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boards: add CUAV Nora support

This commit is contained in:
Daniel Agar 2020-08-12 13:02:16 -04:00 committed by GitHub
parent 942eb83184
commit 6937dbc5fd
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GPG Key ID: 4AEE18F83AFDEB23
25 changed files with 2446 additions and 0 deletions
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1
.ci/Jenkinsfile-compile
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@ -32,6 +32,7 @@ pipeline {
"airmind_mindpx-v2_default",
"av_x-v1_default",
"bitcraze_crazyflie_default",
"cuav_nora_default",
"cuav_x7pro_default",
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_default",

1
.github/workflows/compile_nuttx.yml vendored
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@ -18,6 +18,7 @@ jobs:
airmind_mindpx-v2_default,
av_x-v1_default,
bitcraze_crazyflie_default,
cuav_nora_default,
cuav_x7pro_default,
cubepilot_cubeorange_default,
cubepilot_cubeyellow_default,

5
.vscode/cmake-variants.yaml vendored
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@ -61,6 +61,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: av_x-v1_default
cuav_nora_default:
short: cuav_nora
buildType: MinSizeRel
settings:
CONFIG: cuav_nora_default
cuav_x7pro_default:
short: cuav_x7pro
buildType: MinSizeRel

9
boards/cuav/nora/bootloader.cmake Normal file
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@ -0,0 +1,9 @@
px4_add_board(
PLATFORM nuttx
VENDOR cuav
MODEL nora
LABEL bootloader
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
)

122
boards/cuav/nora/default.cmake Normal file
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@ -0,0 +1,122 @@
px4_add_board(
PLATFORM nuttx
VENDOR cuav
MODEL nora
LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
TESTING
# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
GPS2:/dev/ttyS2
TEL2:/dev/ttyS3
# CONSOLE: /dev/ttyS4
# RC: /dev/ttyS5
DRIVERS
adc
barometer # all available barometer drivers
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
heater
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
mkblctrl
optical_flow # all available optical flow drivers
#osd
pca9685
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
# uavcan - No H7 or FD can support in UAVCAN yet
MODULES
airspeed_selector
attitude_estimator_q
battery_status
camera_feedback
commander
dataman
ekf2
events
fw_att_control
fw_pos_control_l1
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
vmount
vtol_att_control
SYSTEMCMDS
bl_update
dmesg
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
tests # tests and test runner
top
topic_listener
tune_control
usb_connected
ver
work_queue
EXAMPLES
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
)

13
boards/cuav/nora/firmware.prototype Normal file
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@ -0,0 +1,13 @@
{
"board_id": 1009,
"magic": "PX4FWv1",
"description": "Firmware for the CUAV Nora board",
"image": "",
"build_time": 0,
"summary": "NOra",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1966080,
"git_identity": "",
"board_revision": 0
}

41
boards/cuav/nora/init/rc.board_defaults Normal file
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@ -0,0 +1,41 @@
#!/bin/sh
#
# board specific defaults
#------------------------------------------------------------------------------
#
# Bootloader upgrade
#
set BL_FILE /etc/extras/cuav_nora_bootloader.bin
if [ -f $BL_FILE ]
then
if param compare SYS_BL_UPDATE 1
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
reboot
fi
fi
unset BL_FILE
if [ $AUTOCNF = yes ]
then
param set BAT_V_DIV 18
param set BAT1_V_DIV 18
param set BAT2_V_DIV 18
param set BAT_A_PER_V 24
param set BAT1_A_PER_V 24
param set BAT2_A_PER_V 24
# Enable IMU thermal control
param set SENS_EN_THERMAL 1
fi
set LOGGER_BUF 64
rgbled_pwm start
safety_button start

7
boards/cuav/nora/init/rc.board_mavlink Normal file
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@ -0,0 +1,7 @@
#!/bin/sh
#
# Board specific specific board MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port
mavlink start -d /dev/ttyACM0

18
boards/cuav/nora/init/rc.board_sensors Normal file
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@ -0,0 +1,18 @@
#!/bin/sh
#
# board specific sensors init
#------------------------------------------------------------------------------
adc start
# SPI1 (internal)
rm3100 -s start
icm20689 -s -R 2 start
# SPI4 (internal)
bmi088 -A -s -R 10 start
bmi088 -G -s -R 10 start
ms5611 -s -b 4 start
# SPI6 (internal)
icm20649 -s -b 6 -R 2 start
ms5611 -s -b 6 start

102
boards/cuav/nora/nuttx-config/bootloader/defconfig Normal file
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@ -0,0 +1,102 @@
#
# 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="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32h7"
CONFIG_ARCH_CHIP_STM32H743ZI=y
CONFIG_ARCH_CHIP_STM32H7=y
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARMV7M_BASEPRI_WAR=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_INITTHREAD_PRIORITY=254
CONFIG_BOARD_LATE_INITIALIZE=y
CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_PRODUCTID=0x004c
CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV Nora"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3163
CONFIG_CDCACM_VENDORSTR="CUAV"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_EXPERIMENTAL=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_FS_WRITABLE=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIB_BOARDCTL=y
CONFIG_MAX_TASKS=8
CONFIG_MAX_WDOGPARMS=2
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MM_REGIONS=3
CONFIG_NFILE_DESCRIPTORS=5
CONFIG_NFILE_STREAMS=3
CONFIG_NPTHREAD_KEYS=4
CONFIG_PREALLOC_TIMERS=50
CONFIG_PREALLOC_WDOGS=50
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SERIAL_TERMIOS=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_SPI=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STM32H7_BKPSRAM=y
CONFIG_STM32H7_DMA1=y
CONFIG_STM32H7_OTGFS=y
CONFIG_STM32H7_PROGMEM=y
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_USART6=y
CONFIG_SYSTEMTICK_HOOK=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_TIME_EXTENDED=y
CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGINT_CHAR=0x03
CONFIG_TTY_SIGSTP=y
CONFIG_USART6_DMA=y
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_TXBUFSIZE=300
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="bootloader_main"

281
boards/cuav/nora/nuttx-config/include/board.h Normal file
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@ -0,0 +1,281 @@
/************************************************************************************
* nuttx-config/include/board.h
*
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
* Authors: David Sidrane <david.sidrane@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#pragma once
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdmmc.h"
/* Clocking *************************************************************************/
/* The 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_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
*/
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */
/* FLASH wait states */
#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
/* UART/USART */
#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_UART4_RX GPIO_UART4_RX_5 /* PD0 */
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_USART6_RTS GPIO_USART6_RTS_2 /* PG8 */
#define GPIO_USART6_CTS GPIO_USART6_CTS_NSS_2 /* PG15 */
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
/* SPI */
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */

49
boards/cuav/nora/nuttx-config/include/board_dma_map.h Normal file
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/****************************************************************************
*
* 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_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */
#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4RX_1 /* DMA1:84 */
// DMAMUX2 (BDMA)
#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* DMAMUX2:11 */
#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* DMAMUX2:12 */

245
boards/cuav/nora/nuttx-config/nsh/defconfig Normal file
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#
# 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_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_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_SEMICOLON is not set
# CONFIG_NSH_DISABLE_TIME is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32h7"
CONFIG_ARCH_CHIP_STM32H743ZI=y
CONFIG_ARCH_CHIP_STM32H7=y
CONFIG_ARCH_INTERRUPTSTACK=512
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_BOARDCTL_RESET=y
CONFIG_BOARD_CRASHDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=95150
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_PRODUCTID=0x004c
CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV Nora"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3163
CONFIG_CDCACM_VENDORSTR="CUAV"
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_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_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_MAX_TASKS=64
CONFIG_MAX_WDOGPARMS=2
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
CONFIG_MMCSD_SDIO=y
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
CONFIG_MM_REGIONS=3
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_PROGMEM=y
CONFIG_MTD_RAMTRON=y
CONFIG_NFILE_DESCRIPTORS=15
CONFIG_NFILE_STREAMS=8
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARCHROMFS=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_MB=y
CONFIG_NSH_DISABLE_MH=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_PREALLOC_WDOGS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAMTRON_WRITEWAIT=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_ATEXIT=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=249
CONFIG_SCHED_HPWORKSTACKSIZE=1280
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SDMMC1_SDIO_MODE=y
CONFIG_SEM_NNESTPRIO=8
CONFIG_SEM_PREALLOCHOLDERS=0
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_BBSRAM=y
CONFIG_STM32H7_BBSRAM_FILES=5
CONFIG_STM32H7_BKPSRAM=y
CONFIG_STM32H7_DMA1=y
CONFIG_STM32H7_DMA2=y
CONFIG_STM32H7_DMACAPABLE=y
CONFIG_STM32H7_DTCMEXCLUDE=y
CONFIG_STM32H7_DTCM_PROCFS=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_MAGIC_REG=1
CONFIG_STM32H7_SAVE_CRASHDUMP=y
CONFIG_STM32H7_SDMMC1=y
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32H7_SPI1=y
CONFIG_STM32H7_SPI1_DMA=y
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
CONFIG_STM32H7_SPI2=y
CONFIG_STM32H7_SPI4=y
CONFIG_STM32H7_SPI5=y
CONFIG_STM32H7_SPI6=y
CONFIG_STM32H7_SPI6_DMA=y
CONFIG_STM32H7_SPI6_DMA_BUFFER=512
CONFIG_STM32H7_SPI_DMA=y
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
CONFIG_STM32H7_TIM12=y
CONFIG_STM32H7_TIM15=y
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_TIM5=y
CONFIG_STM32H7_TIM8=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART7=y
CONFIG_STM32H7_UART8=y
CONFIG_STM32H7_USART1=y
CONFIG_STM32H7_USART2=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_TIME_EXTENDED=y
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
CONFIG_UART7_TXBUFSIZE=1500
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=1500
CONFIG_USART6_BAUD=57600
CONFIG_USART6_IFLOWCONTROL=y
CONFIG_USART6_OFLOWCONTROL=y
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_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_WATCHDOG=y

228
boards/cuav/nora/nuttx-config/scripts/bootloader_script.ld Normal file
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/****************************************************************************
* scripts/script.ld
*
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory.
* The flash memory is partitioned into a User Flash memory and a System
* Flash memory. Each of these memories has two banks:
*
* 1) User Flash memory:
*
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
*
* 2) System Flash memory:
*
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
*
* 3) User option bytes for user configuration, only in Bank 1.
*
* In the STM32H743II, two different boot spaces can be selected through
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
* BOOT_ADD1 option bytes:
*
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
* ST programmed value: Flash memory at 0x0800:0000
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
* ST programmed value: System bootloader at 0x1FF0:0000
*
* There's a switch on board, the BOOT0 pin is at ground so by default,
* the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
* drepresed, then the boot will be from 0x1FF0:0000
*
* The STM32H743ZI also has 1024Kb of data SRAM.
* SRAM is split up into several blocks and into three power domains:
*
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
*
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
*
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
* DTCM ports. The DTCM-RAM could be used for critical real-time
* data, such as interrupt service routines or stack / heap memory.
* Both DTCM-RAMs can be used in parallel (for load/store operations)
* thanks to the Cortex-M7 dual issue capability.
*
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
*
* This RAM is connected to ITCM 64-bit interface designed for
* execution of critical real-times routines by the CPU.
*
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
* through D1 domain AXI bus matrix
*
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
*
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
* through D2 domain AHB bus matrix
*
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
*
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
*
* 4) AHB SRAM (D3 domain) accessible by most of system masters
* through D3 domain AHB bus matrix
*
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
*
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
* where the code expects to begin execution by jumping to the entry point in
* the 0x0800:0000 address range.
*/
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
DTCM1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
DTCM2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
SRAM1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K /* D2 domain AHB bus */
SRAM2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K /* D2 domain AHB bus */
SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K /* D2 domain AHB bus */
SRAM4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K /* D3 domain */
BKPRAM (rwx) : ORIGIN = 0x38800000, LENGTH = 4K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
ENTRY(_stext)
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
EXTERN(_bootdelay_signature)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
_bootdelay_signature = ABSOLUTE(.);
FILL(0xffecc2925d7d05c5)
. += 8;
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > 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(.);
} > AXI_SRAM AT > FLASH
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > AXI_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) }
.ramfunc : {
_sramfuncs = .;
*(.ramfunc .ramfunc.*)
. = ALIGN(4);
_eramfuncs = .;
} > ITCM_RAM AT > FLASH
_framfuncs = LOADADDR(.ramfunc);
}

226
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/****************************************************************************
* scripts/script.ld
*
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory.
* The flash memory is partitioned into a User Flash memory and a System
* Flash memory. Each of these memories has two banks:
*
* 1) User Flash memory:
*
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
*
* 2) System Flash memory:
*
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
*
* 3) User option bytes for user configuration, only in Bank 1.
*
* In the STM32H743II, two different boot spaces can be selected through
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
* BOOT_ADD1 option bytes:
*
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
* ST programmed value: Flash memory at 0x0800:0000
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
* ST programmed value: System bootloader at 0x1FF0:0000
*
* There's a switch on board, the BOOT0 pin is at ground so by default,
* the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
* drepresed, then the boot will be from 0x1FF0:0000
*
* The STM32H743ZI also has 1024Kb of data SRAM.
* SRAM is split up into several blocks and into three power domains:
*
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
*
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
*
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
* DTCM ports. The DTCM-RAM could be used for critical real-time
* data, such as interrupt service routines or stack / heap memory.
* Both DTCM-RAMs can be used in parallel (for load/store operations)
* thanks to the Cortex-M7 dual issue capability.
*
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000
*
* This RAM is connected to ITCM 64-bit interface designed for
* execution of critical real-times routines by the CPU.
*
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
* through D1 domain AXI bus matrix
*
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000
*
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
* through D2 domain AHB bus matrix
*
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000
*
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
*
* 4) AHB SRAM (D3 domain) accessible by most of system masters
* through D3 domain AHB bus matrix
*
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000
*
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
* where the code expects to begin execution by jumping to the entry point in
* the 0x0800:0000 address range.
*/
MEMORY
{
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 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)
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(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > FLASH
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > FLASH
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param*))
__param_end = 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(.);
} > AXI_SRAM AT > FLASH
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > AXI_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) }
}

66
boards/cuav/nora/src/CMakeLists.txt Normal file
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############################################################################
#
# 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 "bootloader")
add_library(drivers_board
bootloader_main.c
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
bootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
else()
add_library(drivers_board
i2c.cpp
init.c
led.c
spi.cpp
timer_config.cpp
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_spi
arch_board_hw_info
drivers__led
nuttx_arch
nuttx_drivers
px4_layer
)
endif()

248
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* Board internal definitions
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/* LEDs */
#define GPIO_nLED_RED /* PI5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
#define GPIO_nLED_GREEN /* PI6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define GPIO_nLED_BLUE /* PI7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define BOARD_HAS_LED_PWM 1
/* ADC channels */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA1 */ GPIO_ADC1_INP17, \
/* PA2 */ GPIO_ADC12_INP14, \
/* PF11 */ GPIO_ADC1_INP2, \
/* PC4 */ GPIO_ADC12_INP4, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PF12 */ GPIO_ADC1_INP6, \
/* PC5 */ GPIO_ADC12_INP8, \
/* PC1 */ GPIO_ADC123_INP11, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC3 */ GPIO_ADC12_INP13
/* Define Channel numbers must match above GPIO pins */
#define ADC_BATTERY1_VOLTAGE_CHANNEL 16 /* PA0 */
#define ADC_BATTERY1_CURRENT_CHANNEL 17 /* PA1 */
#define ADC_BATTERY2_VOLTAGE_CHANNEL 14 /* PA2 */
#define ADC_BATTERY2_CURRENT_CHANNEL 2 /* PF11 */
#define ADC1_6V6_IN_CHANNEL 4 /* PC4 */ // SPARE1_ADC1: ADC6.6
#define ADC1_3V3_IN_CHANNEL 18 /* PA4 */ // SPARE2_ADC1: ADC3.3
#define ADC_RSSI_IN_CHANNEL 6 /* PF12 */
#define ADC_SCALED_V5_CHANNEL 8 /* PC5 */ // VDD_5V_SENS: Motherboard 5V voltage detection
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL 11 /* PC1 */ // SCALED_V3V3: Sensor power detection
#define ADC_HW_VER_SENSE_CHANNEL 12 /* PC2 */
#define ADC_HW_REV_SENSE_CHANNEL 13 /* PC3 */
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
(1 << ADC1_6V6_IN_CHANNEL) | \
(1 << ADC1_3V3_IN_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL))
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13
#define GPIO_HW_VER_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN3)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
/* CAN Silence Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2
#define GPIO_nPOWER_IN_ADC /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_CAN /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen */
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB is Chosen */
#define GPIO_VDD_5V_HIPOWER_EN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
#define GPIO_VDD_5V_HIPOWER_OC /* PJ3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
#define GPIO_nVDD_5V_PERIPH_OC /* PJ4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
/* Power switch controls ******************************************************/
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
#define SPEKTRUM_POWER(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
#define READ_SPEKTRUM_POWER() px4_arch_gpioread(GPIO_VDD_5V_RC_EN)
/* Tone alarm output */
#define TONE_ALARM_TIMER 15 /* timer 15 */
#define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */
#define GPIO_TONE_ALARM_IDLE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) // ALARM
#define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2
/* USB
* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
* HS USB EN: PH15
*/
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
#define GPIO_HS_USB_EN /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN15)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
#define STM32_RCC_APB1ENR STM32_RCC_APB1LENR
#define RCC_APB1ENR_TIM3EN RCC_APB1LENR_TIM3EN
#define HRT_PPM_CHANNEL /* T3C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
/**
* GPIO PPM_IN on PB4 T3C1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART8 PE0
* 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_PORTB|GPIO_PIN4)
#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))
/* RSSI_IN */
#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
/* Safety Switch is only on FMU */
#define FMU_LED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER
#define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW
#define GPIO_LED_SAFETY FMU_LED_AMBER
/* 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))
#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_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
/* 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 BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_REV_DRIVE, \
GPIO_HW_VER_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \
GPIO_nVDD_5V_PERIPH_EN, \
GPIO_nVDD_5V_PERIPH_OC, \
GPIO_VDD_5V_HIPOWER_EN, \
GPIO_VDD_5V_HIPOWER_OC, \
GPIO_VDD_5V_RC_EN, \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_OTGFS_VBUS, \
PX4_GPIO_PIN_OFF(GPIO_HS_USB_EN), \
GPIO_RSSI_IN, \
FMU_LED_AMBER, \
GPIO_BTN_SAFETY, \
}
__BEGIN_DECLS
#ifndef __ASSEMBLY__
extern void stm32_spiinitialize(void);
extern void board_peripheral_reset(int ms);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS

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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file bootloader_main.c
*
* FMU-specific early startup code for bootloader
*/
#include "board_config.h"
#include "bl.h"
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <chip.h>
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "up_internal.h"
extern int sercon_main(int c, char **argv);
__EXPORT void board_on_reset(int status) {}
__EXPORT void stm32_boardinitialize(void)
{
/* configure USB interfaces */
stm32_configgpio(GPIO_OTGFS_VBUS);
}
__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();
}

135
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/****************************************************************************
*
* 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
/****************************************************************************
* 10-8--2016:
* To simplify the ripple effect on the tools, we will be using
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
* moving forward all Bootloaders must contain the prefix "PX4 BL "
* in the USBDEVICESTRING
* This Change will be made in an upcoming BL release
****************************************************************************/
/*
* Define usage to configure a bootloader
*
*
* Constant example Usage
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
* BOARD_FMUV2
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
* USBPRODUCTID 0x0011 - PID Should match defconfig
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
* delay provided by an APP FW
* BOARD_TYPE 9 - Must match .prototype boad_id
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
* programmatically
*
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
* during a FW upgrade.
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
* flash_sectors table. Which is the second physical sector of FLASH in the device.
* The first physical sector of FLASH is used by the bootloader, and is not defined
* in the table.
*
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
* BOOTLOADER_RESERVATION_SIZE will be deducted from
* BOARD_FLASH_SIZE to determine the size of the App FW
* and hence the address space of FLASH to erase and program.
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
*
* * Other defines are somewhat self explanatory.
*/
/* Boot device selection list*/
#define USB0_DEV 0x01
#define SERIAL0_DEV 0x02
#define SERIAL1_DEV 0x04
#define APP_LOAD_ADDRESS 0x08020000
#define BOOTLOADER_DELAY 5000
#define INTERFACE_USB 1
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
//#define USE_VBUS_PULL_DOWN
#define INTERFACE_USART 1
#define INTERFACE_USART_CONFIG "/dev/ttyS4,57600"
#define BOOT_DELAY_ADDRESS 0x000001a0
#define BOARD_TYPE 1009
#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
#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

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/****************************************************************************
*
* 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 <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusInternal(3),
initI2CBusExternal(4),
};

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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file init.c
*
* FMU-specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
#include "board_config.h"
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <arch/board/board.h>
#include "up_internal.h"
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_dma_alloc.h>
__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);
bool last = READ_SPEKTRUM_POWER();
/* Keep Spektum on to discharge rail*/
SPEKTRUM_POWER(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 */
SPEKTRUM_POWER(last);
board_control_spi_sensors_power(true, 0xffff);
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)
{
/* Reset PWM first thing */
board_on_reset(-1);
/* configure LEDs */
board_autoled_initialize();
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
board_control_spi_sensors_power_configgpio();
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX;
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
board_control_spi_sensors_power(true, 0xffff);
SPEKTRUM_POWER(true);
/* Need hrt running before using the ADC */
px4_platform_init();
/* configure SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
/* initial LED state */
drv_led_start();
led_off(LED_RED);
led_on(LED_GREEN); // Indicate Power.
led_off(LED_BLUE);
if (board_hardfault_init(2, true) != 0) {
led_on(LED_RED);
}
#ifdef CONFIG_MMCSD
// Ensure Power is off for > 10 mS
usleep(15 * 1000);
VDD_3V3_SD_CARD_EN(true);
usleep(500 * 1000);
/* Mount the SDIO-based MMC/SD block driver */
/* First, get an instance of the SDIO interface */
struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
if (!sdio_dev) {
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
return ERROR;
}
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
return ERROR;
}
/* Assume that the SD card is inserted. What choice do we have? */
sdio_mediachange(sdio_dev, true);
#endif /* CONFIG_MMCSD */
return OK;
}

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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file led.c
*
* LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
# define xlat(p) (p)
static uint32_t g_ledmap[] = {
FMU_LED_AMBER, // Indexed by LED_SAFETY (defaulted to an output)
};
__EXPORT void led_init(void)
{
/* Configure LED GPIOs for output */
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
if (g_ledmap[l] != 0) {
stm32_configgpio(g_ledmap[l]);
}
}
}
static void phy_set_led(int led, bool state)
{
/* Drive Low to switch on */
if (g_ledmap[led] != 0) {
stm32_gpiowrite(g_ledmap[led], !state);
}
}
static bool phy_get_led(int led)
{
/* If Low it is on */
if (g_ledmap[led] != 0) {
return !stm32_gpioread(g_ledmap[led]);
}
return false;
}
__EXPORT void led_on(int led)
{
phy_set_led(xlat(led), true);
}
__EXPORT void led_off(int led)
{
phy_set_led(xlat(led), false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
}

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/****************************************************************************
*
* 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 <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5}),
initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
}),
initSPIBus(SPI::Bus::SPI4, {
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
}),
initSPIBusExternal(SPI::Bus::SPI5, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin13}),
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
//initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

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/****************************************************************************
*
* 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 <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer12, DMA{DMA::Index1}),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
// MAIN
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
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::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
// AUX
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
initIOTimer(Timer::Timer8),
};
#define CCER_C1_NUM_BITS 4
#define POLARITY(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
#define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN|GPIO_PULLUP)
static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
{
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
ret.masks = POLARITY(ui_polarity);
return ret;
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),
};

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/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file usb.c
*
* Board-specific USB functions.
*/
#include "board_config.h"
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <stm32_otg.h>
/************************************************************************************
* 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);
}