forked from Archive/PX4-Autopilot
boards: cubepilot/cubeorange small fixes and improvements
- defconfig UART sync with cube yellow (and other boards) - manually start ak09916 (Here2) on I2C2 with proper rotation
This commit is contained in:
Daniel Agar
parent
65ab7cef2e
commit
91ad8473ab
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@ -12,13 +12,12 @@ px4_add_board(
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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# IO DEBUG:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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GPS1:/dev/ttyS3
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# PX4IO:/dev/ttyS4
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# CONSOLE:/dev/tty5
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GPS2:/dev/ttyS6
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TEL1:/dev/ttyS0
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TEL2:/dev/ttyS1
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GPS1:/dev/ttyS2
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# PX4IO:/dev/ttyS3
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# CONSOLE:/dev/ttyS4
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GPS2:/dev/ttyS5
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DRIVERS
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adc
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barometer # all available barometer drivers
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@ -12,3 +12,6 @@ icm20649 -s -b 1 start
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ms5611 -s -b 4 start
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icm20602 -s -b 4 -R 12 start
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icm20948 -s -b 4 -R 10 -M start
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# standard Here/Here2 connected to GPS1
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ak09916 -X -b 2 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
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@ -221,30 +221,27 @@
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/* UART/USART */
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#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
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#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
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#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
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#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
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#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
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#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
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#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
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#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
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#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
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#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
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#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
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#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
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#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
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#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
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/* CAN */
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@ -58,6 +58,7 @@ CONFIG_DEFAULT_SMALL=y
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CONFIG_DEV_FIFO_SIZE=0
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CONFIG_DEV_PIPE_MAXSIZE=1024
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CONFIG_DEV_PIPE_SIZE=70
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CONFIG_DISABLE_MQUEUE=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FAT_DMAMEMORY=y
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CONFIG_FAT_LCNAMES=y
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@ -193,7 +194,6 @@ CONFIG_STM32H7_TIM4=y
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CONFIG_STM32H7_UART4=y
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CONFIG_STM32H7_UART7=y
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CONFIG_STM32H7_UART8=y
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CONFIG_STM32H7_USART1=y
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CONFIG_STM32H7_USART2=y
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CONFIG_STM32H7_USART3=y
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CONFIG_STM32H7_USART6=y
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@ -207,6 +207,9 @@ CONFIG_TASK_NAME_SIZE=24
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CONFIG_TIME_EXTENDED=y
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CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGSTP=y
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CONFIG_UART4_BAUD=57600
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CONFIG_UART4_RXBUFSIZE=600
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CONFIG_UART4_TXBUFSIZE=1500
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CONFIG_UART7_BAUD=57600
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CONFIG_UART7_RXBUFSIZE=600
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CONFIG_UART7_SERIAL_CONSOLE=y
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@ -233,4 +236,3 @@ CONFIG_USBDEV_MAXPOWER=500
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CONFIG_USEC_PER_TICK=1000
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CONFIG_USERMAIN_STACKSIZE=2944
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CONFIG_USER_ENTRYPOINT="nsh_main"
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CONFIG_WATCHDOG=y
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@ -52,12 +52,10 @@ else()
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timer_config.cpp
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usb.c
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)
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add_dependencies(drivers_board arch_board_hw_info)
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target_link_libraries(drivers_board
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PRIVATE
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arch_spi
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arch_board_hw_info
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drivers__led
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nuttx_arch
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nuttx_drivers
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@ -46,7 +46,7 @@
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE
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@ -61,6 +61,9 @@
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/* LEDs */
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#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_ARMED_STATE_LED LED_AMBER
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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA2 */ GPIO_ADC12_INP14, \
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@ -34,6 +34,6 @@
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#include <px4_arch/i2c_hw_description.h>
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusExternal(1),
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initI2CBusExternal(2),
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initI2CBusExternal(1),
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};
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@ -151,6 +151,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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/* Power on Interfaces */
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, true);
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stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, false);
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board_control_spi_sensors_power(true, 0xffff);
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px4_platform_init();
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