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Add Tropic teensy loader upload support

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This commit is contained in:
Peter van der Perk
2024-02-04 12:47:05 +01:00
committed by Daniel Agar
parent 04b6412731
commit c6e86fdea0
5 changed files with 221 additions and 4 deletions
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platforms/nuttx/CMakeLists.txt
+24 -1
View File
@@ -297,6 +297,29 @@ else()
endif()
# create .hex if configured in NuttX
if (CONFIG_INTELHEX_BINARY)
string(REPLACE ".elf" ".hex" hex_package ${PX4_BINARY_DIR}/${FW_NAME})
add_custom_command(
OUTPUT ${hex_package}
COMMAND
${CMAKE_OBJCOPY} -O ihex
${PX4_BINARY_DIR}/${PX4_CONFIG}.elf
${hex_package}
DEPENDS
${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
airframes_xml
parameters_xml
COMMENT "Creating ${hex_package}"
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(px4_hex ALL DEPENDS ${hex_package})
endif()
# create .px4 with parameter and airframe metadata
if (TARGET parameters_xml AND TARGET airframes_xml)
@@ -383,7 +406,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.g
if(NOT NUTTX_DIR MATCHES "external")
if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
set(DEBUG_DEVICE "MIMXRT1062XXX6A")
set(DEBUG_SVD_FILE "MIMXRT1052.svd")
set(DEBUG_SVD_FILE "MIMXRT1062.xml")
elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA)
set(DEBUG_DEVICE "MIMXRT1176DVMAA")
set(DEBUG_SVD_FILE "MIMXRT1176_cm7.xml")
platforms/nuttx/cmake/upload.cmake
+1
View File
@@ -35,6 +35,7 @@
set(vendorstr_underscore)
set(productstr_underscore)
string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
string(REPLACE "," "_" vendorstr_underscore "${vendorstr_underscore}")
string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
set(serial_ports)
platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt
+2
View File
@@ -35,7 +35,9 @@ px4_add_library(arch_board_reset
board_reset.cpp
)
if (CONFIG_ARCH_FAMILY_IMXRT117x)
target_link_libraries(arch_board_reset PRIVATE arch_board_romapi)
endif()
# up_systemreset
if (NOT DEFINED CONFIG_BUILD_FLAT)
platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+13 -3
View File
@@ -42,11 +42,12 @@
#include <errno.h>
#include <nuttx/board.h>
#include <arm_internal.h>
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
#include <hardware/rt117x/imxrt117x_snvs.h>
#include <px4_arch/imxrt_flexspi_nor_flash.h>
#include <px4_arch/imxrt_romapi.h>
#endif
#define BOOT_RTC_SIGNATURE 0xb007b007
#define PX4_IMXRT_RTC_REBOOT_REG 3
@@ -58,9 +59,13 @@
static int board_reset_enter_bootloader()
{
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
uint32_t regvalue = BOOT_RTC_SIGNATURE;
modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS);
putreg32(regvalue, PX4_IMXRT_RTC_REBOOT_REG_ADDRESS);
#elif defined(BOARD_HAS_TEENSY_BOOTLOADER)
asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
#endif
return OK;
}
@@ -68,13 +73,18 @@ int board_reset(int status)
{
if (status == REBOOT_TO_BOOTLOADER) {
board_reset_enter_bootloader();
}
} else if (status == REBOOT_TO_ISP) {
#if defined(BOARD_HAS_ISP_BOOTLOADER)
else if (status == REBOOT_TO_ISP) {
uint32_t arg = 0xeb100000;
ROM_API_Init();
ROM_RunBootloader(&arg);
}
#endif
#if defined(BOARD_HAS_ON_RESET)
board_on_reset(status);
#endif