forked from Archive/PX4-Autopilot
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pr-pixrace
| Author | SHA1 | Date |
|---|---|---|
Daniel Agar
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0c19fabbd7 |
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@ -8,68 +8,68 @@ px4_add_board(
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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BUILD_BOOTLOADER
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UAVCAN_INTERFACES 2
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#UAVCAN_INTERFACES 2
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SERIAL_PORTS
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#SPARE:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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GPS1:/dev/ttyS3
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#RC:/dev/ttyS4
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#CONSOLE:/dev/ttyS5
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#FRSKY:/dev/ttyS6
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#RC:/dev/ttyS3
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#CONSOLE:/dev/ttyS4
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#FRSKY:/dev/ttyS5
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DRIVERS
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adc/ads1115
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#adc/ads1115
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adc/board_adc
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#barometer # all available barometer drivers
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barometer/dps310
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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#batt_smbus
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#camera_capture
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#camera_trigger
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#differential_pressure # all available differential pressure drivers
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#distance_sensor # all available distance sensor drivers
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distance_sensor/tfmini
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dshot
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gps
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#gps
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#imu # all available imu drivers
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imu/bosch/bmi088
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imu/invensense/icm20602
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imu/invensense/icm20948
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irlock
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lights # all available light drivers
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magnetometer # all available magnetometer drivers
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optical_flow # all available optical flow drivers
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osd
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pca9685
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pca9685_pwm_out
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power_monitor/ina226
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#irlock
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#lights # all available light drivers
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#magnetometer # all available magnetometer drivers
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#optical_flow # all available optical flow drivers
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#osd
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#pca9685
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#pca9685_pwm_out
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#power_monitor/ina226
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#protocol_splitter
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pwm_out_sim
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pwm_out
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#pwm_out_sim
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#pwm_out
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rc_input
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roboclaw
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rpm
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smart_battery/batmon
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telemetry # all available telemetry drivers
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#roboclaw
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#rpm
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#smart_battery/batmon
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#telemetry # all available telemetry drivers
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tone_alarm
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uavcan
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#uavcan
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MODULES
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airspeed_selector
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attitude_estimator_q
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#airspeed_selector
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#attitude_estimator_q
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battery_status
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camera_feedback
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#camera_feedback
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commander
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dataman
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ekf2
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esc_battery
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#esc_battery
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events
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flight_mode_manager
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fw_att_control
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fw_pos_control_l1
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#fw_att_control
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#fw_pos_control_l1
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gyro_calibration
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gyro_fft
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land_detector
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landing_target_estimator
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#landing_target_estimator
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load_mon
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local_position_estimator
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#local_position_estimator
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logger
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mavlink
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mc_att_control
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@ -79,14 +79,14 @@ px4_add_board(
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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#rover_pos_control
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sensors
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sih
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temperature_compensation
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uuv_att_control
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uuv_pos_control
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vmount
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vtol_att_control
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#sih
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#temperature_compensation
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#uuv_att_control
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#uuv_pos_control
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#vmount
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#vtol_att_control
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SYSTEMCMDS
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bl_update
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dmesg
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@ -94,7 +94,7 @@ px4_add_board(
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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#i2cdetect
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led_control
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mft
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mixer
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@ -118,7 +118,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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#fake_gps
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#fake_imu
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#fake_magnetometer
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -234,9 +234,6 @@
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#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
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#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
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#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
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#define GPIO_USART6_TX 0 /* USART6 is RX-only */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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@ -273,8 +270,3 @@
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#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
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#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
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#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */
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/* I2C */
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
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#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
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@ -76,8 +76,6 @@ CONFIG_GRAN=y
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CONFIG_GRAN_INTR=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_I2C=y
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CONFIG_I2C_RESET=y
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CONFIG_IDLETHREAD_STACKSIZE=750
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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@ -165,9 +163,6 @@ CONFIG_STM32H7_DMA1=y
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CONFIG_STM32H7_DMA2=y
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CONFIG_STM32H7_DMACAPABLE=y
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CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
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CONFIG_STM32H7_I2C1=y
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CONFIG_STM32H7_I2C_DYNTIMEO=y
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CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
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CONFIG_STM32H7_OTGFS=y
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CONFIG_STM32H7_PROGMEM=y
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CONFIG_STM32H7_RTC=y
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@ -192,7 +187,6 @@ CONFIG_STM32H7_SPI_DMATHRESHOLD=8
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CONFIG_STM32H7_TIM1=y
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CONFIG_STM32H7_TIM3=y
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CONFIG_STM32H7_TIM4=y
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CONFIG_STM32H7_UART4=y
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CONFIG_STM32H7_UART7=y
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CONFIG_STM32H7_UART8=y
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CONFIG_STM32H7_USART1=y
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@ -208,9 +202,6 @@ CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=24
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CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGSTP=y
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CONFIG_UART4_BAUD=57600
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CONFIG_UART4_RXBUFSIZE=600
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CONFIG_UART4_TXBUFSIZE=1500
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CONFIG_UART7_BAUD=57600
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CONFIG_UART7_RXBUFSIZE=600
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CONFIG_UART7_SERIAL_CONSOLE=y
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@ -83,8 +83,8 @@
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#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
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/* PWM */
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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#define DIRECT_INPUT_TIMER_CHANNELS 4
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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@ -118,7 +118,7 @@
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#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS4"
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#define RC_SERIAL_PORT "/dev/ttyS3"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
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@ -147,8 +147,8 @@
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#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_NUM_IO_TIMERS 3
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
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#define BOARD_NUM_IO_TIMERS 2
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
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#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
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#define BOARD_ENABLE_CONSOLE_BUFFER
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@ -33,6 +33,4 @@
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#include <px4_arch/i2c_hw_description.h>
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusExternal(1),
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};
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {};
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@ -34,20 +34,15 @@
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#include <px4_arch/io_timer_hw_description.h>
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constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
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initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
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};
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
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};
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
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@ -37,6 +37,8 @@
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* I2C interface for DPS310
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*/
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#if defined(CONFIG_I2C)
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#include <lib/drivers/device/i2c.h>
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namespace dps310
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@ -89,3 +91,5 @@ DPS310_I2C::write(unsigned address, void *data, unsigned count)
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}
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} // namespace dps310
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#endif // CONFIG_I2C
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@ -36,7 +36,9 @@
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namespace dps310
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{
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extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
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#if defined(CONFIG_I2C)
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extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
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#endif // CONFIG_I2C
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}
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#include <px4_platform_common/getopt.h>
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@ -59,12 +61,16 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
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{
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device::Device *interface = nullptr;
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#if defined(CONFIG_I2C)
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if (config.bus_type == BOARD_I2C_BUS) {
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interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
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} else if (config.bus_type == BOARD_SPI_BUS) {
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interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
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}
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} else
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#endif // CONFIG_I2C
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if (config.bus_type == BOARD_SPI_BUS) {
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interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
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}
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if (interface == nullptr) {
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PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
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@ -95,9 +101,15 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
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extern "C" int dps310_main(int argc, char *argv[])
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{
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using ThisDriver = DPS310;
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BusCLIArguments cli{true, true};
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#if defined(CONFIG_I2C)
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BusCLIArguments cli {true, true};
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cli.i2c_address = 0x77;
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cli.default_i2c_frequency = 400000;
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#else
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BusCLIArguments cli {false, true};
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#endif // CONFIG_I2C
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cli.default_spi_frequency = 10 * 1000 * 1000;
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const char *verb = cli.parseDefaultArguments(argc, argv);
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@ -49,15 +49,17 @@ px4_add_module(
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drivers_magnetometer
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)
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px4_add_module(
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MODULE drivers__imu__invensense__icm20948_i2c_passthrough
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MAIN icm20948_i2c_passthrough
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COMPILE_FLAGS
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SRCS
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ICM20948_I2C_Passthrough.cpp
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ICM20948_I2C_Passthrough.hpp
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icm20948_i2c_passthrough_main.cpp
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InvenSense_ICM20948_registers.hpp
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DEPENDS
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px4_work_queue
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)
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if(CONFIG_I2C)
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px4_add_module(
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MODULE drivers__imu__invensense__icm20948_i2c_passthrough
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MAIN icm20948_i2c_passthrough
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COMPILE_FLAGS
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SRCS
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ICM20948_I2C_Passthrough.cpp
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ICM20948_I2C_Passthrough.hpp
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icm20948_i2c_passthrough_main.cpp
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InvenSense_ICM20948_registers.hpp
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DEPENDS
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px4_work_queue
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)
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endif()
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@ -43,7 +43,6 @@
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#include "AKM_AK09916_registers.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/i2c.h>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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