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feat(boards): add ark/fmu-v6s board support (#26631)

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* chore(boards): copy ark/fmu-v6x to ark/fmu-v6s

Verbatim copy of ark/fmu-v6x board support to ark/fmu-v6s to
establish a baseline. Functional changes will follow in the next commit.

* feat(boards): add ark/fmu-v6s board support

Low-cost variant of ARK V6X with:
- STM32H743IIK6 MCU (no hardware crypto)
- Single IIM-42653 IMU on SPI1 (SPI2/SPI3 removed)
- IIS2MDC magnetometer on I2C4
- BMP390 barometer on I2C4
- Single sensor power rail

Board ID 61, USB PID 0x003C.

* feat(px4_uploader): add ARK FMU v6s USB ID to the uploader

* refactor: rename SENS_IMU_TEMP to HEATER1_TEMP in rc.board_defaults

* refactor: remove unused ADC channel definitions in board_config.h

* refactor: update ADC channel definitions and remove unused sensor power control

* arkv6s sensor roations

* Add support for Murata SCH16T IMU in default.px4board configuration

* Update bootloader binary for FMU v6s

* Update boards/ark/fmu-v6s/src/hw_config.h

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

* Update boards/ark/fmu-v6s/src/hw_config.h

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

* fix(ark/fmu-v6s): enable CONFIG_CRYPTO for encrypted_logs build

CONFIG_CRYPTO_RANDOM_POOL was set without its parent CONFIG_CRYPTO,
so it was silently dropped and px4_get_secure_random was compiled out,
breaking the ark_fmu-v6s_encrypted_logs link.

---------

Co-authored-by: alexklimaj <alex@arkelectron.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
This commit is contained in:
Jacob Dahl
2026-05-15 21:31:29 -04:00
committed by GitHub
parent 239947a100
commit 83d497d624
31 changed files with 3803 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/px4_uploader.py
+1
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@@ -258,6 +258,7 @@ PX4_USB_IDS: list[tuple[int, int, str]] = [
(0x0483, 0x5740, "STMicroelectronics Virtual COM Port"), # Generic ST bootloader (0x0483, 0x5740, "STMicroelectronics Virtual COM Port"), # Generic ST bootloader
(0x1209, 0x5740, "Generic STM32"), (0x1209, 0x5740, "Generic STM32"),
(0x1209, 0x5741, "ArduPilot"), (0x1209, 0x5741, "ArduPilot"),
(0x3185, 0x003C, "ARK FMU v6s"),
(0x3185, 0x0039, "ARK FMU v6x"), (0x3185, 0x0039, "ARK FMU v6x"),
(0x3185, 0x003A, "ARK Pi6x"), (0x3185, 0x003A, "ARK Pi6x"),
(0x3185, 0x003B, "ARK FPV"), (0x3185, 0x003B, "ARK FPV"),
boards/ark/fmu-v6s/bootloader.px4board
+3
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@@ -0,0 +1,3 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ROMFSROOT=""
boards/ark/fmu-v6s/default.px4board
+103
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@@ -0,0 +1,103 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_COMMON_RC=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=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_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_HARDFAULT_STREAM=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_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_PAYLOAD_DELIVERER=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=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_NETMAN=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=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
boards/ark/fmu-v6s/encrypted_logs.px4board
+14
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@@ -0,0 +1,14 @@
CONFIG_DRIVERS_BATT_SMBUS=n
CONFIG_DRIVERS_PX4IO=n
CONFIG_BOARD_CRYPTO=y
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_DRIVERS_SW_CRYPTO=y
# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
boards/ark/fmu-v6s/extras/ark_fmu-v6s_bootloader.bin
Executable
BIN
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Binary file not shown.
boards/ark/fmu-v6s/extras/px4_io-v2_default.bin
Executable
BIN
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boards/ark/fmu-v6s/firmware.prototype
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@@ -0,0 +1,13 @@
{
"board_id": 61,
"magic": "ARKV6Sv1",
"description": "Firmware for the ARKFMUv6S board",
"image": "",
"build_time": 0,
"summary": "ARKFMUv6S",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1966080,
"git_identity": "",
"board_revision": 0
}
boards/ark/fmu-v6s/init/rc.board_defaults
+30
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@@ -0,0 +1,30 @@
#!/bin/sh
#
# board specific defaults
#------------------------------------------------------------------------------
param set-default EKF2_MULTI_IMU 0
# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_MODE 0
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 100000
param set-default MAV_2_REMOTE_PRT 14550
param set-default MAV_2_UDP_PRT 14550
param set-default SENS_EN_INA226 1
param set-default SENS_EN_THERMAL 1
param set-default SENS_IMU_MODE 1
param set-default HEATER1_TEMP 10.0
#param set-default HEATER1_TEMP_FF 0.0
#param set-default HEATER1_TEMP_I 0.025
#param set-default HEATER1_TEMP_P 1.0
param set-default UAVCAN_ESC_IFACE 2
# IIM42653 on SPI1
param set-default HEATER1_IMU_ID 3014666
safety_button start
boards/ark/fmu-v6s/init/rc.board_sensors
+86
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@@ -0,0 +1,86 @@
#!/bin/sh
#
# ARK FMU V6S specific board sensors init
#------------------------------------------------------------------------------
set HAVE_PM2 yes
set HAVE_PM3 yes
if mft query -q -k MFT -s MFT_PM2 -v 0
then
set HAVE_PM2 no
set HAVE_PM3 no
fi
if param compare -s ADC_ADS1115_EN 1
then
ads1115 start -X
board_adc start -n
else
board_adc start
fi
if param compare SENS_EN_INA226 1
then
# Start Digital power monitors
ina226 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina226 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina226 -X -b 3 -t 3 -k start
fi
fi
if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
ina228 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina228 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina228 -X -b 3 -t 3 -k start
fi
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
ina238 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina238 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina238 -X -b 3 -t 3 -k start
fi
fi
# Internal SPI bus IIM42653
iim42653 -R 0 -s -b 1 start
# Internal magnetometer on I2C
iis2mdc -R 4 -I start
# Internal Baro on I2C
bmp388 -I start
# Start an external PWM generator
if param greater PCA9685_EN_BUS 0
then
pca9685_pwm_out start
fi
unset HAVE_PM2
unset HAVE_PM3
boards/ark/fmu-v6s/nuttx-config/Kconfig
+17
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@@ -0,0 +1,17 @@
#
# 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.
boards/ark/fmu-v6s/nuttx-config/bootloader/defconfig
+95
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@@ -0,0 +1,95 @@
#
# 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_DISABLE_PTHREAD 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/ark/fmu-v6s/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
CONFIG_ARCH_CHIP="stm32h7"
CONFIG_ARCH_CHIP_STM32H743II=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=0x003C
CONFIG_CDCACM_PRODUCTSTR="ARK BL FMU v6S.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3185
CONFIG_CDCACM_VENDORSTR="ARK"
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_MUTEX_ROBUST=y
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_RXDMA=y
CONFIG_UART7_TXBUFSIZE=512
CONFIG_UART7_TXDMA=y
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
boards/ark/fmu-v6s/nuttx-config/include/board.h
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File diff suppressed because it is too large Load Diff
boards/ark/fmu-v6s/nuttx-config/include/board_dma_map.h
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@@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
#pragma once
// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned
// V
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 IIM-42653 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 IIM-42653 */
//#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */
//#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */
//#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1:43 Telem3 */
//#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1:44 Telem3 */
//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */
//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */
//#define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 EXT2 */
//#define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 EXT2 */
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 3 DMA1:71 PX4IO */
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 4 DMA1:72 PX4IO */
// Assigned in timer_config.cpp
// Timer 4 /* 5 DMA1:32 TIM4UP */
// Timer 5 /* 6 DMA1:50 TIM5UP */
// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned
// V
#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 1 DMA2:45 DEBUG */
#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 2 DMA2:46 DEBUG */
#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 3 DMA2:65 TELEM2 */
#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 4 DMA2:66 TELEM2 */
#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 5 DMA1:79 TELEM1 */
#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 6 DMA1:80 TELEM1 */
//#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_1 /* DMA1:81 GPS2 */
//#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_1 /* DMA1:82 GPS2 */
// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned
// V
#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */
#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */
boards/ark/fmu-v6s/nuttx-config/nsh/defconfig
+327
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@@ -0,0 +1,327 @@
#
# 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_ARP 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_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_IFCONFIG is not set
# CONFIG_NSH_DISABLE_IFUPDOWN 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_NSLOOKUP 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_TELNETD 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/ark/fmu-v6s/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
CONFIG_ARCH_CHIP="stm32h7"
CONFIG_ARCH_CHIP_STM32H743II=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=0x003C
CONFIG_CDCACM_PRODUCTSTR="ARK FMU v6S.x"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3185
CONFIG_CDCACM_VENDORSTR="ARK"
CONFIG_CRYPTO=y
CONFIG_CRYPTO_RANDOM_POOL=y
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_ETH0_PHY_LAN8742A=y
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_FSUTILS_IPCFG=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_THROTTLE=0
CONFIG_IPCFG_BINARY=y
CONFIG_IPCFG_CHARDEV=y
CONFIG_IPCFG_PATH="/fs/mtd_net"
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_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_NET=y
CONFIG_NETDB_DNSCLIENT=y
CONFIG_NETDB_DNSCLIENT_ENTRIES=8
CONFIG_NETDB_DNSSERVER_NOADDR=y
CONFIG_NETDEV_PHY_IOCTL=y
CONFIG_NETINIT_DNS=y
CONFIG_NETINIT_DNSIPADDR=0xC0A800FE
CONFIG_NETINIT_DRIPADDR=0xC0A80001
CONFIG_NETINIT_IPADDR=0xC0A80004
CONFIG_NETINIT_MONITOR=y
CONFIG_NETINIT_THREAD=y
CONFIG_NETINIT_THREAD_PRIORITY=49
CONFIG_NETUTILS_TELNETD=y
CONFIG_NET_ARP_IPIN=y
CONFIG_NET_ARP_SEND=y
CONFIG_NET_BROADCAST=y
CONFIG_NET_ETH_PKTSIZE=1518
CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_NET_NACTIVESOCKETS=16
CONFIG_NET_SOLINGER=y
CONFIG_NET_TCP=y
CONFIG_NET_TCPBACKLOG=y
CONFIG_NET_TCP_DELAYED_ACK=y
CONFIG_NET_TCP_WRITE_BUFFERS=y
CONFIG_NET_UDP=y
CONFIG_NET_UDP_CHECKSUMS=y
CONFIG_NET_UDP_WRITE_BUFFERS=y
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_TELNET=y
CONFIG_NSH_TELNET_LOGIN=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_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_SDMMC2_SDIO_PULLUP=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_ETHMAC=y
CONFIG_STM32H7_FLASH_OVERRIDE_I=y
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
CONFIG_STM32H7_I2C1=y
CONFIG_STM32H7_I2C2=y
CONFIG_STM32H7_I2C3=y
CONFIG_STM32H7_I2C4=y
CONFIG_STM32H7_I2C_DYNTIMEO=y
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
CONFIG_STM32H7_OTGFS=y
CONFIG_STM32H7_PHYSR=31
CONFIG_STM32H7_PHYSR_100MBPS=0x8
CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
CONFIG_STM32H7_PHYSR_MODE=0x10
CONFIG_STM32H7_PHYSR_SPEED=0x8
CONFIG_STM32H7_PHY_POLLING=y
CONFIG_STM32H7_PROGMEM=y
CONFIG_STM32H7_RTC=y
CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=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_SPI5=y
CONFIG_STM32H7_SPI6=y
CONFIG_STM32H7_SPI6_DMA=y
CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
CONFIG_STM32H7_TIM12=y
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM4=y
CONFIG_STM32H7_TIM5=y
CONFIG_STM32H7_UART4=y
CONFIG_STM32H7_UART5=y
CONFIG_STM32H7_UART7=y
CONFIG_STM32H7_UART8=y
CONFIG_STM32H7_USART1=y
CONFIG_STM32H7_USART2=y
CONFIG_STM32H7_USART3=y
CONFIG_STM32H7_USART6=y
CONFIG_STM32H7_USART_BREAKS=y
CONFIG_STM32H7_USART_INVERT=y
CONFIG_STM32H7_USART_SINGLEWIRE=y
CONFIG_STM32H7_USART_SWAP=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_DHCPC_RENEW=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_PING=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART5_IFLOWCONTROL=y
CONFIG_UART5_OFLOWCONTROL=y
CONFIG_UART5_RXBUFSIZE=800
CONFIG_UART5_RXDMA=y
CONFIG_UART5_TXBUFSIZE=10000
CONFIG_UART5_TXDMA=y
CONFIG_UART7_BAUD=57600
CONFIG_UART7_IFLOWCONTROL=y
CONFIG_UART7_OFLOWCONTROL=y
CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_RXDMA=y
CONFIG_UART7_TXBUFSIZE=3000
CONFIG_UART7_TXDMA=y
CONFIG_UART8_BAUD=57600
CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y
CONFIG_USART2_OFLOWCONTROL=y
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_TXBUFSIZE=3000
CONFIG_USART3_BAUD=57600
CONFIG_USART3_RXBUFSIZE=180
CONFIG_USART3_RXDMA=y
CONFIG_USART3_SERIAL_CONSOLE=y
CONFIG_USART3_TXBUFSIZE=1500
CONFIG_USART3_TXDMA=y
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
boards/ark/fmu-v6s/nuttx-config/scripts/bootloader_script.ld
+215
View File
@@ -0,0 +1,215 @@
/****************************************************************************
* scripts/script.ld
*
* Copyright (C) 2016, 2022 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
*
* 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 ARKV6S uses an STM32H743IIK6 has 2048Kb of main FLASH memory.
* The flash memory is partitioned into a User Flash memory and a System
* Flash memory. Each of these memories has two banks:
*
* 1) User Flash memory:
*
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
*
* 2) System Flash memory:
*
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
*
* 3) User option bytes for user configuration, only in Bank 1.
*
* In the STM32H743II, two different boot spaces can be selected through
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
* BOOT_ADD1 option bytes:
*
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
* ST programmed value: Flash memory at 0x0800:0000
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
* ST programmed value: System bootloader at 0x1FF0:0000
*
* The ARKV6S has a test point on board, the BOOT0 pin is at ground so by
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
*
* The STM32H743II 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) }
}
boards/ark/fmu-v6s/nuttx-config/scripts/script.ld
+229
View File
@@ -0,0 +1,229 @@
/****************************************************************************
* scripts/script.ld
*
* Copyright (C) 2016, 2022 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
*
* 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 ARKV6S uses an STM32H743IIK6 has 2048Kb of main FLASH memory.
* The flash memory is partitioned into a User Flash memory and a System
* Flash memory. Each of these memories has two banks:
*
* 1) User Flash memory:
*
* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
*
* 2) System Flash memory:
*
* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
*
* 3) User option bytes for user configuration, only in Bank 1.
*
* In the STM32H743II, two different boot spaces can be selected through
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
* BOOT_ADD1 option bytes:
*
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
* ST programmed value: Flash memory at 0x0800:0000
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
* ST programmed value: System bootloader at 0x1FF0:0000
*
* The ARKV6S has a test point on board, the BOOT0 pin is at ground so by
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
*
* The STM32H743II 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) }
}
boards/ark/fmu-v6s/rover.px4board
+17
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@@ -0,0 +1,17 @@
CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_MC_ATT_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
boards/ark/fmu-v6s/src/CMakeLists.txt
+75
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@@ -0,0 +1,75 @@
############################################################################
#
# 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.
#
############################################################################
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
sdio.c
spi.cpp
timer_config.cpp
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_io_pins
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
)
endif()
boards/ark/fmu-v6s/src/board_config.h
+504
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File diff suppressed because it is too large Load Diff
boards/ark/fmu-v6s/src/bootloader_main.c
+85
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@@ -0,0 +1,85 @@
/****************************************************************************
*
* Copyright (c) 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 bootloader_main.c
*
* FMU-specific early startup code for bootloader
*/
#include "board_config.h"
#include "bl.h"
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <chip.h>
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include <px4_platform/gpio.h>
#include <px4_platform_common/init.h>
extern int sercon_main(int c, char **argv);
__EXPORT void board_on_reset(int status) {}
__EXPORT void stm32_boardinitialize(void)
{
/* configure pins */
const uint32_t list[] = PX4_GPIO_INIT_LIST;
for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
if (list[gpio] != 0) {
px4_arch_configgpio(list[gpio]);
}
}
/* configure USB interfaces */
stm32_usbinitialize();
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
return 0;
}
void board_late_initialize(void)
{
sercon_main(0, NULL);
}
extern void sys_tick_handler(void);
void board_timerhook(void)
{
sys_tick_handler();
}
boards/ark/fmu-v6s/src/can.c
+142
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@@ -0,0 +1,142 @@
/****************************************************************************
*
* 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 can.c
*
* Board-specific CAN functions.
*/
#if !defined(CONFIG_CAN)
#include <stdint.h>
#include "board_config.h"
__EXPORT
uint16_t board_get_can_interfaces(void)
{
uint16_t enabled_interfaces = 0x3;
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
enabled_interfaces &= ~(1 << 1);
}
return enabled_interfaces;
}
#else
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "arm_internal.h"
#include "chip.h"
#include "stm32_can.h"
#include "board_config.h"
/************************************************************************************
* 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 /* CONFIG_CAN */
boards/ark/fmu-v6s/src/hw_config.h
+128
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@@ -0,0 +1,128 @@
/*
* 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/<asterisk>PX4<asterisk> 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 61
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
#define BOARD_FLASH_SECTORS (15)
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
#define OSC_FREQ 16
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
#define BOARD_LED_ON 0
#define BOARD_LED_OFF 1
#define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_ */
boards/ark/fmu-v6s/src/i2c.cpp
+41
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@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 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 <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusExternal(3),
initI2CBusInternal(4),
};
boards/ark/fmu-v6s/src/init.c
+290
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@@ -0,0 +1,290 @@
/****************************************************************************
*
* 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
*
* ARKFMU-v6S-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 <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
#include <chip.h>
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
/****************************************************************************
* 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 */
VDD_5V_HIPOWER_EN(false);
VDD_5V_PERIPH_EN(false);
board_control_spi_sensors_power(false, 0x0001);
SPI6_RESET(true);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
/* Keep Spektum on to discharge rail*/
VDD_3V3_SPEKTRUM_POWER_EN(false);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the peripheral rail back on */
VDD_3V3_SPEKTRUM_POWER_EN(last);
board_control_spi_sensors_power(true, 0x0001);
VDD_5V_HIPOWER_EN(true);
VDD_5V_PERIPH_EN(true);
/* Release SPI6 Reset */
SPI6_RESET(false);
}
/************************************************************************************
* Name: board_on_reset
*
* Description:
* Optionally provided function called on entry to board_system_reset
* It should perform any house keeping prior to the rest.
*
* status - 1 if resetting to boot loader
* 0 if just resetting
*
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
/*
* On resets invoked from system (not boot) ensure we establish a low
* output state on PWM pins to disarm the ESC and prevent the reset from potentially
* spinning up the motors.
*/
if (status >= 0) {
up_mdelay(100);
}
}
/************************************************************************************
* 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();
VDD_3V3_ETH_POWER_EN(true);
}
/****************************************************************************
* 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)
{
/* Power on Interfaces */
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
VDD_3V3_SPEKTRUM_POWER_EN(true);
SPI6_RESET(false);
/* Need hrt running before using the ADC */
px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
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");
}
/* Configure the Actual SPI interfaces (after we determined the HW version) */
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_on(LED_GREEN); // Indicate Power.
led_off(LED_BLUE);
if (board_hardfault_init(2, true) != 0) {
led_on(LED_RED);
}
// Ensure Power is off for > 10 mS
usleep(15 * 1000);
VDD_3V3_SD_CARD_EN(true);
usleep(500 * 1000);
#ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* CONFIG_MMCSD */
return OK;
}
boards/ark/fmu-v6s/src/led.c
+235
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/****************************************************************************
*
* 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
*
* ARKFMU LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
/*
* 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
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
0, // Indexed by LED_SAFETY (defaulted to an input)
GPIO_nLED_GREEN, // 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 */
boards/ark/fmu-v6s/src/mtd.cpp
+108
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/****************************************************************************
*
* Copyright (C) 2024 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 <nuttx/config.h>
#include <board_config.h>
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t spi5 = { // 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_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 256
.bus_type = px4_mft_device_t::I2C,
.devid = PX4_MK_I2C_DEVID(3, 0x51)
};
static const px4_mtd_entry_t fmum_fram = {
.device = &spi5,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
}
},
};
static const px4_mtd_entry_t base_eeprom = {
.device = &i2c3,
.npart = 2,
.partd = {
{
.type = MTD_MFT_VER,
.path = "/fs/mtd_mft_ver",
.nblocks = 248
},
{
.type = MTD_NET,
.path = "/fs/mtd_net",
.nblocks = 8 // 256 = 32 * 8
}
},
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 2,
.entries = {
&fmum_fram,
&base_eeprom,
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_entry_s mft_mft = {
.type = MFT,
.pmft = (void *) system_query_manifest,
};
static const px4_mft_s mft = {
.nmft = 2,
.mfts = {
&mtd_mft,
&mft_mft,
}
};
const px4_mft_s *board_get_manifest(void)
{
return &mft;
}
boards/ark/fmu-v6s/src/sdio.c
+177
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/****************************************************************************
*
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <nuttx/config.h>
#include <board_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#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 */
boards/ark/fmu-v6s/src/spi.cpp
+51
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@@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (C) 2024 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 <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
boards/ark/fmu-v6s/src/timer_config.cpp
+79
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/****************************************************************************
*
* 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 <px4_arch/io_timer_hw_description.h>
/* Timer allocation
*
* TIM5_CH4 T FMU_CH1
* TIM5_CH3 T FMU_CH2
* TIM5_CH2 T FMU_CH3
* TIM5_CH1 T FMU_CH4
*
* TIM4_CH2 T FMU_CH5
* TIM4_CH3 T FMU_CH6
*
* TIM12_CH1 T FMU_CH7
* TIM12_CH2 T FMU_CH8
*
* TIM1_CH2 T FMU_CAP1 < Capture
* TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
* TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe
*
* TIM2_CH3 T HEATER > PWM OUT or GPIO
*
* TIM14_CH1 T BUZZER_1 - Driven by other driver
* TIM8_CH1_IN T FMU_PPM_INPUT - Sampled byt HRT by other driver
*/
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
initIOTimer(Timer::Timer1),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
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::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
boards/ark/fmu-v6s/src/usb.c
+105
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@@ -0,0 +1,105 @@
/****************************************************************************
*
* 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 usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include "arm_internal.h"
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the ARKFMU 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);
}
boards/ark/fmu-v6s/zenoh.px4board
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# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=n
CONFIG_MODULES_ZENOH=y