From 6c8573450623bb2d4eec2b2f7298458814a8a5ae Mon Sep 17 00:00:00 2001 From: JacobCrabill Date: Tue, 24 May 2022 08:54:23 -0700 Subject: [PATCH 1/4] [WIP] Update submodule NuttX Point to the branch of https://github.com/PX4/NuttX/pull/185 Adds SocketCAN support to STM32H7 --- .gitmodules | 4 ++-- platforms/nuttx/NuttX/nuttx | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.gitmodules b/.gitmodules index 22ef494793a7..bc24326571a6 100644 --- a/.gitmodules +++ b/.gitmodules @@ -24,8 +24,8 @@ branch = master [submodule "platforms/nuttx/NuttX/nuttx"] path = platforms/nuttx/NuttX/nuttx - url = https://github.com/PX4/NuttX.git - branch = px4_firmware_nuttx-10.1.0+ + url = git@github.com/volansi/NuttX.git + branch = px4-10.1.0+-backport-fdcan [submodule "platforms/nuttx/NuttX/apps"] path = platforms/nuttx/NuttX/apps url = https://github.com/PX4/NuttX-apps.git diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx index c5c7d2b4f26f..2d209e6ec1c4 160000 --- a/platforms/nuttx/NuttX/nuttx +++ b/platforms/nuttx/NuttX/nuttx @@ -1 +1 @@ -Subproject commit c5c7d2b4f26f52f1dfb425ebde83328606b65d4f +Subproject commit 2d209e6ec1c4c9838fd40f0779017e443117e611 From f9de4b970c00c74476761f66d3eebab5d612bacf Mon Sep 17 00:00:00 2001 From: JacobCrabill Date: Tue, 24 May 2022 09:17:07 -0700 Subject: [PATCH 2/4] boards: Add mro_ctrl-zero-h7-oem_socketcan boardconfig --- .../nuttx-config/socketcan/defconfig | 246 ++++++++++++++++++ .../mro/ctrl-zero-h7-oem/socketcan.px4board | 12 + 2 files changed, 258 insertions(+) create mode 100644 boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig create mode 100644 boards/mro/ctrl-zero-h7-oem/socketcan.px4board diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig new file mode 100644 index 000000000000..af715d03bea2 --- /dev/null +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig @@ -0,0 +1,246 @@ +# +# 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_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_NET_ETHERNET is not set +# CONFIG_NET_IPv4 is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_TIME is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=512 +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_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=95150 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_C99_BOOL8=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1024 +CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_VENDORSTR="mRo" +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_MEMFAULT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_LFN_ALIAS_HASH=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_BINFS=y +CONFIG_FS_CROMFS=y +CONFIG_FS_FAT=y +CONFIG_FS_FATTIME=y +CONFIG_FS_PROCFS=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y +CONFIG_FS_PROCFS_MAX_TASKS=64 +CONFIG_FS_PROCFS_REGISTER=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_I2C=y +CONFIG_I2C_RESET=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +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_NETDEV_CAN_BITRATE_IOCTL=y +CONFIG_NETDEV_IFINDEX=y +CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NET_CAN=y +CONFIG_NET_CAN_RAW_TX_DEADLINE=y +CONFIG_NET_CAN_SOCK_OPTS=y +CONFIG_NET_TIMESTAMP=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_DISABLE_TELNETD=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +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_ATEXIT=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_NNESTPRIO=8 +CONFIG_SEM_PREALLOCHOLDERS=0 +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_FDCAN1=y +CONFIG_STM32H7_FDCAN2=y +CONFIG_STM32H7_FDCAN_HPWORK=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=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_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI5=y +CONFIG_STM32H7_SPI5_DMA=y +CONFIG_STM32H7_SPI5_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI_DMA=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM2=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2944 +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/mro/ctrl-zero-h7-oem/socketcan.px4board b/boards/mro/ctrl-zero-h7-oem/socketcan.px4board new file mode 100644 index 000000000000..a6c5a12437f5 --- /dev/null +++ b/boards/mro/ctrl-zero-h7-oem/socketcan.px4board @@ -0,0 +1,12 @@ +CONFIG_DRIVERS_UAVCAN=n +CONFIG_DRIVERS_UAVCAN_V1=y +CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y +CONFIG_UAVCAN_V1_ESC_CONTROLLER=y +CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y +CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y +CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y +CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y +CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y From 1008cce63898700bc68ebf6b4360c8c33f707877 Mon Sep 17 00:00:00 2001 From: JacobCrabill Date: Tue, 24 May 2022 09:17:46 -0700 Subject: [PATCH 3/4] mavlink: Replace CONFIG_NET with CONFIG_NET_UDP Allows use of SocketCAN w/o also enabling UDP support in NuttX --- src/modules/mavlink/mavlink_main.cpp | 20 ++++++++++---------- src/modules/mavlink/mavlink_main.h | 4 ++-- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 43c87f612e52..bd32d5bb79fb 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -42,7 +42,7 @@ #include -#ifdef CONFIG_NET +#ifdef CONFIG_NET_UDP #include #include #include @@ -70,7 +70,7 @@ #error The non-standard CRTSCTS define is incorrect. Fix this in the OS or replace with (CRTS_IFLOW | CCTS_OFLOW) #endif -#ifdef CONFIG_NET +#ifdef CONFIG_NET_UDP #define MAVLINK_NET_ADDED_STACK PX4_STACK_ADJUSTED(350) #else #define MAVLINK_NET_ADDED_STACK 0 @@ -765,15 +765,15 @@ void Mavlink::send_finish() else if (get_protocol() == Protocol::UDP) { -# if defined(CONFIG_NET) +# if defined(CONFIG_NET_UDP) if (_src_addr_initialized) { -# endif // CONFIG_NET +# endif // CONFIG_NET_UDP ret = sendto(_socket_fd, _buf, _buf_fill, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr)); -# if defined(CONFIG_NET) +# if defined(CONFIG_NET_UDP) } -# endif // CONFIG_NET +# endif // CONFIG_NET_UDP if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() && (!get_client_source_initialized() || !is_gcs_connected())) { @@ -1852,7 +1852,7 @@ Mavlink::task_main(int argc, char *argv[]) bool err_flag = false; int myoptind = 1; const char *myoptarg = nullptr; -#if defined(CONFIG_NET) || defined(__PX4_POSIX) +#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX) int temp_int_arg; #endif @@ -3282,7 +3282,7 @@ Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz: PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS1", "", "Select Serial Device", true); PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:)", true); PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true); -#if defined(CONFIG_NET) || defined(__PX4_POSIX) +#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX) PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true); PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true); PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true); @@ -3303,7 +3303,7 @@ Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz: PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances"); PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop a running instance"); -#if defined(CONFIG_NET) || defined(__PX4_POSIX) +#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX) PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true); #endif PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "Select Mavlink instance via Serial Device", true); @@ -3313,7 +3313,7 @@ Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz: PRINT_MODULE_USAGE_ARG("streams", "Print all enabled streams", true); PRINT_MODULE_USAGE_COMMAND_DESCR("stream", "Configure the sending rate of a stream for a running instance"); -#if defined(CONFIG_NET) || defined(__PX4_POSIX) +#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX) PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true); #endif PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "Select Mavlink instance via Serial Device", true); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 23c2fd5e4b40..2a28121b4477 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -53,7 +53,7 @@ #include #endif -#if defined(CONFIG_NET) || !defined(__PX4_NUTTX) +#if defined(CONFIG_NET_UDP) || !defined(__PX4_NUTTX) #include #include #endif @@ -90,7 +90,7 @@ #define HASH_PARAM "_HASH_CHECK" -#if defined(CONFIG_NET) || defined(__PX4_POSIX) +#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX) # define MAVLINK_UDP # define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec #endif // CONFIG_NET || __PX4_POSIX From a89677bcf48ff3c0be6fa0b74b9e6b70640e8711 Mon Sep 17 00:00:00 2001 From: JacobCrabill Date: Tue, 24 May 2022 09:59:12 -0700 Subject: [PATCH 4/4] boards: Add cubepilot_cubeorange_socketcan boardconfig --- .../nuttx-config/socketcan/defconfig | 244 ++++++++++++++++++ .../cubepilot/cubeorange/socketcan.px4board | 22 ++ 2 files changed, 266 insertions(+) create mode 100644 boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig create mode 100644 boards/cubepilot/cubeorange/socketcan.px4board diff --git a/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig b/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig new file mode 100644 index 000000000000..89f07358bea9 --- /dev/null +++ b/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig @@ -0,0 +1,244 @@ +# +# 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_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_NET_ETHERNET is not set +# CONFIG_NET_IPv4 is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_REBOOT is not set +# CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SHUTDOWN is not set +# CONFIG_NSH_DISABLE_TIME is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H743ZI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_INTERRUPTSTACK=512 +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_CRASHDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=79954 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_C99_BOOL8=y +CONFIG_CANUTILS_CANDUMP=y +CONFIG_CANUTILS_CANSEND=y +CONFIG_CDCACM=y +CONFIG_CDCACM_IFLOWCONTROL=y +CONFIG_CDCACM_PRODUCTID=0x1016 +CONFIG_CDCACM_PRODUCTSTR="CubeOrange" +CONFIG_CDCACM_RXBUFSIZE=600 +CONFIG_CDCACM_TXBUFSIZE=12000 +CONFIG_CDCACM_VENDORID=0x2DAE +CONFIG_CDCACM_VENDORSTR="CubePilot" +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEV_FIFO_SIZE=0 +CONFIG_DEV_PIPE_MAXSIZE=1024 +CONFIG_DEV_PIPE_SIZE=70 +CONFIG_EXAMPLES_CALIB_UDELAY=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_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_LIBC_LONG_LONG=y +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_NETDEV_CAN_BITRATE_IOCTL=y +CONFIG_NETDEV_IFINDEX=y +CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NET_CAN=y +CONFIG_NET_CAN_RAW_TX_DEADLINE=y +CONFIG_NET_CAN_SOCK_OPTS=y +CONFIG_NET_TIMESTAMP=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_DISABLE_TELNETD=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_VARS=y +CONFIG_OTG_ID_GPIO_DISABLE=y +CONFIG_PIPES=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +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_ATEXIT=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=249 +CONFIG_SCHED_HPWORKSTACKSIZE=1280 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_WAITPID=y +CONFIG_SDMMC1_SDIO_PULLUP=y +CONFIG_SEM_NNESTPRIO=8 +CONFIG_SEM_PREALLOCHOLDERS=0 +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_BKPSRAM=y +CONFIG_STM32H7_DMA1=y +CONFIG_STM32H7_DMA2=y +CONFIG_STM32H7_DMACAPABLE=y +CONFIG_STM32H7_FDCAN1=y +CONFIG_STM32H7_FDCAN2=y +CONFIG_STM32H7_FLOWCONTROL_BROKEN=y +CONFIG_STM32H7_I2C1=y +CONFIG_STM32H7_I2C2=y +CONFIG_STM32H7_I2C_DYNTIMEO=y +CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 +CONFIG_STM32H7_OTGFS=y +CONFIG_STM32H7_PROGMEM=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y +CONFIG_STM32H7_RTC_MAGIC_REG=1 +CONFIG_STM32H7_SAVE_CRASHDUMP=y +CONFIG_STM32H7_SDMMC1=y +CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32H7_SPI1=y +CONFIG_STM32H7_SPI1_DMA=y +CONFIG_STM32H7_SPI1_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI2=y +CONFIG_STM32H7_SPI4=y +CONFIG_STM32H7_SPI4_DMA=y +CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI_DMA=y +CONFIG_STM32H7_TIM1=y +CONFIG_STM32H7_TIM3=y +CONFIG_STM32H7_TIM4=y +CONFIG_STM32H7_UART4=y +CONFIG_STM32H7_UART7=y +CONFIG_STM32H7_UART8=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y +CONFIG_STM32H7_USART_BREAKS=y +CONFIG_STM32H7_USART_INVERT=y +CONFIG_STM32H7_USART_SINGLEWIRE=y +CONFIG_STM32H7_USART_SWAP=y +CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_TTY_SIGINT=y +CONFIG_TTY_SIGTSTP=y +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_RXBUFSIZE=600 +CONFIG_UART4_TXBUFSIZE=1500 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_RXBUFSIZE=600 +CONFIG_UART7_SERIAL_CONSOLE=y +CONFIG_UART7_TXBUFSIZE=1500 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_RXBUFSIZE=600 +CONFIG_UART8_TXBUFSIZE=1500 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_TXBUFSIZE=1500 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y +CONFIG_USART3_RXBUFSIZE=600 +CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 +CONFIG_USART6_TXBUFSIZE=1500 +CONFIG_USBDEV=y +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=2944 +CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/cubepilot/cubeorange/socketcan.px4board b/boards/cubepilot/cubeorange/socketcan.px4board new file mode 100644 index 000000000000..9ebc42b594f6 --- /dev/null +++ b/boards/cubepilot/cubeorange/socketcan.px4board @@ -0,0 +1,22 @@ +CONFIG_DRIVERS_ADC_ADS1115=n +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n +CONFIG_DRIVERS_IRLOCK=n +CONFIG_DRIVERS_PCA9685=n +CONFIG_DRIVERS_PCA9685_PWM_OUT=n +CONFIG_DRIVERS_RPM=n +CONFIG_DRIVERS_UAVCAN=n +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n +CONFIG_MODULES_ROVER_POS_CONTROL=n +CONFIG_MODULES_TEMPERATURE_COMPENSATION=n +CONFIG_DRIVERS_UAVCAN_V1=y +CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y +CONFIG_UAVCAN_V1_ESC_CONTROLLER=y +CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y +CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y +CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y +CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y +CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y +CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y