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changes for ARKFPV board to use Cyphal-CAN
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jwwaite committed Jan 5, 2025
1 parent 821558f commit c5086c3
Showing 4 changed files with 27 additions and 3 deletions.
4 changes: 1 addition & 3 deletions boards/ark/fpv/default.px4board
Original file line number Diff line number Diff line change
@@ -16,13 +16,11 @@ CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_COMMON_RC=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_COMMANDER=y
7 changes: 7 additions & 0 deletions boards/ark/fpv/init/rc.board_defaults
Original file line number Diff line number Diff line change
@@ -35,3 +35,10 @@ param set-default IMU_GYRO_DNF_EN 3
# Single IMU
param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 1

# Cyphal
param set-default CYPHAL_ENABLE 1

# Single CAN-FD interface
ifup can0

15 changes: 15 additions & 0 deletions boards/ark/fpv/nuttx-config/nsh/defconfig
Original file line number Diff line number Diff line change
@@ -131,6 +131,21 @@ 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_LATEINIT=y
CONFIG_NET_CAN=y
CONFIG_NET_CAN_NOTIFIER=y
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
CONFIG_NET_CAN_SOCK_OPTS=y
CONFIG_NET_TIMESTAMP=y
CONFIG_NET_UDP=y
CONFIG_STM32H7_FDCAN1=y
CONFIG_FDCAN1_ARBI_BITRATE=1000000
CONFIG_FDCAN1_DATA_BITRATE=4000000
CONFIG_CANUTILS_CANDUMP=y
CONFIG_CANUTILS_CANSEND=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
4 changes: 4 additions & 0 deletions boards/ark/fpv/src/init.c
Original file line number Diff line number Diff line change
@@ -65,6 +65,7 @@
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include "stm32_fdcan_sock.h"

#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
@@ -295,5 +296,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
spix_sync_servo_set(0, 150);

#ifdef CONFIG_STM32H7_FDCAN1
stm32_fdcansockinitialize(0);
#endif
return OK;
}

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