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Add ARK RTK GPS Debug, turn on UART RX DMA

This commit is contained in:
alexklimaj 2021-10-19 10:56:25 -06:00 committed by Daniel Agar
parent 21163d859e
commit 6daa579e46
5 changed files with 25 additions and 4 deletions
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5
.vscode/cmake-variants.yaml vendored
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@ -106,6 +106,11 @@ CONFIG:
buildType: MinSizeRel buildType: MinSizeRel
settings: settings:
CONFIG: ark_can-rtk-gps_default CONFIG: ark_can-rtk-gps_default
ark_can-rtk-gps_debug:
short: ark_can-rtk-gps_debug
buildType: MinSizeRel
settings:
CONFIG: ark_can-rtk-gps_debug
ark_can-rtk-gps_canbootloader: ark_can-rtk-gps_canbootloader:
short: ark_can-rtk-gps_canbootloader short: ark_can-rtk-gps_canbootloader
buildType: MinSizeRel buildType: MinSizeRel

6
boards/ark/can-rtk-gps/debug.px4board Normal file
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@ -0,0 +1,6 @@
CONFIG_BOARD_CONSTRAINED_FLASH=n
CONFIG_BOARD_NO_HELP=n
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_UORB=y

7
boards/ark/can-rtk-gps/nuttx-config/include/board_dma_map.h
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@ -39,5 +39,8 @@
// DMA2 Channel/Stream Selections // DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//---------------- //--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3 #define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3 #define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3
#define DMACHAN_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
//#define DMACHAN_USART1_TX DMAMAP_USART1_TX // DMA2, Stream 7, Channel 4

5
boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig
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@ -150,8 +150,9 @@ CONFIG_STM32_WWDG=y
CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24 CONFIG_TASK_NAME_SIZE=24
CONFIG_USART1_BAUD=57600 CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600 CONFIG_USART1_RXBUFSIZE=2000
CONFIG_USART1_TXBUFSIZE=1100 CONFIG_USART1_RXDMA=y
CONFIG_USART1_TXBUFSIZE=2000
CONFIG_USART2_BAUD=57600 CONFIG_USART2_BAUD=57600
CONFIG_USART2_RXBUFSIZE=600 CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_SERIAL_CONSOLE=y CONFIG_USART2_SERIAL_CONSOLE=y

6
boards/ark/can-rtk-gps/src/init.c
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@ -139,6 +139,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
{ {
px4_platform_init(); 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) #if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t params_sector_map[] = { static sector_descriptor_t params_sector_map[] = {
{2, 16 * 1024, 0x08008000}, {2, 16 * 1024, 0x08008000},