Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 02:16:53 +08:00
Code Issues Actions 3 Packages Projects Releases Wiki Activity

boards/modalai/fc-v1: Maintenance Updates

Browse Source 
* Add Drotek RM3100 mag to board_sensors
 * update to single wire
 * Fix inverted FMU outputs from https://github.com/PX4/Firmware/commit/451af074726e1c43f2b1c9bb82f3cde50cd74c5c
 * digital power module update for https://github.com/PX4/Firmware/commit/e9890d01d94a75b0926a116243ae3920766bde00
 * board doesn't have battery monitoring through ADC or GPIO, rather through I2C only
This commit is contained in:
modaltb
2020-03-11 06:25:17 -07:00
committed by GitHub
parent 9585055e9e
commit 707c840fd9
5 changed files with 27 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/modalai/fc-v1/src/board_config.h
+4 -31
View File
@@ -277,11 +277,6 @@
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 0
#define BOARD_NUMBER_DIGITAL_BRICKS 0
#define GPIO_CAN1_SILENT /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
@@ -311,12 +306,10 @@
#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
#define RC_UXART_BASE STM32_USART6_BASE
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define BOARD_HAS_SINGLE_WIRE 1 /* HW is capable of Single Wire */
#define BOARD_HAS_SINGLE_WIRE_ON_TX 0 /* HW default is wired as Single Wire On RX pin */
#define BOARD_HAS_RX_TX_SWAP 1 /* HW Can swap TX and RX */
#define RC_SERIAL_PORT_IS_SWAPED 1 /* Board wired with RC's TX is on cpu RX */
#define RC_SERIAL_SINGLEWIRE
/* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
#define GPIO_SAFETY_SWITCH_IN /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
@@ -365,28 +358,8 @@
/* ModalAI FC-v1 never powers off the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_BRICK_VALID (1)
#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
# define BOARD_ADC_BRICK1_VALID (1)
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 1
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 2
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 3
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 4
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
#else
# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
#endif
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
boards/modalai/fc-v1/src/init.c
-46
View File
@@ -56,7 +56,6 @@
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
@@ -95,51 +94,6 @@ extern void led_off(int led);
__END_DECLS
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
{
irqstate_t irqstate = px4_enter_critical_section();
uint32_t cr1 = getreg32(STM32_USART_CR1_OFFSET + uxart_base);
uint32_t cr2 = getreg32(STM32_USART_CR2_OFFSET + uxart_base);
uint32_t regval = cr1;
/* {R|T}XINV bit fields can only be written when the USART is disabled (UE=0). */
regval &= ~USART_CR1_UE;
putreg32(regval, STM32_USART_CR1_OFFSET + uxart_base);
if (invert_on) {
#if defined(BOARD_HAS_RX_TX_SWAP) && RC_SERIAL_PORT_IS_SWAPED == 1
/* This is only ever turned on */
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV | USART_CR2_SWAP);
#else
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV);
#endif
} else {
cr2 &= ~(USART_CR2_RXINV | USART_CR2_TXINV);
}
putreg32(cr2, STM32_USART_CR2_OFFSET + uxart_base);
putreg32(cr1, STM32_USART_CR1_OFFSET + uxart_base);
leave_critical_section(irqstate);
}
/************************************************************************************
* Name: board_peripheral_reset
*
boards/modalai/fc-v1/src/manifest.c
-15
View File
@@ -92,21 +92,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
};
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT bool board_supports_single_wire(uint32_t uxart_base)
{
return uxart_base == RC_UXART_BASE;
}
/************************************************************************************
* Name: board_query_manifest
*
boards/modalai/fc-v1/src/timer_config.cpp
+20 -7
View File
@@ -33,20 +33,33 @@
#include <px4_arch/io_timer_hw_description.h>
/* Timer allocation
*
* FMU_CH1 : PE14 : TIM1_CH4
* FMU_CH2 : PA10 : TIM1_CH3
* FMU_CH3 : PE11 : TIM1_CH2
* FMU_CH4 : PA8 : TIM1_CH1
* FMU_CH5 : PD13 : TIM4_CH2
* FMU_CH6 : PD14 : TIM4_CH3
* FMU_CH7 : PD12 : TIM4_CH1
* FMU_CH8 : PH15 : TIM4_CH4
*/
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
initIOTimer(Timer::Timer4),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
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::Channel1}, {GPIO::PortD, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15})
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =