dark0707
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px4-firmware
forked from Archive/PX4-Autopilot
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boards: sync

This commit is contained in:
Daniel Agar 2021-03-14 14:24:41 -04:00
parent 72ca6902f0
commit d8148c8e3b
56 changed files with 450 additions and 387 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
boards/airmind/mindpx-v2/default.cmake
View File

@ -15,6 +15,7 @@ px4_add_board(
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
@ -31,13 +32,12 @@ px4_add_board(
imu/invensense/mpu6000
imu/invensense/mpu6500
irlock
lights/blinkm
lights/rgbled
#lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_input
@ -45,6 +45,7 @@ px4_add_board(
pwm_out
rc_input
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -57,6 +58,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -72,12 +74,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -85,6 +90,7 @@ px4_add_board(
#dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -111,6 +117,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

15
boards/av/x-v1/default.cmake
View File

@ -31,13 +31,12 @@ px4_add_board(
imu/adis16477
imu/adis16497
irlock
lights/blinkm
#lights/rgbled
#lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
pca9685
#pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
#pwm_input
@ -45,6 +44,7 @@ px4_add_board(
pwm_out
rc_input
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
#tone_alarm
@ -57,6 +57,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -72,19 +73,23 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
#bl_update
bl_update
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -108,6 +113,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

18
boards/cuav/nora/default.cmake
View File

@ -19,6 +19,7 @@ px4_add_board(
# CONSOLE: /dev/ttyS4
# RC: /dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
@ -30,24 +31,24 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
@ -61,6 +62,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -76,12 +78,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -89,6 +94,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -104,6 +110,7 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
@ -115,6 +122,7 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello

2
boards/cuav/nora/init/rc.board_mavlink
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# board specific board MAVLink startup script.
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port

64
boards/cuav/nora/nuttx-config/include/board.h
View File

@ -220,55 +220,61 @@
#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_USART1_TX GPIO_USART1_TX_3 /* PB6 */
#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */
#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_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#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_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#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_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */
#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 ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
#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_SPI1_SCK ADJ_SLEW_RATE(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_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_SPI2_SCK ADJ_SLEW_RATE(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_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_SPI4_SCK ADJ_SLEW_RATE(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 ADJ_SLEW_RATE(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 ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
#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 */

19
boards/cuav/x7pro/default.cmake
View File

@ -19,6 +19,7 @@ px4_add_board(
# CONSOLE: /dev/ttyS4
# RC: /dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
@ -31,26 +32,23 @@ px4_add_board(
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
@ -64,6 +62,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -79,12 +78,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -92,6 +94,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -107,6 +110,7 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
@ -118,6 +122,7 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello

2
boards/cuav/x7pro/init/rc.board_mavlink
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# board specific board MAVLink startup script.
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port

64
boards/cuav/x7pro/nuttx-config/include/board.h
View File

@ -220,55 +220,61 @@
#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_USART1_TX GPIO_USART1_TX_3 /* PB6 */
#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */
#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_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
#define GPIO_UART4_TX GPIO_UART4_TX_5 /* PD1 */
#define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#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_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#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_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */
#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 ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
#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_SPI1_SCK ADJ_SLEW_RATE(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_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_SPI2_SCK ADJ_SLEW_RATE(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_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_SPI4_SCK ADJ_SLEW_RATE(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 ADJ_SLEW_RATE(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 ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
#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 */

2
boards/cubepilot/cubeorange/default.cmake
View File

@ -107,6 +107,8 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
#tests # tests and test runner
top
topic_listener

8
boards/cubepilot/cubeyellow/default.cmake
View File

@ -30,8 +30,6 @@ px4_add_board(
#heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20649
imu/invensense/icm20948
@ -51,7 +49,7 @@ px4_add_board(
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
#test_ppm
tone_alarm
uavcan
MODULES
@ -108,7 +106,9 @@ px4_add_board(
reboot
reflect
sd_bench
tests # tests and test runner
serial_test
system_time
#tests # tests and test runner
top
topic_listener
tune_control

21
boards/holybro/durandal-v1/default.cmake
View File

@ -10,7 +10,7 @@ px4_add_board(
BUILD_BOOTLOADER
IO px4_io-v2_default
TESTING
# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN
UAVCAN_INTERFACES 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
@ -30,30 +30,26 @@ px4_add_board(
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
imu/invensense/icm20689
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
# all arch dependant code there
pwm_out_sim
pwm_out
px4io
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
# uavcan - No H7 or FD can support in UAVCAN yet
#uavcan
MODULES
airspeed_selector
attitude_estimator_q
@ -62,6 +58,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -77,12 +74,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -90,6 +90,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -116,6 +117,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

9
boards/modalai/fc-v1/default.cmake
View File

@ -28,7 +28,7 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/icm42688p
irlock
lights/blinkm
#lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
@ -43,6 +43,7 @@ px4_add_board(
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
@ -71,12 +72,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -84,6 +88,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -110,6 +115,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

19
boards/mro/ctrl-zero-f7-oem/default.cmake
View File

@ -17,6 +17,7 @@ px4_add_board(
TEL3:/dev/ttyS4
#FRSKY:/dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
#barometer # all available barometer drivers
barometer/dps310
@ -25,7 +26,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#dshot
dshot
gps
#heater
#imu # all available imu drivers
@ -33,13 +34,12 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/icm20948
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
#pwm_input
@ -47,6 +47,7 @@ px4_add_board(
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
@ -60,6 +61,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -82,6 +84,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -89,6 +93,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -115,6 +120,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

19
boards/mro/ctrl-zero-f7/default.cmake
View File

@ -17,6 +17,7 @@ px4_add_board(
#CONSOLE:/dev/ttyS4
#FRSKY:/dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
#barometer # all available barometer drivers
barometer/dps310
@ -25,7 +26,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#dshot
dshot
gps
#heater
#imu # all available imu drivers
@ -33,13 +34,12 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/icm20948
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
#pwm_input
@ -47,6 +47,7 @@ px4_add_board(
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
@ -60,6 +61,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -82,6 +84,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -89,6 +93,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -115,6 +120,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

20
boards/mro/ctrl-zero-h7-oem/default.cmake
View File

@ -48,7 +48,6 @@ px4_add_board(
rc_input
roboclaw
rpm
#safety_button TODO
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -107,23 +106,26 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#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
#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
)

2
boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# Board specific MAVLink startup script.
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port

53
boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h
View File

@ -187,7 +187,7 @@
* 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_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 */
@ -222,34 +222,35 @@
/* UART/USART */
#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_USART2_TX GPIO_USART2_TX_2 /* PD5 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_USART6_TX 0
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
/* SPI */
@ -265,15 +266,15 @@
#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */
#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_4 /* PB6 */
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */

7
boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h
View File

@ -37,8 +37,5 @@
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */

5
boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld
View File

@ -196,6 +196,11 @@ SECTIONS
_ebss = ABSOLUTE(.);
} > AXI_SRAM
/* Emit the the D3 power domain section for locating BDMA data */
.SRAM4 (NOLOAD) :
{
} > SRAM4
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }

27
boards/mro/ctrl-zero-h7-oem/src/board_config.h
View File

@ -77,14 +77,14 @@
/* CAN Silence: Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
//#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define BOARD_NUMBER_BRICKS 1
@ -109,7 +109,7 @@
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@ -148,20 +148,11 @@
#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
/* 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_STATIC_MANIFEST 1
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
@ -171,9 +162,15 @@
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S0, \
GPIO_LEVEL_SHIFTER_OE, \
GPIO_PWM_VOLT_SEL, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_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_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_OTGFS_VBUS, \

2
boards/mro/ctrl-zero-h7-oem/src/init.c
View File

@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
/* initial LED state */
drv_led_start();
led_off(LED_RED);
@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;

26
boards/mro/ctrl-zero-h7-oem/src/usb.c
View File

@ -37,21 +37,10 @@
* Board-specific USB functions.
*/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include "board_config.h"
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <arm_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.h>
#include "board_config.h"
/************************************************************************************
* Name: stm32_usbsuspend
@ -63,19 +52,6 @@
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32H7_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
#endif
}
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);

20
boards/mro/ctrl-zero-h7/default.cmake
View File

@ -48,7 +48,6 @@ px4_add_board(
rc_input
roboclaw
rpm
#safety_button TODO
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -107,23 +106,26 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#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
#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
)

2
boards/mro/ctrl-zero-h7/init/rc.board_mavlink
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# Board specific MAVLink startup script.
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port

39
boards/mro/ctrl-zero-h7/nuttx-config/include/board.h
View File

@ -187,6 +187,7 @@
* 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 */
@ -221,32 +222,32 @@
/* UART/USART */
#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_USART2_TX GPIO_USART2_TX_2 /* PD5 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_USART6_TX 0
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
/* SPI */
@ -262,7 +263,7 @@
#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
/* I2C */

7
boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h
View File

@ -37,8 +37,5 @@
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */

5
boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld
View File

@ -196,6 +196,11 @@ SECTIONS
_ebss = ABSOLUTE(.);
} > AXI_SRAM
/* Emit the the D3 power domain section for locating BDMA data */
.SRAM4 (NOLOAD) :
{
} > SRAM4
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }

29
boards/mro/ctrl-zero-h7/src/board_config.h
View File

@ -76,14 +76,17 @@
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* CAN Silence: Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define BOARD_NUMBER_BRICKS 1
@ -108,7 +111,7 @@
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@ -147,20 +150,11 @@
#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
/* 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_STATIC_MANIFEST 1
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
@ -168,8 +162,15 @@
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_LEVEL_SHIFTER_OE, \
GPIO_PWM_VOLT_SEL, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_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_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_OTGFS_VBUS, \

2
boards/mro/ctrl-zero-h7/src/init.c
View File

@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
/* initial LED state */
drv_led_start();
led_off(LED_RED);
@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;

26
boards/mro/ctrl-zero-h7/src/usb.c
View File

@ -37,21 +37,10 @@
* Board-specific USB functions.
*/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include "board_config.h"
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <arm_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.h>
#include "board_config.h"
/************************************************************************************
* Name: stm32_usbsuspend
@ -63,19 +52,6 @@
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32H7_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
#endif
}
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);

32
boards/mro/pixracerpro/default.cmake
View File

@ -11,12 +11,13 @@ px4_add_board(
TESTING
UAVCAN_INTERFACES 2
SERIAL_PORTS
TEL1:/dev/ttyS0
TEL2:/dev/ttyS1
GPS1:/dev/ttyS2
#RC:/dev/ttyS3
#CONSOLE:/dev/ttyS4
#FRSKY:/dev/ttyS5
#SPARE:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
GPS1:/dev/ttyS3
#RC:/dev/ttyS4
#CONSOLE:/dev/ttyS5
#FRSKY:/dev/ttyS6
DRIVERS
adc/board_adc
#barometer # all available barometer drivers
@ -94,6 +95,7 @@ px4_add_board(
hardfault_log
i2cdetect
led_control
mft
mixer
motor_ramp
motor_test
@ -105,6 +107,7 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
@ -116,14 +119,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#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
#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
)

10
boards/mro/pixracerpro/init/rc.board_extras Normal file
View File

@ -0,0 +1,10 @@
#!/bin/sh
#
# board specific extras init
#------------------------------------------------------------------------------
# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
if param compare TEL_FRSKY_CONFIG 0
then
frsky_telemetry start -d /dev/ttyS6 -t 15
fi

2
boards/mro/pixracerpro/init/rc.board_mavlink
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# Board specific MAVLink startup script.
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port

2
boards/mro/pixracerpro/init/rc.board_sensors
View File

@ -1,6 +1,6 @@
#!/bin/sh
#
# Board specific sensors init
# board specific sensors init
#------------------------------------------------------------------------------
board_adc start

2
boards/mro/pixracerpro/nuttx-config/bootloader/defconfig
View File

@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_INITTHREAD_PRIORITY=254
CONFIG_BOARD_LATE_INITIALIZE=y
CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_LOOPSPERMSEC=95150
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y

6
boards/mro/pixracerpro/nuttx-config/include/board.h
View File

@ -237,8 +237,8 @@
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
//#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
//#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_USART6_TX 0
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
@ -252,7 +252,7 @@
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
/* SPI */

5
boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,9 +37,6 @@
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
#define DMAMAP_SPI5_RX DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
#define DMAMAP_SPI5_TX DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */

6
boards/mro/pixracerpro/nuttx-config/nsh/defconfig
View File

@ -141,7 +141,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SDMMC1_SDIO_MODE=y
CONFIG_SDMMC1_SDIO_PULLUP=y
CONFIG_SEM_NNESTPRIO=8
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@ -198,6 +198,7 @@ CONFIG_STM32H7_UART8=y
CONFIG_STM32H7_USART1=y
CONFIG_STM32H7_USART2=y
CONFIG_STM32H7_USART3=y
CONFIG_STM32H7_USART6=y
CONFIG_STM32H7_USART_BREAKS=y
CONFIG_STM32H7_USART_INVERT=y
CONFIG_STM32H7_USART_SINGLEWIRE=y
@ -227,6 +228,9 @@ CONFIG_USART3_IFLOWCONTROL=y
CONFIG_USART3_OFLOWCONTROL=y
CONFIG_USART3_RXBUFSIZE=600
CONFIG_USART3_TXBUFSIZE=3000
CONFIG_USART6_BAUD=57600
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500

3
boards/mro/pixracerpro/nuttx-config/scripts/script.ld
View File

@ -111,6 +111,7 @@ 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 */
@ -167,6 +168,7 @@ SECTIONS
_einit = ABSOLUTE(.);
} > FLASH
.ARM.extab : {
*(.ARM.extab*)
} > FLASH
@ -201,6 +203,7 @@ SECTIONS
{
} > SRAM4
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }

30
boards/mro/pixracerpro/src/board_config.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -58,29 +58,30 @@
/* PA2 */ GPIO_ADC12_INP14, \
/* PA3 */ GPIO_ADC12_INP15, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PC1 */ GPIO_ADC123_INN10
/* PC1 */ GPIO_ADC123_INP11
/* Define Channel numbers must match above GPIO pin */
#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
#define ADC_RSSI_IN_CHANNEL 10 /* PC1 */
/* Define Channel numbers must match above GPIO pins */
#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */
#define ADC_CHANNELS \
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL))
(1 << ADC_RC_RSSI_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)
/* CAN Silence: Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
#define GPIO_CAN2_SILENT_S0 /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
#define GPIO_CAN2_SILENT_S0 /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
@ -118,7 +119,7 @@
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS3"
#define RC_SERIAL_PORT "/dev/ttyS4"
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@ -148,7 +149,7 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
#define BOARD_ENABLE_CONSOLE_BUFFER
@ -162,6 +163,7 @@
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S0, \
GPIO_LEVEL_SHIFTER_OE, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_PWM_VOLT_SEL, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \

5
boards/mro/pixracerpro/src/init.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -193,5 +193,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
sdio_mediachange(sdio_dev, true);
#endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}

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

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
* Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}, {GPIO::PortE, GPIO::Pin3}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),

13
boards/mro/x21-777/default.cmake
View File

@ -19,6 +19,7 @@ px4_add_board(
# CONSOLE:/dev/tty5
# OSD:/dev/tty6
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
@ -33,13 +34,12 @@ px4_add_board(
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_input
@ -83,6 +83,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -117,6 +119,7 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello

20
boards/mro/x21/default.cmake
View File

@ -16,6 +16,7 @@ px4_add_board(
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
@ -23,7 +24,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#dshot
dshot
gps
#heater
#imu # all available imu drivers
@ -31,14 +32,12 @@ px4_add_board(
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled
#lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
optical_flow/px4flow
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
#power_monitor/ina226
#protocol_splitter
pwm_input
@ -46,6 +45,7 @@ px4_add_board(
pwm_out
px4io
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -58,6 +58,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -80,6 +81,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -87,6 +90,7 @@ px4_add_board(
#dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -113,6 +117,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

20
boards/nxp/fmuk66-v3/default.cmake
View File

@ -15,6 +15,7 @@ px4_add_board(
TEL1:/dev/ttyS4
TEL2:/dev/ttyS1
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
barometer/mpl3115a2
@ -30,21 +31,20 @@ px4_add_board(
imu/fxas21002c
imu/fxos8701cq
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
optical_flow/px4flow
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
@ -58,6 +58,7 @@ px4_add_board(
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
@ -73,12 +74,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -86,7 +90,7 @@ px4_add_board(
#dmesg
dumpfile
esc_calib
#hardfault_log # Needs bbsrm
gpio
i2cdetect
led_control
mft
@ -112,6 +116,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

10
boards/omnibus/f4sd/default.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM nuttx
VENDOR omnibus
MODEL f4sd
LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
CONSTRAINED_MEMORY
@ -24,7 +25,6 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/mpu6000
#irlock
#lights/blinkm
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883
@ -46,6 +46,7 @@ px4_add_board(
commander
dataman
ekf2
#esc_battery
events
flight_mode_manager
#fw_att_control
@ -61,12 +62,15 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
#rover_pos_control
sensors
#sih
#temperature_compensation
#uuv_att_control
#uuv_pos_control
#vmount
#vtol_att_control
SYSTEMCMDS
@ -74,6 +78,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
#gpio
hardfault_log
i2cdetect
led_control
@ -89,6 +94,7 @@ px4_add_board(
reboot
reflect
sd_bench
#system_time
#tests # tests and test runner
top
#topic_listener
@ -99,6 +105,8 @@ px4_add_board(
work_queue
EXAMPLES
#fake_gps
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test

16
boards/px4/fmu-v2/default.cmake
View File

@ -33,25 +33,21 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/l3gd20
imu/lsm303d
#imu/invensense/icm20608g
#imu/invensense/icm20948
imu/invensense/mpu6000
#imu/invensense/mpu9250
#iridiumsbd
#irlock
#lights/blinkm
#lights # all available light drivers
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883
#optical_flow # all available optical flow drivers
#optical_flow/px4flow
#osd
#pca9685
#pca9685_pwm_out
#power_monitor/ina226
#protocol_splitter
#pwm_input
@ -59,6 +55,7 @@ px4_add_board(
pwm_out
px4io
#roboclaw
#rpm
#telemetry # all available telemetry drivers
#test_ppm
tone_alarm
@ -94,6 +91,8 @@ px4_add_board(
sensors
#sih
#temperature_compensation
#uuv_att_control
#uuv_pos_control
#vmount
#vtol_att_control
SYSTEMCMDS
@ -101,6 +100,7 @@ px4_add_board(
#dmesg
#dumpfile
#esc_calib
#gpio
hardfault_log
#i2cdetect
#led_control
@ -116,7 +116,7 @@ px4_add_board(
reboot
#reflect
#sd_bench
#shutdown
#system_time
#tests # tests and test runner
top
#topic_listener
@ -127,6 +127,8 @@ px4_add_board(
#work_queue
EXAMPLES
#fake_gps
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test

20
boards/px4/fmu-v3/default.cmake
View File

@ -1,6 +1,4 @@
# FMUv3 is FMUv2 with access to the full 2MB flash
px4_add_board(
PLATFORM nuttx
VENDOR px4
@ -19,8 +17,8 @@ px4_add_board(
TEL2:/dev/ttyS2
TEL4:/dev/ttyS6
DRIVERS
adc/board_adc
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
@ -32,8 +30,6 @@ px4_add_board(
#heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/l3gd20
imu/lsm303d
imu/invensense/icm20608g
@ -41,13 +37,10 @@ px4_add_board(
imu/invensense/mpu6000
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
optical_flow/px4flow
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
#power_monitor/ina226
@ -57,6 +50,7 @@ px4_add_board(
pwm_out
px4io
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -92,6 +86,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -126,6 +122,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

15
boards/px4/fmu-v4/default.cmake
View File

@ -15,10 +15,9 @@ px4_add_board(
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
WIFI:/dev/ttyS0
DRIVERS
adc/board_adc
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
@ -30,28 +29,24 @@ px4_add_board(
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm40609d
imu/invensense/mpu6500
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_input
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm

18
boards/px4/fmu-v4pro/default.cmake
View File

@ -18,8 +18,8 @@ px4_add_board(
TEL3:/dev/ttyS0
TEL4:/dev/ttyS6
DRIVERS
adc/board_adc
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
@ -30,26 +30,25 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
optical_flow/px4flow
#osd
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#power_monitor/ina226
#protocol_splitter
pwm_input
pwm_out_sim
pwm_out
px4io
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
@ -94,6 +93,7 @@ px4_add_board(
#dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -120,6 +120,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

11
boards/px4/fmu-v5/default.cmake
View File

@ -16,8 +16,8 @@ px4_add_board(
TEL2:/dev/ttyS2
TEL4:/dev/ttyS3
DRIVERS
adc/board_adc
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
@ -29,19 +29,14 @@ px4_add_board(
#heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
osd
pca9685
pca9685_pwm_out
power_monitor/ina226

16
boards/px4/fmu-v5x/default.cmake
View File

@ -18,8 +18,8 @@ px4_add_board(
TEL3:/dev/ttyS1
GPS2:/dev/ttyS7
DRIVERS
adc/board_adc
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
@ -31,19 +31,15 @@ px4_add_board(
#heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm42688p
irlock
#lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
#pca9685
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
@ -89,6 +85,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -124,6 +122,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test

4
boards/px4/fmu-v6u/default.cmake
View File

@ -28,6 +28,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm42605
@ -117,7 +118,8 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial

13
boards/px4/fmu-v6x/default.cmake
View File

@ -10,7 +10,7 @@ px4_add_board(
BUILD_BOOTLOADER
IO px4_io-v2_default
TESTING
# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN
UAVCAN_INTERFACES 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS6
@ -30,8 +30,6 @@ px4_add_board(
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
imu/invensense/icm20649
irlock
@ -44,8 +42,7 @@ px4_add_board(
pca9685
power_monitor/ina226
#protocol_splitter
# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
# all arch dependant code there
#pwm_input - Need to create arch/stm32 arch/stm32h7
pwm_out_sim
pwm_out
px4io
@ -56,10 +53,11 @@ px4_add_board(
telemetry # all available telemetry drivers
test_ppm
tone_alarm
# uavcan - No H7 or FD can support in UAVCAN yet
uavcan
MODULES
airspeed_selector
attitude_estimator_q
#battery_status
camera_feedback
commander
dataman
@ -94,6 +92,7 @@ px4_add_board(
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
@ -109,6 +108,7 @@ px4_add_board(
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
@ -118,7 +118,6 @@ px4_add_board(
usb_connected
ver
work_queue
serial_test
EXAMPLES
fake_gps
fake_magnetometer

1
boards/px4/sitl/default.cmake
View File

@ -88,6 +88,7 @@ px4_add_board(
EXAMPLES
dyn_hello # dynamically loading modules example
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello

3
src/drivers/lights/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -32,6 +32,7 @@
############################################################################
add_subdirectory(blinkm)
#add_subdirectory(neopixel) # requiers board support (BOARD_HAS_N_S_RGB_LED)
add_subdirectory(rgbled)
add_subdirectory(rgbled_ncp5623c)
#add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)