) is HCLK (96MHz) */ +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* Timers driven from APB2 will be PCLK2 since no prescale division */ +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */ +#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* UARTs */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_3 + +#define GPIO_USART2_RX GPIO_USART2_RX_1 +#define GPIO_USART2_TX GPIO_USART2_TX_1 + +/* CAN */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_1 +#define GPIO_CAN1_TX GPIO_CAN1_TX_1 + +/* SPI */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 /* PB13 */ + +/* I2C */ +#define GPIO_MCU_I2C1_SCL +#define GPIO_MCU_I2C1_SDA + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/boards/ark/cannode/nuttx-config/include/board_dma_map.h b/boards/ark/cannode/nuttx-config/include/board_dma_map.h new file mode 100644 index 0000000000..0eb81fc589 --- /dev/null +++ b/boards/ark/cannode/nuttx-config/include/board_dma_map.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +// DMA1 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0 +#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0 + +// DMA2 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3 +#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3 diff --git a/boards/ark/cannode/nuttx-config/nsh/defconfig b/boards/ark/cannode/nuttx-config/nsh/defconfig new file mode 100644 index 0000000000..7b7e409fae --- /dev/null +++ b/boards/ark/cannode/nuttx-config/nsh/defconfig @@ -0,0 +1,161 @@ +# +# 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_OS_API is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_STM32_DMACAPABLE is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/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_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=512 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_C99_BOOL8=y +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_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_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_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MM_REGIONS=2 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=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_DISABLE_IFCONFIG=y +CONFIG_NSH_DISABLE_IFUPDOWN=y +CONFIG_NSH_DISABLE_TELNETD=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_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=262144 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RTC_DATETIME=y +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=254 +CONFIG_SCHED_HPWORKSTACKSIZE=3000 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SEM_NNESTPRIO=8 +CONFIG_SEM_PREALLOCHOLDERS=0 +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=32 +CONFIG_STM32_ADC1=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_FLASH_PREFETCH=y +CONFIG_STM32_FLOWCONTROL_BROKEN=y +CONFIG_STM32_I2C1=y +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_RTC=y +CONFIG_STM32_RTC_HSECLOCK=y +CONFIG_STM32_RTC_MAGIC=0xfacefeee +CONFIG_STM32_RTC_MAGIC_REG=1 +CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef +CONFIG_STM32_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI1_DMA=y +CONFIG_STM32_SPI1_DMA_BUFFER=2048 +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI2_DMA=y +CONFIG_STM32_SPI2_DMA_BUFFER=2048 +CONFIG_STM32_SPI_DMA=y +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART_BREAKS=y +CONFIG_STM32_WWDG=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_RXBUFSIZE=600 +CONFIG_USART1_TXBUFSIZE=1100 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_SERIAL_CONSOLE=y +CONFIG_USART2_TXBUFSIZE=1100 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2624 +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/ark/cannode/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/cannode/nuttx-config/scripts/canbootloader_script.ld new file mode 100644 index 0000000000..cbf9fddc32 --- /dev/null +++ b/boards/ark/cannode/nuttx-config/scripts/canbootloader_script.ld @@ -0,0 +1,134 @@ +/**************************************************************************** + * nuttx-config/scripts/canbootloader_script.ld + * + * Copyright (C) 2015 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * 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 first 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +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.*) + *(.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/ark/cannode/nuttx-config/scripts/script.ld b/boards/ark/cannode/nuttx-config/scripts/script.ld new file mode 100644 index 0000000000..daf33d4b97 --- /dev/null +++ b/boards/ark/cannode/nuttx-config/scripts/script.ld @@ -0,0 +1,146 @@ +/**************************************************************************** + * scripts/ld.script + * + * Copyright (C) 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 STM32F412CG has 1Mb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * 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 first 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08010000, LENGTH = 928K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +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) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(8); + /* + * This section positions the app_descriptor_t used + * by the make_can_boot_descriptor.py tool to set + * the application image's descriptor so that the + * uavcan bootloader has the ability to validate the + * image crc, size etc + */ + KEEP(*(.app_descriptor)) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.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/ark/cannode/src/CMakeLists.txt b/boards/ark/cannode/src/CMakeLists.txt new file mode 100644 index 0000000000..2f1b301592 --- /dev/null +++ b/boards/ark/cannode/src/CMakeLists.txt @@ -0,0 +1,68 @@ +############################################################################ +# +# 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. +# +############################################################################ + +if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") + + add_library(drivers_board + boot_config.h + boot.c + led.c + led.h + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + canbootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + spi.cpp + timer_config.cpp + ) + + target_link_libraries(drivers_board + PRIVATE + arch_spi + drivers__led # drv_led_start + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/ark/cannode/src/board_config.h b/boards/ark/cannode/src/board_config.h new file mode 100644 index 0000000000..bb820a7b66 --- /dev/null +++ b/boards/ark/cannode/src/board_config.h @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * board internal definitions + */ + +#pragma once + +#include +#include +#include + +/* CAN Silent mode control */ +#define GPIO_CAN1_SILENT_S0 /* PC14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) + +/* CAN termination software control */ +#define GPIO_CAN1_TERMINATION /* PC15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) +#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION + +/* Boot config */ +#define GPIO_BOOT_CONFIG /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI) + +/* ICM42688p FSYNC */ +#define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* LEDs are driven with open drain to support Anode to 5V or 3.3V */ +#define GPIO_TIM1_CH1 /* PA8 */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH2 /* PA9 */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) + +/* PWM Outputs */ +#define DIRECT_PWM_OUTPUT_CHANNELS 6 // Actually 8 + +#define GPIO_TIM2_CH1_RESET /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_TIM2_CH2_RESET /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_TIM2_CH3_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_TIM3_CH1_RESET /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) +#define GPIO_TIM3_CH2_RESET /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +#define GPIO_TIM3_CH3_RESET /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_TIM3_CH4_RESET /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +#define GPIO_TIM4_CH4_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7) + +#define GPIO_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6) +#define GPIO_I2C1_SDA_RESET /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_USART1_RX_GPIO /* PB3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3) +#define GPIO_USART1_TX_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15) + +#define GPIO_USART2_RX_GPIO /* PA3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3) +#define GPIO_USART2_TX_GPIO /* PA2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2) + +#define FLASH_BASED_PARAMS + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer 8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ + +#define PX4_GPIO_INIT_LIST { \ + GPIO_CAN1_SILENT_S0, \ + GPIO_CAN1_TERMINATION, \ + GPIO_42688P_FSYNC, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_I2C1_SCL_RESET, \ + GPIO_I2C1_SDA_RESET, \ + } + +__BEGIN_DECLS + +#define BOARD_HAS_N_S_RGB_LED 1 +#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED + +#ifndef __ASSEMBLY__ + +extern void stm32_spiinitialize(void); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/ark/cannode/src/boot.c b/boards/ark/cannode/src/boot.c new file mode 100644 index 0000000000..a26034e254 --- /dev/null +++ b/boards/ark/cannode/src/boot.c @@ -0,0 +1,188 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: Ben Dyer + * Pavel Kirienko + * 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 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include "boot_config.h" +#include "board.h" + +#include +#include +#include + +#include +#include "led.h" + +/************************************************************************************ + * 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) +{ + putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR); + stm32_configgpio(GPIO_CAN1_RX); + stm32_configgpio(GPIO_CAN1_TX); + stm32_configgpio(GPIO_CAN1_SILENT_S0); + stm32_configgpio(GPIO_CAN1_TERMINATION); + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + +#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) + stm32_configgpio(GPIO_GETNODEINFO_JUMPER); +#endif + +} + +/************************************************************************************ + * Name: board_deinitialize + * + * Description: + * This function is called by the bootloader code prior to booting + * the application. Is should place the HW into an benign initialized state. + * + ************************************************************************************/ + +void board_deinitialize(void) +{ + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); +} + +/**************************************************************************** + * Name: board_get_product_name + * + * Description: + * Called to retrieve the product name. The returned value is a assumed + * to be written to a pascal style string that will be length prefixed + * and not null terminated + * + * Input Parameters: + * product_name - A pointer to a buffer to write the name. + * maxlen - The maximum number of charter that can be written + * + * Returned Value: + * The length of characters written to the buffer. + * + ****************************************************************************/ + +uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) +{ + DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME)); + memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME)); + return UAVCAN_STRLEN(HW_UAVCAN_NAME); +} + +/**************************************************************************** + * Name: board_get_hardware_version + * + * Description: + * Called to retrieve the hardware version information. The function + * will first initialize the the callers struct to all zeros. + * + * Input Parameters: + * hw_version - A pointer to a uavcan_hardwareversion_t. + * + * Returned Value: + * Length of the unique_id + * + ****************************************************************************/ + +size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) +{ + memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t)); + + hw_version->major = HW_VERSION_MAJOR; + hw_version->minor = HW_VERSION_MINOR; + + return board_get_mfguid(*(mfguid_t *) hw_version->unique_id); +} + +/**************************************************************************** + * Name: board_indicate + * + * Description: + * Provides User feedback to indicate the state of the bootloader + * on board specific hardware. + * + * Input Parameters: + * indication - A member of the uiindication_t + * + * Returned Value: + * None + * + ****************************************************************************/ +#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)} + +typedef begin_packed_struct struct led_t { + uint8_t red; + uint8_t green; + uint8_t blue; + uint8_t hz; +} end_packed_struct led_t; + +static const led_t i2l[] = { + + led(0, off, 0, 0, 0, 0), + led(1, reset, 128, 128, 128, 30), + led(2, autobaud_start, 0, 128, 0, 1), + led(3, autobaud_end, 0, 128, 0, 2), + led(4, allocation_start, 0, 0, 64, 2), + led(5, allocation_end, 0, 128, 64, 3), + led(6, fw_update_start, 32, 128, 64, 3), + led(7, fw_update_erase_fail, 32, 128, 32, 3), + led(8, fw_update_invalid_response, 64, 0, 0, 1), + led(9, fw_update_timeout, 64, 0, 0, 2), + led(a, fw_update_invalid_crc, 64, 0, 0, 4), + led(b, jump_to_app, 0, 128, 0, 10), + +}; + +void board_indicate(uiindication_t indication) +{ + rgb_led(i2l[indication].red, + i2l[indication].green, + i2l[indication].blue, + i2l[indication].hz); +} diff --git a/boards/ark/cannode/src/boot_config.h b/boards/ark/cannode/src/boot_config.h new file mode 100644 index 0000000000..eab3c76c6c --- /dev/null +++ b/boards/ark/cannode/src/boot_config.h @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file boot_config.h + * + * bootloader definitions that configures the behavior and options + * of the Boot loader + * This file is relies on the parent folder's boot_config.h file and defines + * different usages of the hardware for bootloading + */ + +#pragma once + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/* Bring in the board_config.h definitions + * todo:make this be pulled in from a targed's build + * files in nuttx*/ + +#include "board_config.h" +#include "uavcan.h" +#include + +#include + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define OPT_PREFERRED_NODE_ID ANY_NODE_ID + +//todo:wrap OPT_x in in ifdefs for command line definitions +#define OPT_TBOOT_MS 5000 +#define OPT_NODE_STATUS_RATE_MS 800 +#define OPT_NODE_INFO_RATE_MS 50 +#define OPT_BL_NUMBER_TIMERS 7 + +/* + * This Option set is set to 1 ensure a provider of firmware has an + * opportunity update the node's firmware. + * This Option is the default policy and can be overridden by + * a jumper + * When this Policy is set, the node will ignore tboot and + * wait indefinitely for a GetNodeInfo request before booting. + * + * OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow + * the polarity of the jumper to be True Active + * + * wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO + * Jumper + * yes 1 0 x + * yes 1 1 Active + * no 1 1 Not Active + * no 0 0 X + * yes 0 1 Active + * no 0 1 Not Active + * + */ +#define OPT_WAIT_FOR_GETNODEINFO 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 + +#define OPT_ENABLE_WD 1 + +#define OPT_RESTART_TIMEOUT_MS 20000 + +/* Reserved for the Booloader */ +#define OPT_BOOTLOADER_SIZE_IN_K (1024*64) + +/* Reserved for the application out of the total + * system flash minus the BOOTLOADER_SIZE_IN_K + */ +#define OPT_APPLICATION_RESERVER_IN_K 0 + +#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K +#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K)) + + +#define FLASH_BASE STM32_FLASH_BASE +#define FLASH_SIZE STM32_FLASH_SIZE + +#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t))) +#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t))) +#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) + +/* If this board uses big flash that have large sectors */ + +#define OPT_USE_YIELD + +/* Bootloader Option***************************************************************** + * + */ +#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI) diff --git a/boards/ark/cannode/src/can.c b/boards/ark/cannode/src/can.c new file mode 100644 index 0000000000..acc20252fa --- /dev/null +++ b/boards/ark/cannode/src/can.c @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_arch.h" + +#include "stm32.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 diff --git a/boards/ark/cannode/src/i2c.cpp b/boards/ark/cannode/src/i2c.cpp new file mode 100644 index 0000000000..e71caa4087 --- /dev/null +++ b/boards/ark/cannode/src/i2c.cpp @@ -0,0 +1,38 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), +}; diff --git a/boards/ark/cannode/src/init.c b/boards/ark/cannode/src/init.c new file mode 100644 index 0000000000..491bc348b4 --- /dev/null +++ b/boards/ark/cannode/src/init.c @@ -0,0 +1,188 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file init.c + * + * board 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. + */ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include "board_config.h" +#include "led.h" +#include + +#include + +#include +#include +#include + +#include + +#include +#include + +#include +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +/************************************************************************************ + * 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) +{ + // Configure the GPIO pins to outputs and keep them low. + for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { + px4_arch_configgpio(io_timer_channel_get_gpio_output(i)); + } + + /* + * On resets invoked from system (not boot) insure we establish a low + * output state (discharge the pins) on PWM pins before they become inputs. + */ + + if (status >= 0) { + up_mdelay(400); + } +} + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + // Reset all PWM to Low outputs. + board_on_reset(-1); + + watchdog_init(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + // Configure SPI all interfaces GPIO & enable power. + stm32_spiinitialize(); +} + +/**************************************************************************** + * 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) +{ + px4_platform_init(); + +#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 + +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {2, 16 * 1024, 0x08008000}, + {3, 16 * 1024, 0x0800C000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + } + +#endif // FLASH_BASED_PARAMS + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); + + return OK; +} diff --git a/boards/ark/cannode/src/led.c b/boards/ark/cannode/src/led.c new file mode 100644 index 0000000000..9a80cae089 --- /dev/null +++ b/boards/ark/cannode/src/led.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +#include "led.h" + +#define TMR_BASE STM32_TIM1_BASE +#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN +#define TMR_REG(o) (TMR_BASE+(o)) + +void rgb_led(int r, int g, int b, int freqs) +{ + + long fosc = TMR_FREQUENCY; + long prescale = 2048; + long p1s = fosc / prescale; + long p0p5s = p1s / 2; + uint16_t val; + static bool once = 0; + + if (!once) { + once = 1; + + /* Enabel Clock to Block */ + modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN); + + /* Reload */ + + val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET)); + val |= ATIM_EGR_UG; + putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET)); + + /* Set Prescaler STM32_TIM_SETCLOCK */ + + putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET)); + + /* Enable STM32_TIM_SETMODE*/ + + putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET)); + + + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE | + (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET)); + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET)); + putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | + ATIM_CCER_CC2E | ATIM_CCER_CC2P | + ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET)); + + + stm32_configgpio(GPIO_TIM1_CH1); + stm32_configgpio(GPIO_TIM1_CH2); + stm32_configgpio(GPIO_TIM1_CH3); + + /* master output enable = on */ + putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET))); + } + + long p = freqs == 0 ? p1s : p1s / freqs; + putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET)); + + p = freqs == 0 ? p1s + 1 : p0p5s / freqs; + + putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET)); + putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET)); + putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET)); + + val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET)); + + if (freqs == 0) { + val &= ~ATIM_CR1_CEN; + + } else { + val |= ATIM_CR1_CEN; + } + + putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET)); + +} diff --git a/boards/ark/cannode/src/led.h b/boards/ark/cannode/src/led.h new file mode 100644 index 0000000000..b68e4aa70d --- /dev/null +++ b/boards/ark/cannode/src/led.h @@ -0,0 +1,37 @@ +/**************************************************************************** + * + * Copyright (C) 2015 PX4 Development Team. All rights reserved. + * Author: 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 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. + * + ****************************************************************************/ + +__BEGIN_DECLS +void rgb_led(int r, int g, int b, int freqs); +__END_DECLS diff --git a/boards/ark/cannode/src/spi.cpp b/boards/ark/cannode/src/spi.cpp new file mode 100644 index 0000000000..ab7d82a3d8 --- /dev/null +++ b/boards/ark/cannode/src/spi.cpp @@ -0,0 +1,48 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), + }), + initSPIBusExternal(SPI::Bus::SPI2, { + initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}), + initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/ark/cannode/src/timer_config.cpp b/boards/ark/cannode/src/timer_config.cpp new file mode 100644 index 0000000000..bc69d4b7ea --- /dev/null +++ b/boards/ark/cannode/src/timer_config.cpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * 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 + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer2), + initIOTimer(Timer::Timer3), + //initIOTimer(Timer::Timer4), +}; + +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::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), + //initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), + //initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/ark/cannode/uavcan_board_identity b/boards/ark/cannode/uavcan_board_identity new file mode 100644 index 0000000000..44ea18cc7d --- /dev/null +++ b/boards/ark/cannode/uavcan_board_identity @@ -0,0 +1,17 @@ +# UAVCAN boot loadable Module ID +set(uavcanblid_sw_version_major 0) +set(uavcanblid_sw_version_minor 1) +add_definitions( + -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} + -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} +) + +set(uavcanblid_hw_version_major 0) +set(uavcanblid_hw_version_minor 83) +set(uavcanblid_name "\"org.ark.cannode\"") + +add_definitions( + -DHW_UAVCAN_NAME=${uavcanblid_name} + -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} + -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} +)