From d89b7804f7cf0e633c643788c7c2b18792a6f57d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 1 May 2020 20:59:28 -0400 Subject: [PATCH] boards: initial CUAV X7Pro support (not complete) - this is booting and functional, but still missing a few things - still needs full PWM output, verification of all sensor rotations and IO, etc --- .ci/Jenkinsfile-compile | 1 + .github/workflows/compile_nuttx.yml | 1 + .vscode/cmake-variants.yaml | 31 +- boards/cuav/x7pro/bootloader.cmake | 9 + boards/cuav/x7pro/default.cmake | 124 ++++++++ boards/cuav/x7pro/firmware.prototype | 13 + boards/cuav/x7pro/init/rc.board_defaults | 38 +++ boards/cuav/x7pro/init/rc.board_mavlink | 7 + boards/cuav/x7pro/init/rc.board_sensors | 26 ++ .../x7pro/nuttx-config/bootloader/defconfig | 102 +++++++ .../cuav/x7pro/nuttx-config/include/board.h | 281 ++++++++++++++++++ .../nuttx-config/include/board_dma_map.h | 49 +++ boards/cuav/x7pro/nuttx-config/nsh/defconfig | 246 +++++++++++++++ .../nuttx-config/scripts/bootloader_script.ld | 228 ++++++++++++++ .../cuav/x7pro/nuttx-config/scripts/script.ld | 226 ++++++++++++++ boards/cuav/x7pro/src/CMakeLists.txt | 66 ++++ boards/cuav/x7pro/src/board_config.h | 248 ++++++++++++++++ boards/cuav/x7pro/src/bootloader_main.c | 72 +++++ boards/cuav/x7pro/src/hw_config.h | 135 +++++++++ boards/cuav/x7pro/src/i2c.cpp | 41 +++ boards/cuav/x7pro/src/init.c | 213 +++++++++++++ boards/cuav/x7pro/src/led.c | 116 ++++++++ boards/cuav/x7pro/src/spi.cpp | 64 ++++ boards/cuav/x7pro/src/timer_config.cpp | 64 ++++ boards/cuav/x7pro/src/usb.c | 58 ++++ .../stm32_common/include/px4_arch/micro_hal.h | 2 + .../nuttx/src/px4/stm/stm32h7/adc/adc.cpp | 4 +- src/drivers/adc/ADC.cpp | 19 +- 28 files changed, 2460 insertions(+), 24 deletions(-) create mode 100644 boards/cuav/x7pro/bootloader.cmake create mode 100644 boards/cuav/x7pro/default.cmake create mode 100644 boards/cuav/x7pro/firmware.prototype create mode 100644 boards/cuav/x7pro/init/rc.board_defaults create mode 100644 boards/cuav/x7pro/init/rc.board_mavlink create mode 100644 boards/cuav/x7pro/init/rc.board_sensors create mode 100644 boards/cuav/x7pro/nuttx-config/bootloader/defconfig create mode 100644 boards/cuav/x7pro/nuttx-config/include/board.h create mode 100644 boards/cuav/x7pro/nuttx-config/include/board_dma_map.h create mode 100644 boards/cuav/x7pro/nuttx-config/nsh/defconfig create mode 100644 boards/cuav/x7pro/nuttx-config/scripts/bootloader_script.ld create mode 100644 boards/cuav/x7pro/nuttx-config/scripts/script.ld create mode 100644 boards/cuav/x7pro/src/CMakeLists.txt create mode 100644 boards/cuav/x7pro/src/board_config.h create mode 100644 boards/cuav/x7pro/src/bootloader_main.c create mode 100644 boards/cuav/x7pro/src/hw_config.h create mode 100644 boards/cuav/x7pro/src/i2c.cpp create mode 100644 boards/cuav/x7pro/src/init.c create mode 100644 boards/cuav/x7pro/src/led.c create mode 100644 boards/cuav/x7pro/src/spi.cpp create mode 100644 boards/cuav/x7pro/src/timer_config.cpp create mode 100644 boards/cuav/x7pro/src/usb.c diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index 64f4b75c77..2b19e5b2cd 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -32,6 +32,7 @@ pipeline { "airmind_mindpx-v2_default", "av_x-v1_default", "bitcraze_crazyflie_default", + "cuav_x7pro_default", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck", "holybro_kakutef7", diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index a7ab58f4a6..2578c30efc 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -18,6 +18,7 @@ jobs: airmind_mindpx-v2_default, av_x-v1_default, bitcraze_crazyflie_default, + cuav_x7pro_default, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck, holybro_kakutef7_default, diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index f5605b2d6a..d8c3ca576a 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -2,7 +2,7 @@ CONFIG: default: px4_sitl_default choices: px4_sitl_default: - short: px4_sitl_default + short: px4_sitl buildType: RelWithDebInfo settings: CONFIG: px4_sitl_default @@ -17,67 +17,72 @@ CONFIG: settings: CONFIG: px4_sitl_test px4_io-v2_default: - short: px4_io-v2_default + short: px4_io-v2 buildType: MinSizeRel settings: CONFIG: px4_io-v2_default px4_fmu-v2_default: - short: px4_fmu-v2_default + short: px4_fmu-v2 buildType: MinSizeRel settings: CONFIG: px4_fmu-v2_default px4_fmu-v3_default: - short: px4_fmu-v3_default + short: px4_fmu-v3 buildType: MinSizeRel settings: CONFIG: px4_fmu-v3_default px4_fmu-v4_default: - short: px4_fmu-v4_default + short: px4_fmu-v4 buildType: MinSizeRel settings: CONFIG: px4_fmu-v4_default px4_fmu-v4pro_default: - short: px4_fmu-v4pro_default + short: px4_fmu-v4pro buildType: MinSizeRel settings: CONFIG: px4_fmu-v4pro_default px4_fmu-v5_default: - short: px4_fmu-v5_default + short: px4_fmu-v5 buildType: MinSizeRel settings: CONFIG: px4_fmu-v5_default px4_fmu-v5x_default: - short: px4_fmu-v5x_default + short: px4_fmu-v5x buildType: MinSizeRel settings: CONFIG: px4_fmu-v5x_default airmind_mindpx-v2_default: - short: airmind_mindpx-v2_default + short: airmind_mindpx-v2 buildType: MinSizeRel settings: CONFIG: airmind_mindpx-v2_default av_x-v1_default: - short: av_x-v1_default + short: av_x-v1 buildType: MinSizeRel settings: CONFIG: av_x-v1_default + cuav_x7pro_default: + short: cuav_x7pro + buildType: MinSizeRel + settings: + CONFIG: cuav_x7pro_default holybro_durandal-v1_default: short: holybro_durandal-v1 buildType: MinSizeRel settings: CONFIG: holybro_durandal-v1_default intel_aerofc-v1_default: - short: intel_aerofc-v1_default + short: intel_aerofc-v1 buildType: MinSizeRel settings: CONFIG: intel_aerofc-v1_default modalai_fc-v1_default: - short: modalai_fc-v1_default + short: modalai_fc-v1 buildType: MinSizeRel settings: CONFIG: modalai_fc-v1_default mro_ctrl-zero-f7_default: - short: mro_ctrl-zero-f7_default + short: mro_ctrl-zero-f7 buildType: MinSizeRel settings: CONFIG: mro_ctrl-zero-f7_default diff --git a/boards/cuav/x7pro/bootloader.cmake b/boards/cuav/x7pro/bootloader.cmake new file mode 100644 index 0000000000..93299343dc --- /dev/null +++ b/boards/cuav/x7pro/bootloader.cmake @@ -0,0 +1,9 @@ + +px4_add_board( + PLATFORM nuttx + VENDOR cuav + MODEL x7pro + LABEL bootloader + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m7 +) diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake new file mode 100644 index 0000000000..d1aeb5fad8 --- /dev/null +++ b/boards/cuav/x7pro/default.cmake @@ -0,0 +1,124 @@ + +px4_add_board( + PLATFORM nuttx + VENDOR cuav + MODEL x7pro + 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/adis16448 + imu/adis16477 + imu/adis16497 + imu/bmi088 + imu/invensense/icm20649 + imu/invensense/icm20689 + irlock + lights/blinkm + lights/rgbled + lights/rgbled_ncp5623c + 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 + 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 + shutdown + 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 + ) diff --git a/boards/cuav/x7pro/firmware.prototype b/boards/cuav/x7pro/firmware.prototype new file mode 100644 index 0000000000..939e25bec1 --- /dev/null +++ b/boards/cuav/x7pro/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1010, + "magic": "PX4FWv1", + "description": "Firmware for the CUAV X7Pro board", + "image": "", + "build_time": 0, + "summary": "X7Pro", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults new file mode 100644 index 0000000000..2df13b12a3 --- /dev/null +++ b/boards/cuav/x7pro/init/rc.board_defaults @@ -0,0 +1,38 @@ +#!/bin/sh +# +# CUAV X7Pro specific board defaults +#------------------------------------------------------------------------------ + +# +# Bootloader upgrade +# +set BL_FILE /etc/extras/cuav_x7pro_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 diff --git a/boards/cuav/x7pro/init/rc.board_mavlink b/boards/cuav/x7pro/init/rc.board_mavlink new file mode 100644 index 0000000000..30150e1f30 --- /dev/null +++ b/boards/cuav/x7pro/init/rc.board_mavlink @@ -0,0 +1,7 @@ +#!/bin/sh +# +# Board specific specific board MAVLink startup script. +#------------------------------------------------------------------------------ + +# Start MAVLink on the USB port +mavlink start -d /dev/ttyACM0 diff --git a/boards/cuav/x7pro/init/rc.board_sensors b/boards/cuav/x7pro/init/rc.board_sensors new file mode 100644 index 0000000000..35b07367c7 --- /dev/null +++ b/boards/cuav/x7pro/init/rc.board_sensors @@ -0,0 +1,26 @@ +#!/bin/sh +# +# CUAV X7Pro specific board sensors init +#------------------------------------------------------------------------------ +adc start + +# SPI1 (internal) +#adis16470 -s start +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 + + +# Possible external compasses +ist8310 -X start +hmc5883 -T -X start +qmc5883 -X start +lis3mdl -X start diff --git a/boards/cuav/x7pro/nuttx-config/bootloader/defconfig b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig new file mode 100644 index 0000000000..8440eb723b --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig @@ -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 X7Pro" +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" diff --git a/boards/cuav/x7pro/nuttx-config/include/board.h b/boards/cuav/x7pro/nuttx-config/include/board.h new file mode 100644 index 0000000000..ce7e1b06c4 --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/include/board.h @@ -0,0 +1,281 @@ +/************************************************************************************ + * nuttx-config/include/board.h + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Authors: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name 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 + +#ifndef __ASSEMBLY__ +# include +#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 */ diff --git a/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h b/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h new file mode 100644 index 0000000000..7a59026f96 --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/include/board_dma_map.h @@ -0,0 +1,49 @@ +/**************************************************************************** + * + * 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 */ diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig new file mode 100644 index 0000000000..9b88b04019 --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig @@ -0,0 +1,246 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_OS_API is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_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 X7Pro" +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_MQ_MSGS=4 +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 diff --git a/boards/cuav/x7pro/nuttx-config/scripts/bootloader_script.ld b/boards/cuav/x7pro/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 0000000000..5c047d9a24 --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,228 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The 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); +} diff --git a/boards/cuav/x7pro/nuttx-config/scripts/script.ld b/boards/cuav/x7pro/nuttx-config/scripts/script.ld new file mode 100644 index 0000000000..ef23884ca0 --- /dev/null +++ b/boards/cuav/x7pro/nuttx-config/scripts/script.ld @@ -0,0 +1,226 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2020 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The 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) } +} diff --git a/boards/cuav/x7pro/src/CMakeLists.txt b/boards/cuav/x7pro/src/CMakeLists.txt new file mode 100644 index 0000000000..24ea41f174 --- /dev/null +++ b/boards/cuav/x7pro/src/CMakeLists.txt @@ -0,0 +1,66 @@ +############################################################################ +# +# 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() diff --git a/boards/cuav/x7pro/src/board_config.h b/boards/cuav/x7pro/src/board_config.h new file mode 100644 index 0000000000..e131c9e8e6 --- /dev/null +++ b/boards/cuav/x7pro/src/board_config.h @@ -0,0 +1,248 @@ +/**************************************************************************** + * + * 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 + * + * CUAV X7Pro internal definitions + */ + +#pragma once + +#include +#include +#include +#include + +/* 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_CONTROL_STATUS_LEDS 1 +#define BOARD_OVERLOAD_LED LED_RED +#define BOARD_ARMED_STATE_LED LED_BLUE + +/* 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_nVDD_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_nVDD_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_nVDD_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 PX4IO */ +#define GPIO_nSAFETY_SWITCH_LED_OUT /* PE12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER +#define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW + +/* 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_nVDD_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_nVDD_5V_HIPOWER_EN, \ + GPIO_nVDD_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, \ + GPIO_nSAFETY_SWITCH_LED_OUT, \ + GPIO_BTN_SAFETY, \ + } + +__BEGIN_DECLS +#ifndef __ASSEMBLY__ + +extern void stm32_spiinitialize(void); +extern void board_peripheral_reset(int ms); + +#include +#endif /* __ASSEMBLY__ */ +__END_DECLS diff --git a/boards/cuav/x7pro/src/bootloader_main.c b/boards/cuav/x7pro/src/bootloader_main.c new file mode 100644 index 0000000000..bde0625562 --- /dev/null +++ b/boards/cuav/x7pro/src/bootloader_main.c @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * 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 +#include +#include +#include +#include +#include "up_internal.h" + +extern int sercon_main(int c, char **argv); + +__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(); +} diff --git a/boards/cuav/x7pro/src/hw_config.h b/boards/cuav/x7pro/src/hw_config.h new file mode 100644 index 0000000000..ced086d448 --- /dev/null +++ b/boards/cuav/x7pro/src/hw_config.h @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * 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/PX4 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 1010 +#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 diff --git a/boards/cuav/x7pro/src/i2c.cpp b/boards/cuav/x7pro/src/i2c.cpp new file mode 100644 index 0000000000..124fc2375c --- /dev/null +++ b/boards/cuav/x7pro/src/i2c.cpp @@ -0,0 +1,41 @@ +/**************************************************************************** + * + * 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 + +constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { + initI2CBusExternal(1), + initI2CBusExternal(2), + initI2CBusInternal(3), + initI2CBusExternal(4), +}; diff --git a/boards/cuav/x7pro/src/init.c b/boards/cuav/x7pro/src/init.c new file mode 100644 index 0000000000..797ded3592 --- /dev/null +++ b/boards/cuav/x7pro/src/init.c @@ -0,0 +1,213 @@ +/**************************************************************************** + * + * 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 +#include +#include +#include +#include +#include "up_internal.h" + +#include +#include +#include +#include +#include +#include +#include + +__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; +} diff --git a/boards/cuav/x7pro/src/led.c b/boards/cuav/x7pro/src/led.c new file mode 100644 index 0000000000..6a3a208d47 --- /dev/null +++ b/boards/cuav/x7pro/src/led.c @@ -0,0 +1,116 @@ +/**************************************************************************** + * + * 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 + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +/* + * 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[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER + GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY (defaulted to an input) + GPIO_nLED_GREEN, // Indexed by LED_GREEN +}; + +__EXPORT void led_init(void) +{ + /* Configure LED GPIOs for output */ + g_ledmap[2] = GPIO_nSAFETY_SWITCH_LED_OUT; + + 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))); +} diff --git a/boards/cuav/x7pro/src/spi.cpp b/boards/cuav/x7pro/src/spi.cpp new file mode 100644 index 0000000000..e28ba0d86c --- /dev/null +++ b/boards/cuav/x7pro/src/spi.cpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * 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 +#include +#include + +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_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}), + 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}) + }), + 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); diff --git a/boards/cuav/x7pro/src/timer_config.cpp b/boards/cuav/x7pro/src/timer_config.cpp new file mode 100644 index 0000000000..c69efc5249 --- /dev/null +++ b/boards/cuav/x7pro/src/timer_config.cpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * 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 + +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); diff --git a/boards/cuav/x7pro/src/usb.c b/boards/cuav/x7pro/src/usb.c new file mode 100644 index 0000000000..360d84d6c8 --- /dev/null +++ b/boards/cuav/x7pro/src/usb.c @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * 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 +#include +#include + +/************************************************************************************ + * 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); +} diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h index 582c43fc7f..6d257b2e40 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h @@ -105,4 +105,6 @@ __BEGIN_DECLS #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP)) #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR)) +#define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz)) + __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp index 5831ca6529..269714d160 100644 --- a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp +++ b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp @@ -176,9 +176,9 @@ int px4_arch_adc_init(uint32_t base_address) while ((rCR(base_address) & ADC_CR_ADCAL)) { - /* don't wait for more than 7000us, since that means something broke + /* don't wait for more than 15000us, since that means something broke * should reset here if we see this */ - if ((hrt_absolute_time() - now) > 7000) { + if ((hrt_absolute_time() - now) > 15000) { return -1; } } diff --git a/src/drivers/adc/ADC.cpp b/src/drivers/adc/ADC.cpp index d5befd80b3..e28c59549a 100644 --- a/src/drivers/adc/ADC.cpp +++ b/src/drivers/adc/ADC.cpp @@ -143,7 +143,6 @@ void ADC::update_system_power(hrt_abstime now) { #if defined (BOARD_ADC_USB_CONNECTED) system_power_s system_power {}; - system_power.timestamp = now; /* Assume HW provides only ADC_SCALED_V5_SENSE */ int cnt = 1; @@ -191,7 +190,7 @@ void ADC::update_system_power(hrt_abstime now) system_power.usb_valid = BOARD_ADC_USB_VALID; #else /* If not provided then use connected */ - system_power.usb_valid = system_power.usb_connected; + system_power.usb_valid = system_power.usb_connected; #endif #if defined(BOARD_BRICK_VALID_LIST) @@ -205,18 +204,20 @@ void ADC::update_system_power(hrt_abstime now) #endif - system_power.servo_valid = BOARD_ADC_SERVO_VALID; - -#ifdef BOARD_ADC_PERIPH_5V_OC - // OC pins are active low - system_power.periph_5v_oc = BOARD_ADC_PERIPH_5V_OC; +#if defined(BOARD_ADC_SERVO_VALID) + system_power.servo_valid = BOARD_ADC_SERVO_VALID; #endif -#ifdef BOARD_ADC_HIPOWER_5V_OC +#if defined(BOARD_ADC_PERIPH_5V_OC) + // OC pins are active low + system_power.periph_5v_oc = BOARD_ADC_PERIPH_5V_OC; +#endif + +#if defined(BOARD_ADC_HIPOWER_5V_OC) system_power.hipower_5v_oc = BOARD_ADC_HIPOWER_5V_OC; #endif - /* lazily publish */ + system_power.timestamp = hrt_absolute_time(); _to_system_power.publish(system_power); #endif // BOARD_ADC_USB_CONNECTED