diff --git a/boards/amovlab/flycore/LICENSE.md b/boards/amovlab/flycore/LICENSE.md new file mode 100644 index 000000000000..c6f7e9571145 --- /dev/null +++ b/boards/amovlab/flycore/LICENSE.md @@ -0,0 +1,65 @@ +# AMOVLAB Flycore license overview + +This file summarizes the license information that is relevant to the AMOVLAB Flycore +board support and to the PX4 firmware image built from this repository. It is based +on license files, README files, NOTICE files, and file headers present in this +checkout. + +The PX4 repository root is licensed under BSD-3-Clause. PX4 documentation is +licensed separately under CC-BY-4.0. Third-party components keep their own +licenses as listed below. + +| Path / module | Origin | License | Copyright | Note | +| --- | --- | --- | --- | --- | +| `boards/amovlab/flycore/src/*.c`, `boards/amovlab/flycore/src/*.cpp`, `boards/amovlab/flycore/src/*.h`, `boards/amovlab/flycore/src/CMakeLists.txt` | AMOVLAB Flycore board support adapted from PX4 board support code | BSD-3-Clause | PX4 Development Team where present; Flycore adaptation contributed for AMOVLAB board support | Most source files contain the BSD-3-Clause license text and PX4 copyright headers. | +| `boards/amovlab/flycore/nuttx-config/include/board.h`, `boards/amovlab/flycore/nuttx-config/scripts/*.ld`, `boards/amovlab/flycore/src/sdio.c` | Flycore-specific NuttX board configuration derived from NuttX/PX4 board support | BSD-3-Clause-style NuttX license text in file headers | Gregory Nutt and/or PX4 Development Team where present | These files include NuttX/PX4 permissive license headers and Flycore-specific hardware configuration values. | +| `boards/amovlab/flycore/default.px4board`, `boards/amovlab/flycore/bootloader.px4board`, `boards/amovlab/flycore/firmware.prototype`, `boards/amovlab/flycore/init/*`, `boards/amovlab/flycore/nuttx-config/Kconfig`, `boards/amovlab/flycore/nuttx-config/bootloader/defconfig`, `boards/amovlab/flycore/nuttx-config/nsh/defconfig` | AMOVLAB Flycore board build, boot, and default configuration | BSD-3-Clause | AMOVLAB/PX4 contributors | SPDX identifiers are present in the comment-capable config files. `firmware.prototype` is JSON, so it is documented here instead of adding invalid JSON comments. | +| `boards/amovlab/flycore/extras/amovlab_flycore_bootloader.bin` | Generated Flycore bootloader binary | Same license set as the bootloader source components used to build it | Derived from PX4 and NuttX bootloader sources | Generated by `make amovlab_flycore_bootloader`; no source header can be embedded in the binary file itself. | +| `LICENSE`, `README.md`, `src/**`, `platforms/common/**`, `platforms/nuttx/src/px4/**` | PX4 upstream code reused by Flycore firmware | BSD-3-Clause | PX4 Development Team | The repository root `LICENSE` is BSD-3-Clause and the root `README.md` states PX4 source code is BSD-3-Clause. | +| `docs/**`, including `docs/en/flight_controller/amovlab_flycore.md` and `docs/assets/flight_controller/amovlab_flycore/**` | PX4 documentation and Flycore documentation assets | CC-BY-4.0 | AMOVLAB and PX4 documentation contributors | `docs/LICENSE` is CC-BY-4.0. Flycore documentation images are owned by AMOVLAB or used with permission and may be contributed under the PX4 documentation license. Documentation assets are not part of the firmware image. | +| `platforms/nuttx/NuttX/nuttx/**` | Apache NuttX RTOS | Apache-2.0 with additional bundled third-party notices in `LICENSE`/`NOTICE` | Apache Software Foundation and listed third-party authors | NuttX root `LICENSE` is Apache-2.0. Some older or imported files contain compatible BSD-style notices; check file headers for exact per-file attribution. | +| `platforms/nuttx/NuttX/apps/**` | Apache NuttX Apps | Apache-2.0 with additional bundled third-party notices in `LICENSE`/`NOTICE` | Apache Software Foundation and listed third-party authors | NuttX Apps root `LICENSE` is Apache-2.0 and documents bundled compatible components. | +| `platforms/nuttx/NuttX/nuttx/arch/arm/src/imxrt/**`, `platforms/nuttx/NuttX/nuttx/arch/arm/src/s32k1xx/**`, `platforms/nuttx/NuttX/nuttx/arch/arm/src/s32k3xx/**`, `platforms/nuttx/NuttX/nuttx/boards/arm/s32k*/**` | NXP i.MXRT/S32K NuttX HAL and board support present in the repository | Apache-2.0 for NuttX files; some NXP/Freescale-origin code has compatible BSD-style notices | Apache Software Foundation; NXP/Freescale where present | Local files contain Apache Software Foundation headers and NXP copyright notices. Flycore uses STM32H7, so these NXP paths are repository components but are not part of the Flycore target build. | +| `src/drivers/uavcan/**` excluding `libdronecan` | PX4 DroneCAN/UAVCAN integration | BSD-3-Clause | PX4 Development Team | PX4 integration layer follows the PX4 repository license and file headers. Flycore enables UAVCAN support. | +| `src/drivers/uavcan/libdronecan/**` | DroneCAN/libuavcan third-party library | MIT | Pavel Kirienko; UAVCAN/DroneCAN Development Team where present | `src/drivers/uavcan/libdronecan/LICENSE` and `src/drivers/uavcan/libdronecan/dsdl/LICENSE` are MIT. | +| `src/drivers/cyphal/**` excluding submodules and `o1heap` | PX4 Cyphal integration | BSD-3-Clause | PX4 Development Team | Local PX4 Cyphal integration files carry PX4 copyright headers and follow the repository BSD-3-Clause license. | +| `src/drivers/cyphal/o1heap/**` | o1heap allocator used by Cyphal | MIT-style permissive license text in file headers | Pavel Kirienko | Local `o1heap.c`/`o1heap.h` contain the MIT permission grant and copyright notice. | +| `src/drivers/cyphal/libcanard`, `src/drivers/cyphal/public_regulated_data_types`, `src/drivers/cyphal/legacy_data_types` | Cyphal/OpenCyphal data types and libcanard submodules | TBD / needs verification | TBD / needs verification | These are gitlinks in this checkout and are not initialized locally, so their license files were not available for local verification. They are listed for repository completeness; the Flycore default firmware build enables DroneCAN/UAVCAN via `src/drivers/uavcan/libdronecan`, whose MIT license is verified locally. | +| `src/modules/mavlink/mavlink/**` | MAVLink submodule | Generator is (L)GPL v3; generated code is MIT by the exception in `COPYING` | MAVLink contributors and Free Software Foundation where present | Firmware uses generated MAVLink code; `COPYING` states generated binary/product output is under MIT. | +| `src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client/**` | Micro-XRCE-DDS Client PX4 submodule | Apache-2.0 | Upstream contributors; verify file-level copyrights where needed | Local `LICENSE` is Apache-2.0. | +| `src/drivers/gps/devices/**` | PX4 GPSDrivers submodule | BSD-3-Clause | PX4 Pro Drone Autopilot | Local `LICENSE.md` contains BSD-3-Clause license text. | +| `src/lib/events/libevents/**` | MAVLink libevents submodule | BSD-3-Clause | MAVLink Development Team | Local `LICENSE.md` contains BSD-3-Clause license text. | +| `src/lib/heatshrink/heatshrink/**` | heatshrink compression library | ISC-style permissive license text | Scott Vokes | Local `LICENSE` grants use, copy, modify, and distribute with attribution. | +| `src/drivers/ins/microstrain/mip_sdk/**` | MicroStrain MIP SDK | MIT | Parker Hannifin Corp. | Local `LICENSE.txt` is MIT. | +| `src/drivers/ins/sbgecom/sbgECom/**` | SBG Systems ECom SDK | MIT | SBG Systems SAS | Local `LICENSE.md` is MIT. | +| `src/drivers/transponder/sagetech_mxs/sg_sdk/**` | Sagetech SDK | Apache-2.0 | TBD / needs verification from file headers | Local `LICENSE` is Apache-2.0. This SDK is not selected in the local Flycore default firmware build. | +| `src/lib/crypto/monocypher`, `src/lib/crypto/libtomcrypt`, `src/lib/crypto/libtommath` | Crypto submodules referenced by PX4 | TBD / needs verification | TBD / needs verification | These are gitlinks and are not initialized locally in this checkout, so their license files were not available for local verification. They are not selected in the local Flycore default firmware build. | + +## Flycore header status + +Many Flycore source files contain full BSD-3-Clause or NuttX BSD-style license +text. SPDX identifiers were added to the following comment-capable Flycore +configuration files: + +- `boards/amovlab/flycore/bootloader.px4board` +- `boards/amovlab/flycore/default.px4board` +- `boards/amovlab/flycore/init/rc.board_defaults` +- `boards/amovlab/flycore/init/rc.board_sensors` +- `boards/amovlab/flycore/nuttx-config/Kconfig` +- `boards/amovlab/flycore/nuttx-config/bootloader/defconfig` +- `boards/amovlab/flycore/nuttx-config/nsh/defconfig` +- `boards/amovlab/flycore/src/hw_config.h` + +`boards/amovlab/flycore/firmware.prototype` is a JSON template and remains +without an inline SPDX comment to keep the file valid JSON; its license is covered +by this overview and the AMOVLAB Flycore board support contribution. + +## Firmware-only PID compatibility note + +The Flycore firmware image is built from permissively licensed PX4 board code, PX4 +upstream code, Apache-2.0 NuttX RTOS code, and permissively licensed third-party +libraries documented above. No non-FOSS license was identified in the local source +evidence for the Flycore target. Remaining `TBD / needs verification` entries are +for repository components that were not selected in the local Flycore default +firmware build; they should still be confirmed before treating this overview as +complete evidence for all repository submodules. diff --git a/boards/amovlab/flycore/bootloader.px4board b/boards/amovlab/flycore/bootloader.px4board new file mode 100644 index 000000000000..f82131677750 --- /dev/null +++ b/boards/amovlab/flycore/bootloader.px4board @@ -0,0 +1,7 @@ +# +# SPDX-License-Identifier: BSD-3-Clause +# + +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_ROMFSROOT="" diff --git a/boards/amovlab/flycore/default.px4board b/boards/amovlab/flycore/default.px4board new file mode 100644 index 000000000000..fd40f4dd0ac7 --- /dev/null +++ b/boards/amovlab/flycore/default.px4board @@ -0,0 +1,87 @@ +# +# SPDX-License-Identifier: BSD-3-Clause +# + +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m7" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS5" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" +CONFIG_COMMON_INS=y +CONFIG_DRIVERS_ADC_BOARD_ADC=y +CONFIG_DRIVERS_BAROMETER_MS5611=y +CONFIG_COMMON_DISTANCE_SENSOR=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_COMMON_TELEMETRY=y +CONFIG_DRIVERS_CDCACM_AUTOSTART=y +CONFIG_DRIVERS_DSHOT=y +CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_BOSCH_BMI088=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_LIGHTS_RGBLED=y +CONFIG_DRIVERS_LIGHTS_RGBLED_AW2023=y +CONFIG_DRIVERS_PWM_OUT=y +CONFIG_COMMON_RC=y +CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6 +CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_BATTERY_STATUS=y +CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y +CONFIG_MODULES_DATAMAN=y +CONFIG_MODULES_EKF2=y +CONFIG_MODULES_EVENTS=y +CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y +CONFIG_MODULES_FW_MODE_MANAGER=y +CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_GYRO_CALIBRATION=y +CONFIG_MODULES_LAND_DETECTOR=y +CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y +CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOGGER=y +CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y +CONFIG_MODULES_MANUAL_CONTROL=y +CONFIG_MODULES_MAVLINK=y +CONFIG_MODULES_MC_ATT_CONTROL=y +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y +CONFIG_MODULES_MC_POS_CONTROL=y +CONFIG_MODULES_MC_RATE_CONTROL=y +CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODULES_RC_UPDATE=y +CONFIG_MODULES_ROVER_POS_CONTROL=y +CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000 +CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y +CONFIG_SYSTEMCMDS_DMESG=y +CONFIG_SYSTEMCMDS_GPIO=y +CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y +CONFIG_SYSTEMCMDS_I2CDETECT=y +CONFIG_SYSTEMCMDS_LED_CONTROL=y +CONFIG_SYSTEMCMDS_MFT=y +CONFIG_SYSTEMCMDS_MTD=y +CONFIG_SYSTEMCMDS_NSHTERM=y +CONFIG_SYSTEMCMDS_PARAM=y +CONFIG_SYSTEMCMDS_PERF=y +CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SERIAL_TEST=y +CONFIG_SYSTEMCMDS_SYSTEM_TIME=y +CONFIG_SYSTEMCMDS_TOP=y +CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y +CONFIG_SYSTEMCMDS_TUNE_CONTROL=y +CONFIG_SYSTEMCMDS_UORB=y +CONFIG_SYSTEMCMDS_VER=y +CONFIG_SYSTEMCMDS_WORK_QUEUE=y diff --git a/boards/amovlab/flycore/extras/amovlab_flycore_bootloader.bin b/boards/amovlab/flycore/extras/amovlab_flycore_bootloader.bin new file mode 100755 index 000000000000..b49890404429 Binary files /dev/null and b/boards/amovlab/flycore/extras/amovlab_flycore_bootloader.bin differ diff --git a/boards/amovlab/flycore/firmware.prototype b/boards/amovlab/flycore/firmware.prototype new file mode 100644 index 000000000000..9809a7852a4e --- /dev/null +++ b/boards/amovlab/flycore/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 1218, + "magic": "AMOVLABv1", + "description": "Firmware for the AMOVLAB Flycore board", + "image": "", + "build_time": 0, + "summary": "AMOVLAB Flycore", + "version": "0.1", + "image_size": 0, + "image_maxsize": 1966080, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/amovlab/flycore/init/rc.board_defaults b/boards/amovlab/flycore/init/rc.board_defaults new file mode 100644 index 000000000000..8322907f69ba --- /dev/null +++ b/boards/amovlab/flycore/init/rc.board_defaults @@ -0,0 +1,20 @@ +#!/bin/sh +# +# SPDX-License-Identifier: BSD-3-Clause +# +# board specific defaults +# +# No onboard magnetometer; yaw uses GPS when available unless the user adds +# an external compass module (see amovlab_flycore.md). +#------------------------------------------------------------------------------ + +if ver hwtypecmp FLYCORE000000 +then + param set-default SYS_AUTOSTART 4014 +fi + +param set-default BAT1_V_DIV 10.89 +param set-default BAT1_A_PER_V 36.367515152 + +# Multicopter Position Control control and Land Detector +param set-default MPC_LAND_CRWL 0.5 diff --git a/boards/amovlab/flycore/init/rc.board_sensors b/boards/amovlab/flycore/init/rc.board_sensors new file mode 100644 index 000000000000..603d641724d9 --- /dev/null +++ b/boards/amovlab/flycore/init/rc.board_sensors @@ -0,0 +1,23 @@ +#!/bin/sh +# +# SPDX-License-Identifier: BSD-3-Clause +# +# AMOVLAB FLYCORE specific board sensors init +# +# Onboard: BMI088 + ICM42688P + MS5611 (no magnetometer). +# External I2C1 / I2C4 can host an optional GPS/compass module if the user +# installs one; default firmware does not start magnetometer drivers here. +# COMMON_MAGNETOMETER is enabled in the build so optional modules can be +# started manually from NSH if needed. +#------------------------------------------------------------------------------ +board_adc start + +# Internal SPI1 bus BMI088 accel/gyro +bmi088 -A -R 2 -s start +bmi088 -G -R 2 -s start + +# Internal SPI2 bus ICM42688p +icm42688p -R 4 -s start + +# Internal barometer on SPI1 +ms5611 -s start diff --git a/boards/amovlab/flycore/nuttx-config/Kconfig b/boards/amovlab/flycore/nuttx-config/Kconfig new file mode 100644 index 000000000000..8125970cef2e --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/Kconfig @@ -0,0 +1,19 @@ +# +# SPDX-License-Identifier: BSD-3-Clause +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers. diff --git a/boards/amovlab/flycore/nuttx-config/bootloader/defconfig b/boards/amovlab/flycore/nuttx-config/bootloader/defconfig new file mode 100644 index 000000000000..c39c4e941def --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/bootloader/defconfig @@ -0,0 +1,93 @@ +# +# SPDX-License-Identifier: BSD-3-Clause +# +# 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="../../../../boards/amovlab/flycore/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARMV7M_BASEPRI_WAR=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_INITTHREAD_PRIORITY=254 +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x61a0 +CONFIG_CDCACM_PRODUCTSTR="PX4 BL AMOV FLYCORE" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1d50 +CONFIG_CDCACM_VENDORSTR="Amovlab" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="bootloader_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=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_DMA2=y +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_UART7=y +CONFIG_SYSTEMTICK_HOOK=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGINT_CHAR=0x03 +CONFIG_TTY_SIGTSTP=y +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/amovlab/flycore/nuttx-config/include/board.h b/boards/amovlab/flycore/nuttx-config/include/board.h new file mode 100644 index 000000000000..eba867d44b60 --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/include/board.h @@ -0,0 +1,526 @@ +/************************************************************************************ + * boards/amovlab/flycore/nuttx-config/include/board.h + * + * Copyright (C) 2016-2019 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. + * + ************************************************************************************/ +#ifndef __NUTTX_CONFIG_AMOVLABFLYCORE_INCLUDE_BOARD_H +#define __NUTTX_CONFIG_AMOVLABFLYCORE_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include "board_dma_map.h" + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdmmc.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The Amovlab Flycore 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_BOARD_USEHSE + +#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 + */ + +/* I2C123 clock source */ + +#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI + +/* I2C4 clock source */ + +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI + +/* SPI123 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 + +/* SPI45 clock source */ + +#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 + +/* SPI6 clock source */ + +#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 + +/* USB 1 and 2 clock source */ + +#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 + +/* UART clock selection */ +/* reset to default to overwrite any changes done by any bootloader */ + +#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC +#define STM32_RCC_D2CCIP2R_USART16_SEL RCC_D2CCIP2R_USART16SEL_RCC + +/* ADC 1 2 3 clock source */ + +#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 + +/* FDCAN 1 2 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + +/* FLASH wait states + * + * ------------ ---------- ----------- + * Vcore MAX ACLK WAIT STATES + * ------------ ---------- ----------- + * 1.15-1.26 V 70 MHz 0 + * (VOS1 level) 140 MHz 1 + * 210 MHz 2 + * 1.05-1.15 V 55 MHz 0 + * (VOS2 level) 110 MHz 1 + * 165 MHz 2 + * 220 MHz 3 + * 0.95-1.05 V 45 MHz 0 + * (VOS3 level) 90 MHz 1 + * 135 MHz 2 + * 180 MHz 3 + * 225 MHz 4 + * ------------ ---------- ----------- + */ + +#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 + +/* LED definitions ******************************************************************/ +/* The Amovlab Flycore board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +/* LED definitions ******************************************************************/ +/* The Amovlab Flycore board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and + * LED_RED a Red LED, that can be controlled by software. + * + * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. + * The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_LED3 2 +#define BOARD_NLEDS 3 + +#define BOARD_LED_RED BOARD_LED1 +#define BOARD_LED_GREEN BOARD_LED2 +#define BOARD_LED_BLUE BOARD_LED3 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) +#define BOARD_LED3_BIT (1 << BOARD_LED3) + +/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in + * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related + * events as follows: + * + * + * SYMBOL Meaning LED state + * Red Green Blue + * ---------------------- -------------------------- ------ ------ ----*/ + +#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ +#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ +#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ +#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ +#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ +#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ +#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ +#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ +#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ + +/* Thus if the Green LED is statically on, NuttX has successfully booted and + * is, apparently, running normally. If the Red LED is flashing at + * approximately 2Hz, then a fatal error has been detected and the system + * has halted. + */ + +/* Alternate function pin selections ************************************************/ +/* + +Uart Port Device + +USART2 TELEM1 /dev/ttyS0 +USART3 TELEM2 /dev/ttyS1 +UART4 GPS1 /dev/ttyS2 +UART5 TELEM3 /dev/ttyS3 +USART6 RC /dev/ttyS4 +UART7 GPS2 /dev/ttyS5 +UART8 DEBUG /dev/ttyS6 + +*/ +#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_USART3_RX GPIO_USART3_RX_3 /* PD9 */ +#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ +#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */ + +#define GPIO_UART4_RX GPIO_UART4_RX_4 /* PC11 */ +#define GPIO_UART4_TX GPIO_UART4_TX_4 /* PC10 */ + +#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */ +#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */ + +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */ + +#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ +#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 + * + * CAN1 is routed to external. + * CAN2 is routed to external. + */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */ +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ + +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ + +/* SPI + * SPI1 is sensors + * SPI2 is off board sensors + * SPI4 is fram and sensors + */ + +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) + +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */ + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 /* PC2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PC3 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */ + +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */ + + +/* I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + * + */ + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ + +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9) + +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ + +#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) +#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) + +/* SDMMC2 + * + * VDD 3.3 + * GND + * SDMMC2_CK PC1 + * SDMMC2_CMD PD7 + * SDMMC2_D0 PB14 + * SDMMC2_D1 PB15 + * SDMMC2_D2 PB3 + * SDMMC2_D3 PB4 + */ + +#define GPIO_SDMMC2_CK GPIO_SDMMC2_CK_2 /* PC1 */ +#define GPIO_SDMMC2_CMD GPIO_SDMMC2_CMD_1 /* PD7 */ +//#define GPIO_SDMMC2_D0 GPIO_SDMMC2_D0_1 /* PB14 */ +//#define GPIO_SDMMC2_D1 GPIO_SDMMC2_D1_1 /* PB15 */ +#define GPIO_SDMMC2_D2 GPIO_SDMMC2_D2_2 /* PB3 */ +//#define GPIO_SDMMC2_D3 GPIO_SDMMC2_D3_0 /* PB4 */ + +/* USB + * + * OTG_FS_DM PA11 + * OTG_FS_DP PA12 + * VBUS PA9 + */ + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +# include "stm32_gpio.h" +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* PE9 AUX1 */ +# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 AUX2 */ +# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) /* PE13 AUX3 */ +# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PE14 AUX4 */ +# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) /* PA7 AUX5 */ +# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) /* PB0 AUX6 */ +# define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN9) /* PC9 AUX7 */ +# define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX8 */ +# define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX9 */ +# define PROBE_10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) /* PD15 AUX10 */ + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ + if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ + if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ + if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ + if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ + if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ + if ((mask)& PROBE_N(10)) { stm32_configgpio(PROBE_10); } \ + } while(0) + +# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#else +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) +#endif + +#endif /*__NUTTX_CONFIG_AMOVLABFLYCORE_INCLUDE_BOARD_H */ diff --git a/boards/amovlab/flycore/nuttx-config/include/board_dma_map.h b/boards/amovlab/flycore/nuttx-config/include/board_dma_map.h new file mode 100644 index 000000000000..c5dc47305dcf --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/include/board_dma_map.h @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * Copyright (c) 2026 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 Using at most 8 Channels on DMA1 -------- Assigned +// V + +#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 BMI088, BMM150, MS5611 */ +#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 BMI088, BMM150, MS5611 */ + +//#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 Base */ +//#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 Base */ + +#define DMAMAP_SPI4_RX DMAMAP_DMA12_SPI4RX_0 /* 5 DMA1:83 FRAM, ICM-42688-P */ +#define DMAMAP_SPI4_TX DMAMAP_DMA12_SPI4TX_0 /* 6 DMA1:84 FRAM, ICM-42688-P */ + +#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* 7 DMA1:43 Telem1 */ +#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* 8 DMA1:44 Telem1 */ + +//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* 9 DMA1:45 Telem2 */ +//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* 10 DMA1:46 Telem2 */ + +//#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* 11 DMA1:63 GPS1 */ +//#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* 12 DMA1:64 GPS1 */ + + +// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned +// V + +//#define DMAMAP_USART5_RX DMAMAP_DMA12_UART5RX_1 /* 13 DMA2:65 Base */ +//#define DMAMAP_USART5_TX DMAMAP_DMA12_UART5TX_1 /* 14 DMA2:66 Base */ + +#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_1 /* 15 DMA2:71 RC */ +#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_1 /* 16 DMA2:72 RC */ + +// #define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 17 DMA2:79 GPS2 */ +// #define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 18 DMA2:80 GPS2 */ + +// #define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* 19 DMA2:81 DEBUG */ +// #define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_1 /* 20 DMA2:82 DEBUG */ diff --git a/boards/amovlab/flycore/nuttx-config/nsh/defconfig b/boards/amovlab/flycore/nuttx-config/nsh/defconfig new file mode 100644 index 000000000000..83c55a88a022 --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/nsh/defconfig @@ -0,0 +1,272 @@ +# +# SPDX-License-Identifier: BSD-3-Clause +# +# 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_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD 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_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_EXPORT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/amovlab/flycore/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743VI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=768 +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_ARM_MPU_EARLY_RESET=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95751 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x61a0 +CONFIG_CDCACM_PRODUCTSTR="AMOVLAB FLYCORE" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x1d50 +CONFIG_CDCACM_VENDORSTR="Amovlab" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=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_MAX_TASKS=64 +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_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=3194 +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_LIBC_STRERROR=y +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MMCSD=y +CONFIG_MMCSD_SDIO=y +CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y +CONFIG_MM_IOB=y +CONFIG_MM_REGIONS=4 +CONFIG_MTD=y +CONFIG_MTD_BYTE_WRITE=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PROGMEM=y +CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=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_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_MUTEX_TYPES=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5 +CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5 +CONFIG_RAMTRON_SETSPEED=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_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SEM_PREALLOCHOLDERS=32 +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_ADC3=y +CONFIG_STM32H7_BBSRAM=y +CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y +CONFIG_STM32H7_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=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_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC2=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_SPI4_DMA=y +CONFIG_STM32H7_SPI4_DMA_BUFFER=4096 +CONFIG_STM32H7_SPI_DMA=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM2=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM6=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART5=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART5_BAUD=57600 +CONFIG_UART5_RXBUFSIZE=600 +CONFIG_UART5_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=180 +CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_RXDMA=y +CONFIG_USART2_TXBUFSIZE=3000 +CONFIG_USART2_TXDMA=y +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_RXBUFSIZE=180 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_WATCHDOG=y +CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/amovlab/flycore/nuttx-config/scripts/bootloader_script.ld b/boards/amovlab/flycore/nuttx-config/scripts/bootloader_script.ld new file mode 100644 index 000000000000..968244ec361e --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/scripts/bootloader_script.ld @@ -0,0 +1,215 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 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 Amovlab Flycore uses an STM32H743VI 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 STM32H743VI, 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 + * + * The Amovlab Flycore has BOOT0 held at ground, so by default the STM32 will + * boot to address 0x0800:0000 in FLASH unless the BOOT0 test point is pulled to + * 3.3V. Then the boot will be from 0x1FF0:0000. + * + * The STM32H743VI 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. + * + * The bootloader uses the first sector of the flash, which is 128K in length. + */ + +MEMORY +{ + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K + flash (rx) : ORIGIN = 0x08000000, LENGTH = 128K + dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K + sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K + sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K + sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K + sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K + bbram (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(.); + + } > 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(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > 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/amovlab/flycore/nuttx-config/scripts/script.ld b/boards/amovlab/flycore/nuttx-config/scripts/script.ld new file mode 100644 index 000000000000..ac8c4b3505ef --- /dev/null +++ b/boards/amovlab/flycore/nuttx-config/scripts/script.ld @@ -0,0 +1,229 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016, 2019 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 Amovlab Flycore uses an STM32H743VI 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 STM32H743VI, 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 + * + * The Amovlab Flycore has BOOT0 held at ground, so by default the STM32 will + * boot to address 0x0800:0000 in FLASH unless the BOOT0 test point is pulled to + * 3.3V. Then the boot will be from 0x1FF0:0000. + * + * The STM32H743VI 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) +EXTERN(board_get_manifest) + +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(.); + + } > 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(.); + + /* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */ + . = ALIGN(16); + FILL(0xffff) + . += 16; + } > AXI_SRAM AT > FLASH = 0xffff + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > AXI_SRAM + + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + + /* 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/amovlab/flycore/src/CMakeLists.txt b/boards/amovlab/flycore/src/CMakeLists.txt new file mode 100644 index 000000000000..7d06cfae6865 --- /dev/null +++ b/boards/amovlab/flycore/src/CMakeLists.txt @@ -0,0 +1,75 @@ +############################################################################ +# +# Copyright (c) 2026 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_compile_definitions(BOOTLOADER) + add_library(drivers_board + bootloader_main.c + init.c + usb.c + timer_config.cpp + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer #gpio + arch_io_pins # iotimer + bootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) + +else() + add_library(drivers_board + can.c + i2c.cpp + init.c + led.c + mtd.cpp + manifest.c + sdio.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 # drv_led_start + nuttx_arch # sdio + nuttx_drivers # sdio + px4_layer + ) +endif() diff --git a/boards/amovlab/flycore/src/board_config.h b/boards/amovlab/flycore/src/board_config.h new file mode 100644 index 000000000000..6aa230deff10 --- /dev/null +++ b/boards/amovlab/flycore/src/board_config.h @@ -0,0 +1,232 @@ +/**************************************************************************** + * + * Copyright (c) 2025 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 + * + * Amovlab Flycore internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* PX4FMU GPIOs ***********************************************************************************/ + + +/* LEDs are driven with push pull Anodes to 3.3V */ + +#define GPIO_nLED_BLUE /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12) +#define GPIO_nLED_RED /* PC4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN4) + + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that + * can be used by the Px4 Firmware in the adc driver + */ + +/* ADC defines to be used in sensors.cpp to read from a particular channel */ + +#define GPIO_ADC_RSSI GPIO_ADC1_INP16 /* PA0 */ + +#define PX4_ADC_GPIO \ + /* PA0 */ GPIO_ADC_RSSI, \ + /* PA4 */ GPIO_ADC12_INP18, \ + /* PB1 */ GPIO_ADC12_INP5, \ + /* PA3 */ GPIO_ADC12_INP15, \ + /* PA1 */ GPIO_ADC1_INP17, \ + /* PA2 */ GPIO_ADC12_INP14 + +/* Define Channel numbers must match above GPIO pins */ +#define ADC_RC_RSSI_CHANNEL 16 /* PA0 */ +#define ADC_BATTERY_CURRENT_CHANNEL 18 /* PA4 */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 5 /* PB1 */ +#define ADC_SCALED_V5_CHANNEL 15 /* PA3 */ +#define ADC_HW_REV_SENSE_CHANNEL 17 /* PA1 */ +#define ADC_HW_VER_SENSE_CHANNEL 14 /* PA2 */ + +#define ADC_CHANNELS \ + ((1 << ADC_RC_RSSI_CHANNEL) | \ + (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ + (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ + (1 << ADC_SCALED_V5_CHANNEL) | \ + (1 << ADC_HW_REV_SENSE_CHANNEL) | \ + (1 << ADC_HW_VER_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) + +/* HW Version and Revision drive signals Default to 1 to detect */ +#define BOARD_HAS_HW_VERSIONING + +#define GPIO_HW_REV_DRIVE /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) +#define GPIO_HW_REV_SENSE /* PA1 */ GPIO_ADC1_INP17 +#define GPIO_HW_VER_DRIVE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define GPIO_HW_VER_SENSE /* PA2 */ GPIO_ADC12_INP14 +#define HW_INFO_INIT_PREFIX "FLYCORE" + + +/* PWM */ +#define DIRECT_PWM_OUTPUT_CHANNELS 10 +#define BOARD_NUM_IO_TIMERS 5 + +// /* Power supply control and monitoring GPIOs */ +#define GPIO_VDD_5V_RC_EN /* PC5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) + +/* Tone alarm output */ + +#define TONE_ALARM_TIMER 2 /* Timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1OUT_2 */ + +#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) + +#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 +#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing + */ +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ + +/* RC Serial port */ +#define HRT_PPM_CHANNEL /* T8C3 */ 3 /* use capture/compare channel 3 */ +#define GPIO_PPM_IN /* PC8 T8C3 */ GPIO_TIM8_CH3IN_1 + +#define RC_SERIAL_PORT "/dev/ttyS4" + +#define SDIO_SLOTNO 0 /* Only one slot */ +#define SDIO_MINOR 0 + +/* SD card bringup does not work if performed on the IDLE thread because it + * will cause waiting. Use either: + * + * CONFIG_LIB_BOARDCTL=y, OR + * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y + */ + +#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ + !defined(CONFIG_BOARD_INITTHREAD) +# warning SDIO initialization cannot be perfomed on the IDLE thread +#endif + +/* 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 BOARD_ADC_USB_CONNECTED + +/* 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 SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz)) + +#define PX4_GPIO_INIT_LIST { \ + PX4_ADC_GPIO, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN2_TX, \ + GPIO_CAN2_RX, \ + GPIO_TONE_ALARM_IDLE, \ + GPIO_VDD_5V_RC_EN, \ + GPIO_OTGFS_VBUS, \ + } + +#define BOARD_ENABLE_CONSOLE_BUFFER + +__BEGIN_DECLS + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void); + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +extern void stm32_usbinitialize(void); + +extern void board_peripheral_reset(int ms); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/amovlab/flycore/src/bootloader_main.c b/boards/amovlab/flycore/src/bootloader_main.c new file mode 100644 index 000000000000..77df9e78bcef --- /dev/null +++ b/boards/amovlab/flycore/src/bootloader_main.c @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 "arm_internal.h" +#include + +extern int sercon_main(int c, char **argv); + +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/amovlab/flycore/src/can.c b/boards/amovlab/flycore/src/can.c new file mode 100644 index 000000000000..3834074f3701 --- /dev/null +++ b/boards/amovlab/flycore/src/can.c @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 px4fmu_can.c + * + * Board-specific CAN functions. + */ + +#ifdef CONFIG_CAN + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_arch.h" + +#include "chip.h" +#include "stm32_can.h" +#include "board_config.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif + +#endif /* CONFIG_CAN */ diff --git a/boards/amovlab/flycore/src/hw_config.h b/boards/amovlab/flycore/src/hw_config.h new file mode 100644 index 000000000000..1ce3251a1d1c --- /dev/null +++ b/boards/amovlab/flycore/src/hw_config.h @@ -0,0 +1,130 @@ +/* SPDX-License-Identifier: BSD-3-Clause */ + +/* + * hw_config.h + * + * Created on: May 17, 2015 + * Author: david_s5 + */ + +#ifndef HW_CONFIG_H_ +#define HW_CONFIG_H_ + +/**************************************************************************** + * 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/ttyS0,115200" +#define BOOT_DELAY_ADDRESS 0x000001a0 +#define BOARD_TYPE 1218 +#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_RED +#define BOARD_LED_ON 0 +#define BOARD_LED_OFF 1 + +#define SERIAL_BREAK_DETECT_DISABLED 1 + +/* + * Uncommenting this allows to force the bootloader through + * a PWM output pin. As this can accidentally initialize + * an ESC prematurely, it is not recommended. This feature + * has not been used and hence defaults now to off. + * + * # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) + * # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) + * + * # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + * # define BOARD_POWER_ON 1 + * # define BOARD_POWER_OFF 0 + * # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power) + * +*/ + +#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 + +#endif /* HW_CONFIG_H_ */ diff --git a/boards/amovlab/flycore/src/i2c.cpp b/boards/amovlab/flycore/src/i2c.cpp new file mode 100644 index 000000000000..577047997d67 --- /dev/null +++ b/boards/amovlab/flycore/src/i2c.cpp @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * 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(4), +}; diff --git a/boards/amovlab/flycore/src/init.c b/boards/amovlab/flycore/src/init.c new file mode 100644 index 000000000000..6fad174caaa9 --- /dev/null +++ b/boards/amovlab/flycore/src/init.c @@ -0,0 +1,255 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2022 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 + * + * PX4FMU-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 initialization. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "board_config.h" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arm_internal.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* + * Ideally we'd be able to get these from arm_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); +__END_DECLS + + +/************************************************************************************ + * Name: board_peripheral_reset + * + * Description: + * + ************************************************************************************/ +__EXPORT void board_peripheral_reset(int ms) +{ + /* set the peripheral rails off */ + + board_control_spi_sensors_power(false, 0xffff); + + /* 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 */ + board_control_spi_sensors_power(true, 0xffff); + +} + +/************************************************************************************ + * 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(io_timer_channel_get_gpio_output(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) +{ + board_on_reset(-1); /* Reset PWM first thing */ + + /* configure LEDs */ + + board_autoled_initialize(); + + /* configure pins */ + + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + /* configure USB interfaces */ + + stm32_usbinitialize(); +} + +/**************************************************************************** + * 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; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * 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) +{ +#if !defined(BOOTLOADER) + + /* Power on Interfaces */ + + /* Need hrt running before using the ADC */ + + px4_platform_init(); + + + if (OK == board_determine_hw_info()) { + syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), + board_get_hw_type_name()); + + } else { + syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); + } + + stm32_spiinitialize(); + + board_spi_reset(10, 0xffff); + + /* configure the DMA allocator */ + + if (board_dma_alloc_init() < 0) { + syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); + } + +# if defined(SERIAL_HAVE_RXDMA) + // set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. + static struct hrt_call serial_dma_call; + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +# endif + + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_off(LED_BLUE); + + if (board_hardfault_init(2, true) != 0) { + led_on(LED_RED); + } + +# ifdef CONFIG_MMCSD + int ret = stm32_sdio_initialize(); + + if (ret != OK) { + led_on(LED_RED); + } + +# endif /* CONFIG_MMCSD */ + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); +#endif + return OK; +} diff --git a/boards/amovlab/flycore/src/led.c b/boards/amovlab/flycore/src/led.c new file mode 100644 index 000000000000..c2930b870094 --- /dev/null +++ b/boards/amovlab/flycore/src/led.c @@ -0,0 +1,235 @@ +/**************************************************************************** + * + * Copyright (c) 2013 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 arm_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 + +#ifdef CONFIG_ARCH_LEDS +static bool nuttx_owns_leds = true; +// B R S G +// 0 1 2 3 +static const uint8_t xlatpx4[] = {1, 2, 4, 0}; +# define xlat(p) xlatpx4[(p)] +static uint32_t g_ledmap[] = { + GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN + GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE + GPIO_nLED_RED, // Indexed by BOARD_LED_RED + GPIO_nSAFETY_SWITCH_LED_OUT, // Indexed by LED_SAFETY by xlatpx4 +}; + +#else + +# define xlat(p) (p) +static uint32_t g_ledmap[] = { + GPIO_nLED_BLUE, // Indexed by LED_BLUE + 0, // Indexed by LED_RED, LED_AMBER + 0, // Indexed by LED_SAFETY (defaulted to an input) + 0, // Indexed by LED_GREEN +}; + +#endif + +__EXPORT void led_init(void) +{ + 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))); +} + +#ifdef CONFIG_ARCH_LEDS +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_autoled_initialize + ****************************************************************************/ + +void board_autoled_initialize(void) +{ + led_init(); +} + +/**************************************************************************** + * Name: board_autoled_on + ****************************************************************************/ + +void board_autoled_on(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_HEAPALLOCATE: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_IRQSENABLED: + phy_set_led(BOARD_LED_BLUE, false); + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_STACKCREATED: + phy_set_led(BOARD_LED_GREEN, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, true); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, true); + phy_set_led(BOARD_LED_BLUE, true); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, true); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, true); + break; + } +} + +/**************************************************************************** + * Name: board_autoled_off + ****************************************************************************/ + +void board_autoled_off(int led) +{ + if (!nuttx_owns_leds) { + return; + } + + switch (led) { + default: + break; + + case LED_SIGNAL: + phy_set_led(BOARD_LED_GREEN, false); + break; + + case LED_INIRQ: + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_ASSERTION: + phy_set_led(BOARD_LED_RED, false); + phy_set_led(BOARD_LED_BLUE, false); + break; + + case LED_PANIC: + phy_set_led(BOARD_LED_RED, false); + break; + + case LED_IDLE : /* IDLE */ + phy_set_led(BOARD_LED_RED, false); + break; + } +} + +#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/amovlab/flycore/src/manifest.c b/boards/amovlab/flycore/src/manifest.c new file mode 100644 index 000000000000..42dea40c852f --- /dev/null +++ b/boards/amovlab/flycore/src/manifest.c @@ -0,0 +1,145 @@ +/**************************************************************************** + * + * Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * 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 manifest.c + * + * This module supplies the interface to the manifest of hardware that is + * optional and dependent on the HW REV and HW VER IDs + * + * The manifest allows the system to know whether a hardware option + * say for example the PX4IO is an no-pop option vs it is broken. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include + +#include "systemlib/px4_macros.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +typedef struct { + uint32_t hw_ver_rev; /* the version and revision */ + const px4_hw_mft_item_t *mft; /* The first entry */ + uint32_t entries; /* the length of the list */ +} px4_hw_mft_list_entry_t; + +typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; +#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 + +static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; + +// List of components on a specific board configuration +// The index of those components is given by the enum (px4_hw_mft_item_id_t) +// declared in board_common.h +static const px4_hw_mft_item_t hw_mft_list_flycore_v00[] = { + { + // PX4_MFT_PX4IO + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + // PX4_MFT_USB + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, + { + // PX4_MFT_CAN2 + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_onboard, + }, +}; + +static px4_hw_mft_list_entry_t mft_lists[] = { + // ver_rev FLYCORE HW ver=0 rev=0 + {0x0000, hw_mft_list_flycore_v00, arraySize(hw_mft_list_flycore_v00)}, +}; + +/************************************************************************************ + * Name: board_query_manifest + * + * Description: + * Optional returns manifest item. + * + * Input Parameters: + * manifest_id - the ID for the manifest item to retrieve + * + * Returned Value: + * 0 - item is not in manifest => assume legacy operations + * pointer to a manifest item + * + ************************************************************************************/ + +__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id) +{ + static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized; + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + uint32_t ver_rev = board_get_hw_version() << 16; + ver_rev |= board_get_hw_revision(); + + for (unsigned i = 0; i < arraySize(mft_lists); i++) { + if (mft_lists[i].hw_ver_rev == ver_rev) { + boards_manifest = &mft_lists[i]; + break; + } + } + + if (boards_manifest == px4_hw_mft_list_uninitialized) { + syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); + } + } + + px4_hw_mft_item rv = &device_unsupported; + + if (boards_manifest != px4_hw_mft_list_uninitialized && + id < boards_manifest->entries) { + rv = &boards_manifest->mft[id]; + } + + return rv; +} diff --git a/boards/amovlab/flycore/src/mtd.cpp b/boards/amovlab/flycore/src/mtd.cpp new file mode 100644 index 000000000000..be7e6a3e75a7 --- /dev/null +++ b/boards/amovlab/flycore/src/mtd.cpp @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * 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 +// KiB BS nB +static const px4_mft_device_t spi4 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32) + .bus_type = px4_mft_device_t::SPI, + .devid = SPIDEV_FLASH(0) +}; + +static const px4_mtd_entry_t fmum_fram = { + .device = &spi4, + .npart = 1, + .partd = { + { + .type = MTD_PARAMETERS, + .path = "/fs/mtd_params", + .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) + } + }, +}; + +static const px4_mtd_manifest_t board_mtd_config = { + .nconfigs = 1, + .entries = { + &fmum_fram + } +}; + +static const px4_mft_entry_s mtd_mft = { + .type = MTD, + .pmft = (void *) &board_mtd_config, +}; + +static const px4_mft_s mft = { + .nmft = 1, + .mfts = { + &mtd_mft + } +}; + +const px4_mft_s *board_get_manifest(void) +{ + return &mft; +} diff --git a/boards/amovlab/flycore/src/sdio.c b/boards/amovlab/flycore/src/sdio.c new file mode 100644 index 000000000000..869d757756a0 --- /dev/null +++ b/boards/amovlab/flycore/src/sdio.c @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (C) 2014, 2016 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "board_config.h" +#include "stm32_gpio.h" +#include "stm32_sdmmc.h" + +#ifdef CONFIG_MMCSD + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Card detections requires card support and a card detection GPIO */ + +#define HAVE_NCD 1 +#if !defined(GPIO_SDMMC1_NCD) +# undef HAVE_NCD +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static FAR struct sdio_dev_s *sdio_dev; +#ifdef HAVE_NCD +static bool g_sd_inserted = 0xff; /* Impossible value */ +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_ncd_interrupt + * + * Description: + * Card detect interrupt handler. + * + ****************************************************************************/ + +#ifdef HAVE_NCD +static int stm32_ncd_interrupt(int irq, FAR void *context) +{ + bool present; + + present = !stm32_gpioread(GPIO_SDMMC1_NCD); + + if (sdio_dev && present != g_sd_inserted) { + sdio_mediachange(sdio_dev, present); + g_sd_inserted = present; + } + + return OK; +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_sdio_initialize + * + * Description: + * Initialize SDIO-based MMC/SD card support + * + ****************************************************************************/ + +int stm32_sdio_initialize(void) +{ + int ret; + +#ifdef HAVE_NCD + /* Card detect */ + + bool cd_status; + + /* Configure the card detect GPIO */ + + stm32_configgpio(GPIO_SDMMC1_NCD); + + /* Register an interrupt handler for the card detect pin */ + + stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt); +#endif + + /* Mount the SDIO-based MMC/SD block driver */ + /* First, get an instance of the SDIO interface */ + + finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO); + + sdio_dev = sdio_initialize(SDIO_SLOTNO); + + if (!sdio_dev) { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR); + + ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); + + if (ret != OK) { + syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + finfo("Successfully bound SDIO to the MMC/SD driver\n"); + +#ifdef HAVE_NCD + /* Use SD card detect pin to check if a card is g_sd_inserted */ + + cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD); + finfo("Card detect : %d\n", cd_status); + + sdio_mediachange(sdio_dev, cd_status); +#else + /* Assume that the SD card is inserted. What choice do we have? */ + + sdio_mediachange(sdio_dev, true); +#endif + + return OK; +} + +#endif /* CONFIG_MMCSD */ diff --git a/boards/amovlab/flycore/src/spi.cpp b/boards/amovlab/flycore/src/spi.cpp new file mode 100644 index 000000000000..8d7e99e95fee --- /dev/null +++ b/boards/amovlab/flycore/src/spi.cpp @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2020, 2022 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 +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortA, GPIO::Pin8}), + initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin10}), + }), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}), + }), + initSPIBus(SPI::Bus::SPI4, { + initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin10}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/amovlab/flycore/src/timer_config.cpp b/boards/amovlab/flycore/src/timer_config.cpp new file mode 100644 index 000000000000..261f758dadca --- /dev/null +++ b/boards/amovlab/flycore/src/timer_config.cpp @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 + +/* Timer allocation + * + * TIM1_CH1 T FMU_CH1 PE9 + * TIM1_CH2 T FMU_CH2 PE11 + * TIM1_CH3 T FMU_CH3 PE13 + * TIM1_CH4 T FMU_CH4 PE14 + * TIM3_CH2 T FMU_CH5 PA7 + * TIM3_CH3 T FMU_CH6 PB0 + * TIM3_CH4 T FMU_CH7 PC9 + * TIM4_CH2 T FMU_CH8 PD13 + * TIM4_CH3 T FMU_CH9 PD14 + * TIM4_CH4 T FMU_CH10 PD15 + */ + +constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { + initIOTimer(Timer::Timer1, DMA{DMA::Index1}), + initIOTimer(Timer::Timer3, DMA{DMA::Index2}), + initIOTimer(Timer::Timer4), + initIOTimer(Timer::Timer5), +}; + +/*Map by timer and channel size*/ +constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + 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::PortE, GPIO::Pin13}), + initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), + initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}), + 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}), +}; + +constexpr io_timers_channel_mapping_t io_timers_channel_mapping = + initIOTimerChannelMapping(io_timers, timer_io_channels); diff --git a/boards/amovlab/flycore/src/usb.c b/boards/amovlab/flycore/src/usb.c new file mode 100644 index 000000000000..e06a6a53a523 --- /dev/null +++ b/boards/amovlab/flycore/src/usb.c @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (C) 2016 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 amovlab_flycore_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32H7_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); +#endif +} + +/************************************************************************************ + * 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/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pin1_orientation.png b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pin1_orientation.png new file mode 100644 index 000000000000..2991b35dc9a2 Binary files /dev/null and b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pin1_orientation.png differ diff --git a/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pinout.jpg b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pinout.jpg new file mode 100644 index 000000000000..afbe28eaac81 Binary files /dev/null and b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_pinout.jpg differ diff --git a/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_product.jpg b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_product.jpg new file mode 100644 index 000000000000..2af447684d43 Binary files /dev/null and b/docs/assets/flight_controller/amovlab_flycore/amovlab_flycore_product.jpg differ diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index c90d32c9b0eb..705a38491caa 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -163,6 +163,7 @@ - [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](flight_controller/mindpx.md) - [AirMind MindRacer](flight_controller/mindracer.md) + - [Amovlab Flycore](flight_controller/amovlab_flycore.md) - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md) - [ARK Electronics ARKV6S](flight_controller/ark_v6s.md) - [ARK FPV Flight Controller](flight_controller/ark_fpv.md) diff --git a/docs/en/flight_controller/amovlab_flycore.md b/docs/en/flight_controller/amovlab_flycore.md new file mode 100644 index 000000000000..e14e92362446 --- /dev/null +++ b/docs/en/flight_controller/amovlab_flycore.md @@ -0,0 +1,344 @@ +# Amovlab Flycore + + + +::: warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://amovlab.com/) for hardware support or compliance issues. +::: + +The Amovlab Flycore is an STM32H743-based flight controller for PX4-powered vehicles. +It integrates a UM982 GNSS module on the primary GPS interface, has dual onboard IMUs, an onboard barometer, 10 FMU PWM outputs, dual CAN, USB, three telemetry ports, an external GPS2 port, an external RC port, a standard SD card slot, and exposed buzzer and SWD pads. + +![Amovlab Flycore flight controller](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_product.jpg) + +::: info +This flight controller is intended for inclusion in the [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md) board list. +::: + +## Specifications {#specifications} + +- **Processor** + - **Main FMU processor:** STM32H743 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB flash, 1 MB RAM) + - **IO processor:** None. This board does not have a PX4IO coprocessor. +- **Sensors** + - **IMU:** Bosch BMI088 (SPI), InvenSense ICM-42688P (SPI) + - **Barometer:** MS5611 (SPI) + - **GNSS:** Onboard UM982 module connected to `GPS1` + - **Magnetometer:** None fitted by default. `GPS1` and `GPS2` do not include compass I2C lines. +- **Interfaces** + - **PWM outputs:** 10 FMU outputs + - **Serial ports:** 7 + - **Telemetry ports:** 3 (`TELEM1`, `TELEM2`, `TELEM3`) + - **GPS ports:** 2 + - `GPS1`: internal connection to the onboard UM982 GNSS module + - `GPS2`: external GPS connector + - **I2C ports:** 2 external buses configured in firmware (`I2C1`, `I2C4`) + - **SPI buses:** 3 + - `SPI1`: BMI088 IMU and MS5611 barometer + - `SPI2`: ICM-42688P IMU + - `SPI4`: onboard flash + - **CAN buses:** 2 + - **USB:** Yes + - **RC input:** Yes, on the FMU `RC` port + - **Supported RC protocols:** SBUS, DSM/DSMX, CRSF, GHST, PPM + - **Analog battery inputs:** 1 voltage input and 1 current input + - **Additional analog inputs:** None exposed to users + - **Buzzer:** Exposed pads + - **SWD:** Exposed pads + - **SD card:** Standard SD card slot +- **Electrical data** + - **Power input:** XT30 connector, 15-28 V + - **Minimum input current:** 0.1 A + - **Battery voltage sensing range:** 3S-6S LiPo + - **Battery current sensing range:** 1-60 A + - **Servo/PWM output rail:** Externally powered. The board only provides PWM signal outputs. +- **Mechanical data** + - **Dimensions:** 120 mm x 55 mm x 26.3 mm + - **Weight:** 60 g + - **Mounting:** 50 mm x 115 mm hole spacing, 2.5 mm hole diameter + +## Where to Buy {#store} + +For purchasing, contact [shudajun@amovauto.com](mailto:shudajun@amovauto.com). + +## Connections + +The board includes the following main external connections: + +- `POWER`: XT30, 15-28 V input +- `USB` +- `TELEM1` +- `TELEM2` +- `TELEM3` +- `GPS2`: external GPS connector, without compass I2C +- `RC` +- `CAN1` +- `CAN2` +- `I2C1` +- `I2C4` +- `PWM OUT 1-10` +- Standard SD card slot +- Buzzer pads +- SWD pads +- UART8 debug console pads + +The external peripheral signal connectors use JST GH connectors with 1.25 mm pitch. +Flycore uses Pixhawk-style port names for common interfaces such as `TELEM`, `GPS`, `CAN`, `I2C`, and `RC`, but the fitted connectors and pin assignments are board-specific and are not claimed to fully comply with the DS-009 Pixhawk Connector Standard. +Use the [Pinouts](#pinouts) section as the authoritative connector definition for this board. +This does not apply to `POWER` (XT30), USB, the SD card slot, RTK antenna interfaces, or the exposed buzzer, SWD, and UART8 debug console pads. + +`GPS1` is not exposed as an external connector on the flight controller. +It is connected internally to the onboard UM982 GNSS module and does not include safety-switch pins or compass I2C lines. + +## Schematic Diagram + +![Amovlab Flycore connector layout](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_pinout.jpg) + +## Pinouts + +The following pinouts use the signal names from the manufacturer interface definition. +Pin 1 starts from the right side of the connector, as shown below: + +![Amovlab Flycore pin 1 orientation](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_pin1_orientation.png) + +### CAN1 Port + +| Pin | Signal | +| --- | ------ | +| 1 | CAN_L | +| 2 | CAN_H | +| 3 | GND | +| 4 | VCC | + +### GPS2 Port + +| Pin | Signal | +| --- | ------ | +| 1 | RX | +| 2 | TX | +| 3 | GND | +| 4 | VCC | + +### TELEM3 Port + +| Pin | Signal | +| --- | ------ | +| 1 | RX | +| 2 | TX | +| 3 | GND | +| 4 | VCC | + +### I2C1 Port + +| Pin | Signal | +| --- | ------ | +| 1 | SDA | +| 2 | SCL | +| 3 | GND | +| 4 | VCC | + +### I2C4 Port + +| Pin | Signal | +| --- | ------ | +| 1 | SDA | +| 2 | SCL | +| 3 | GND | +| 4 | VCC | + +### PWM Port + +| Pin | Signal | +| --- | ------- | +| 1 | GND | +| 2 | BUZZER | +| 3 | FMU_CH8 | +| 4 | FMU_CH7 | +| 5 | FMU_CH6 | +| 6 | FMU_CH5 | +| 7 | FMU_CH4 | +| 8 | FMU_CH3 | +| 9 | FMU_CH2 | +| 10 | FMU_CH1 | + +### TELEM2 Port + +| Pin | Signal | +| --- | ------ | +| 1 | GND | +| 2 | RX | +| 3 | TX | + +### RTK COM2 Port + +| Pin | Signal | +| --- | ------ | +| 1 | RX | +| 2 | TX | +| 3 | GND | +| 4 | PPS | + +## Sensor and Bus Configuration + +The default Flycore PX4 port matches the hardware as shipped: + +- **Onboard sensors:** BMI088, ICM-42688P, and MS5611. +- **Onboard GNSS:** UM982 connected to `GPS1`. +- **External GPS:** `GPS2` is available for an external GPS receiver, but does not provide compass I2C lines. +- **Default firmware:** `rc.board_sensors` starts only the onboard IMUs and barometer. It does not start magnetometers or other external sensors that are not fitted by default. + +Flycore has no onboard magnetometer and its GPS connectors do not include compass I2C. +If a magnetometer is required, use a supported external magnetometer connected through `I2C1`, `I2C4`, or another compatible interface provided by the vehicle setup. + +Without a magnetometer, yaw in flight relies on GPS course when available and other estimator settings as configured in QGroundControl. +Plan missions accordingly for GPS-denied operation. + +## Power {#power} + +The flight controller can be powered from the **POWER** connector. + +Power ports: + +- `POWER`: XT30 connector, 15-28 V input, 0.1 A minimum input current + +::: warning +The PWM output ports are not powered by the POWER port. +The output rail must be [separately powered](../peripherals/pwm_escs_and_servo.md) if it needs to power servos or other hardware. +This is generally true for VTOL and fixed-wing vehicles, but not necessarily true for multicopters. +::: + +The battery voltage sensing range is 3S-6S LiPo. + +The battery current sensing range is 1-60 A. + +PX4 configures analog battery monitoring using `BAT1_V_DIV=10.89` and `BAT1_A_PER_V=36.367515152` by default. +The board only provides PWM signal outputs; provide external rail power before connecting servos or other payloads that need power from the output rail. + +For battery and power module configuration see [Battery and Power Module Setup](../config/battery.md). + +## Serial Port Mapping + +| UART | Device | Port | Flow Control | +| ------ | ---------- | --------------- | :----------: | +| USART2 | /dev/ttyS0 | `TELEM1` | Yes | +| USART3 | /dev/ttyS1 | `TELEM2` | No | +| UART4 | /dev/ttyS2 | `GPS1` | No | +| UART5 | /dev/ttyS3 | `TELEM3` | No | +| USART6 | /dev/ttyS4 | `RC` | No | +| UART7 | /dev/ttyS5 | `GPS2` | No | +| UART8 | /dev/ttyS6 | `Debug Console` | No | + +`GPS1` is used by the onboard UM982 GNSS module. +`GPS2` is the external GPS port. +The debug console is exposed on UART8 pads; no connector is fitted by default. The UART8 pad pinout is board-specific. + +## Radio Control {#radio_control} + +A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes). + +You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver). + +The RC port is connected to the FMU, not to a PX4IO coprocessor. + +The `RC` port supports SBUS, DSM/DSMX, CRSF, GHST, and PPM receivers. +The board configuration enables PX4 RC input and maps the RC serial port to `/dev/ttyS4`. + +For PPM and S.Bus receivers, a single signal wire carries all channels. +If your receiver outputs individual PWM signals (one wire per channel) it must be connected via a PPM encoder. +For more information, see [RC receivers](../getting_started/rc_transmitter_receiver.md). + +## GPS & Compass {#gps_compass} + +PX4 supports GPS modules connected to the GPS port(s) listed below. +GPS modules should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker pointing towards the front of the vehicle. + +The GPS ports are: + +- `GPS1` (FMU): Internal connection to the onboard UM982 GNSS module. This is not exposed as an external connector and does not include safety-switch pins or compass I2C lines. +- `GPS2` (FMU): External GPS connector. This port does not include compass I2C lines. + +Flycore has no onboard magnetometer. +The `GPS1` and `GPS2` interfaces do not provide compass I2C, so a GPS/compass module connected to `GPS2` will only use the GPS serial interface unless the compass is connected through another compatible external interface. + +## Telemetry Radios (Optional) {#telemetry} + +[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). + +The vehicle-based radio should be connected to a TELEM port — **TELEM1**, **TELEM2**, or **TELEM3**. +If connected to **TELEM1**, no further configuration is required. +The other radio is connected to your ground station computer or mobile device (usually by USB). + +## PWM Outputs {#pwm_outputs} + +This flight controller supports up to 10 FMU PWM outputs (`MAIN`). + +Outputs 1-7 support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry). + +Outputs 8-10 do not support DShot. + +The 10 outputs are split into 3 groups: + +- Outputs 1-4 are in group 1, using Timer 1. +- Outputs 5-7 are in group 2, using Timer 3. +- Outputs 8-10 are in group 3, using Timer 4. + +All outputs within the same group must use the same output protocol and rate. + +## SD Card + +This board has a standard SD card slot. + +## Building Firmware + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make amovlab_flycore_default +``` + +Build and upload via USB: + +```sh +make amovlab_flycore_default upload +``` + +Build the bootloader: + +```sh +make amovlab_flycore_bootloader +``` + +## Bootloader / Board ID + +- **Board ID:** 1218 (`boards/amovlab/flycore/firmware.prototype`) +- **Bootloader USB product string:** `PX4 BL AMOV FLYCORE` + +## Default Airframe + +For hardware type `FLYCORE000000`, `rc.board_defaults` sets `SYS_AUTOSTART` to **4014** (generic multicopter airframe class). + +Adjust the airframe in QGroundControl to match your vehicle. + +Amovlab recommends this flight controller for the Amovlab SU17 platform. + +## Debug Port + +The PX4 system console is exposed on UART8 pads. +No connector is fitted by default. + +The UART8 pad pinout is board-specific and does not use a standard fitted connector. + +## Supported Platforms / Airframes + +The Flycore can be used with airframes supported by the selected PX4 configuration, including multicopters and other vehicles that match the available PWM, CAN, serial, and sensor interfaces. + +Amovlab recommends Flycore for the Amovlab SU17 platform. + +## Maintenance + +- **Vendor:** Amovlab +- **PX4 board target:** `amovlab_flycore_default` +- **PX4 hardware architecture:** `AMOVLAB_FLYCORE` +- **PX4 hardware type:** `FLYCORE000000` +- **Hardware version/revision:** `0x000` / `0x000` diff --git a/docs/en/flight_controller/autopilot_manufacturer_supported.md b/docs/en/flight_controller/autopilot_manufacturer_supported.md index ba84ef7d59f3..dd1bf92b8f2c 100644 --- a/docs/en/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/en/flight_controller/autopilot_manufacturer_supported.md @@ -21,6 +21,7 @@ The boards in this category are: - [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](../flight_controller/mindpx.md) - [AirMind MindRacer](../flight_controller/mindracer.md) +- [Amovlab Flycore](../flight_controller/amovlab_flycore.md) - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)) - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md) - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)