[WIP Do not merge] NXP i.MXRT port of PX4 FMUv5 #11351

davids5 · 2019-01-31T00:09:13Z

This is the initial Work In Progress of a PX4 FMUv5 port to the NXP iMXRT 1062 SoC.

Current Code bringup is being done on the MIMXRT1060-EVK: i.MX RT1060 Evaluation Kit

Since the EVK hardware is application specific, full integration testing is not possible untile the real HW is ready.

Therefor there are some #ifdefs that ensure we do not create a contention on pins other then on J22 - J25.

This branch is subject to change via forced pushed!

Status:

davids5 · 2019-02-01T12:09:30Z

Current defconfig is set up for running on MIMXRT1060-EVK

Since the pinout of the EVK is application specific, peripherals have to be tested in a piecemeal fashion.

The easiest to connect to pins are on the Arduino interface:

This is spi build (no SDIO) and no devices connected

sercon: Registering CDC/ACM serial driver
sercon: ERROR: Failed to create the CDC/ACM serial device: 1
HW arch: NXP_FMURT1062_V1
HW type: V5xx
HW version: 0x00000000
HW revision: 0x00000000
FW git-hash: 5460af211911f7fe46a74e0c53b1c4d33c7a6c35
FW version: 1.9.0 0 (17367040)
FW git-branch: master_nuttx_7.28+_rt
OS: NuttX
OS version: Release 7.28.0 (119275775)
OS git-hash: 2f18326c0936000b1d410ad5fc6ebe1e1d0de671
Build datetime: Feb  1 2019 03:20:37
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 00050000000000000000202000000000e9ba
MCU: imxrt 10??, rev. 0
nsh: mount: mount failed: Block device required
INFO  [tune_control] Publishing standard tune 16
nsh: mkfatfs: mkfatfs failed: No such file or directory
INFO  [tune_control] Publishing standard tune 2
WARN  [mtd] MTD not enabled, skipping.
INFO  [param] selected parameter default file /fs/microsd/params
ERROR [param] open '/fs/microsd/params' failed (2)
WARN  [dataman] Could not open data manager file /fs/microsd/dataman
ERROR [dataman] dataman start failed
ERROR [parameters] failed to open param file: /fs/microsd/params
ERROR [parameters] param auto save failed (-1)
rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
ERROR [param] Parameter SYS_USE_IO not found
MS5611_SPI on SPI bus 3 at 0 (20000 KHz)
WARN  [ms5611] no device on bus 3
WARN  [bst] no devices found
ERROR [adc] ADC init failed
nsh: icm20948: command not found
px4flow [46:100]
INFO  [px4flow] scanning I2C buses for device..
ERROR [sensors] no ADC found: /dev/adc0 (2)
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS1
No autostart ID found
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [logger] logger started (mode=all)
INFO  [logger] log root dir created: /fs/microsd/log

NuttShell (NSH)
nsh> ERROR [parameters] failed to open param file: /fs/microsd/params
ERROR [parameters] param auto save failed (-1)

nsh> ls
/:
 dev/
 etc/
 fs/
 obj/
 proc/
nsh> ls /dev
/dev:
 console
 led0
 null
 rgbled0
 tone_alarm0
 ttyACM0
 ttyS0
 ttyS1
 ttyS2
nsh> free
             total       used       free    largest
Umem:      1024848     112560     912288     903472
nsh>

FYI @igalloway

davids5 · 2019-02-01T17:12:55Z

SDIO Config Pushed

NuttShell (NSH)
nsh> Successfully bound SDHC to the MMC/SD driver
sercon: Registering CDC/ACM serial driver
sercon: ERROR: Failed to create the CDC/ACM serial device: 1
HW arch: NXP_FMURT1062_V1
HW type: V5xx
HW version: 0x00000000
HW revision: 0x00000000
FW git-hash: f8bdc8774929e801d37803ffd4a5b200644dedca
FW version: 1.9.0 0 (17367040)
FW git-branch: master_nuttx_7.28+_rt
OS: NuttX
OS version: Release 7.28.0 (119275775)
OS git-hash: 2f18326c0936000b1d410ad5fc6ebe1e1d0de671
Build datetime: Feb  1 2019 08:59:59
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 00050000000000000000202000000000e9ba
MCU: imxrt 10??, rev. 0
nsh: hardfault_log: command not found
INFO  [tune_control] Publishing standard tune 1
WARN  [mtd] MTD not enabled, skipping.
INFO  [param] selected parameter default file /fs/microsd/params
INFO  [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 350216 bytes
WARN  [rgbled] no RGB led on bus #1
WARN  [rgbled_ncp5623c] no RGB led on bus #1
WARN  [blinkm] I2C init failed
WARN  [blinkm] init failed
ERROR [param] Parameter SYS_USE_IO not found
MS5611_SPI on SPI bus 3 at 0 (20000 KHz)
WARN  [ms5611] no device on bus 3
ERROR [adc] ADC init failed
nsh: icm20948: command not found
px4flow [48:100]
INFO  [px4flow] scanning I2C buses for device..
ERROR [sensors] no ADC found: /dev/adc0 (2)
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS1
No autostart ID found
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [logger] logger started (mode=all)

NuttShell (NSH)
nsh> sd_bench
INFO  [sd_bench] Using block size = 4096 bytes, sync=0
INFO  [sd_bench]
INFO  [sd_bench] Testing Sequential Write Speed...
INFO  [sd_bench]   Run  0:   352.81 KB/s, max write time: 317 ms (=  12.62 KB/s), fsync: 366 ms
INFO  [sd_bench]   Run  1:   710.43 KB/s, max write time: 315 ms (=  12.70 KB/s), fsync: 45 ms
INFO  [sd_bench]   Run  2:   692.92 KB/s, max write time: 273 ms (=  14.65 KB/s), fsync: 170 ms
INFO  [sd_bench]   Run  3:   621.45 KB/s, max write time: 342 ms (=  11.70 KB/s), fsync: 11 ms
INFO  [sd_bench]   Run  4:   655.91 KB/s, max write time: 313 ms (=  12.78 KB/s), fsync: 12 ms
INFO  [sd_bench]   Avg   :   594.79 KB/s

bys1123 · 2019-02-03T09:23:30Z

Thanks for your work, Excited to see PX4 will port to iMX RT board. Do you think it maybe would be better call it nxp_fmu-rt1062 instead of nxp_fmurt1062-v1? Will rt1062 board have ver.2?

davids5 · 2019-02-15T23:29:50Z

PWW tested on J22-5 (channel 4)

NuttShell (NSH)
nsh> fmu test
INFO  [fmu] Not in a capture mode
INFO  [fmu] Testing 8 servos and 0 input captures
INFO  [fmu] Press CTRL-C or 'c' to abort.
INFO  [fmu] User abort
nsh> pwm info


channel 1: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 2: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 3: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 4: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 5: 1500 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 6: 1500 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim:  0.00)
channel 7: 1877 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim:  2.64)
channel 8: 1877 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim:  2.46)
channel group 0: channels 1
channel group 1: channels 2
channel group 2: channels 3
channel group 3: channels 4
channel group 4: channels 5
channel group 5: channels 6
channel group 6: channels 7
channel group 7: channels 8

LorenzMeier · 2019-02-15T23:38:00Z

Nice!

davids5 · 2019-02-22T22:52:41Z

ADC tested on EVK, Hardware Ver and Rev detections is now supported*.

Connector	FMU Usage	GPIO	GPIO1 Pin	ADC Chan
J23-2	BATTERY1_VOLTAGE	GPIO_AD_B1_11	27	0
J23-3	HW_VER_SENSE	GPIO_AD_B1_04	20	9
J23-4	SCALED_V5	GPIO_AD_B1_05	21	10
J22-4	HW_REV_SENSE	GPIO_AD_B1_08	24	13
J23-1	RSSI_IN	GPIO_AD_B1_10	26	15

[boot] Rev 0x7 : Ver 0x8 V587
Successfully bound SDHC to the MMC/SD driver
sercon: Registering CDC/ACM serial driver
sercon: ERROR: Failed to create the CDC/ACM serial device: 1
HW arch: NXP_FMURT1062_V1
HW type: V587
HW version: 0x00000008
HW revision: 0x00000007
FW git-hash: cf46b836635c9e44af9f90dc71f01812b6f488fc
FW version: 1.9.0 0 (17367040)
FW git-branch: master_nuttx_7.28+_rt
OS: NuttX
OS version: Release 7.28.0 (119275775)
OS git-hash: 8de101ca18ce8975abbb4dc58f97a8f77f6d1ac6
Build datetime: Feb 22 2019 12:51:22
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 0005000000000000000020200000000009bb
MCU: imxrt 10??, rev. 0
nsh: hardfault_log: command not found
INFO  [tune_control] Publishing standard tune 1
WARN  [mtd] MTD not enabled, skipping.
INFO  [param] selected parameter default file /fs/microsd/params
INFO  [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes
WARN  [rgbled] no RGB led on bus #1
WARN  [rgbled_ncp5623c] no RGB led on bus #1
WARN  [blinkm] I2C init failed
WARN  [blinkm] init failed
ERROR [param] Parameter SYS_USE_IO not found
MS5611_SPI on SPI bus 3 at 0 (20000 KHz)
WARN  [ms5611] no device on bus 3
adc CDev::init
nsh: icm20948: command not found
px4flow [137:100]
INFO  [px4flow] scanning I2C buses for device..
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS1
INFO  [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0
ERROR [param] Parameter CAM_CAP_FBACK not found
ERROR [param] Parameter UAVCAN_ENABLE not found
INFO  [logger] logger started (mode=all)

nsh> adc test
0: 1188  9: 1930  10: 2135  13: 2148  15: 4
0: 1169  9: 1931  10: 2135  13: 2157  15: 2
0: 1190  9: 1931  10: 2136  13: 2156  15: 0
0: 1196  9: 1951  10: 2153  13: 2161  15: 0
0: 1357  9: 2219  10: 2447  13: 2178  15: 10
0: 1130  9: 1840  10: 2205  13: 2173  15: 5
0: 1498  9: 1900  10: 2152  13: 2165  15: 2030
0: 1614  9: 2082  10: 2201  13: 2157  15: 2127
0: 1694  9: 2114  10: 2232  13: 2153  15: 2168
0: 1657  9: 2114  10: 2218  13: 2152  15: 2162
0: 1656  9: 2121  10: 2228  13: 2154  15: 2163
0: 8  9: 1752  10: 2175  13: 2148  15: 2205
0: 3  9: 1719  10: 2140  13: 2146  15: 2180
0: 7  9: 1740  10: 2158  13: 2145  15: 2179
0: 0  9: 1821  10: 2546  13: 2179  15: 2544
0: 2  9: 1728  10: 2160  13: 2147  15: 2209
0: 5  9: 1752  10: 2171  13: 2144  15: 2214
0: 6  9: 1586  10: 2007  13: 2136  15: 2075
0: 1540  9: 1956  10: 2074  13: 2145  15: 2125
0: 1566  9: 3  10: 1794  13: 2125  15: 2101
0: 1520  9: 2  10: 1633  13: 2078  15: 2099
0: 1581  9: 0  10: 1638  13: 2035  15: 2112
0: 1508  9: 4  10: 1991  13: 2099  15: 2097
0: 1519  9: 7  10: 1648  13: 2087  15: 2070
0: 1536  9: 1931  10: 2030  13: 2136  15: 2084
0: 1534  9: 1963  10: 2082  13: 2150  15: 2113
0: 1570  9: 2055  10: 11  13: 1680  15: 2022
0: 1569  9: 1993  10: 5  13: 1665  15: 1995
0: 1583  9: 2000  10: 5  13: 1662  15: 2004
0: 1565  9: 1975  10: 8  13: 1658  15: 2010
0: 1574  9: 1995  10: 0  13: 1662  15: 2008
0: 1584  9: 1994  10: 6  13: 1660  15: 2006
0: 1571  9: 1994  10: 3  13: 1661  15: 2002
0: 1580  9: 2006  10: 2  13: 1667  15: 1999
0: 1527  9: 1988  10: 1696  13: 1952  15: 2027
0: 1609  9: 2009  10: 2115  13: 2141  15: 2137
0: 1609  9: 2006  10: 2133  13: 2144  15: 2135
0: 1611  9: 2013  10: 2137  13: 2136  15: 2139
0: 1618  9: 2009  10: 2142  13: 2153  15: 2141
0: 1609  9: 2006  10: 2145  13: 2190  15: 2142
0: 1618  9: 2009  10: 2146  13: 2153  15: 2140
0: 1611  9: 2007  10: 2141  13: 2117  15: 2136
0: 1614  9: 2006  10: 2141  13: 2228  15: 2140
0: 1494  9: 1986  10: 2142  13: 7  15: 1644
0: 1492  9: 1986  10: 2143  13: 10  15: 1646
0: 1484  9: 1989  10: 2144  13: 2  15: 1636
0: 1483  9: 1989  10: 2142  13: 2  15: 1638
0: 1485  9: 1981  10: 2139  13: 1  15: 1633
0: 1480  9: 1984  10: 2134  13: 0  15: 1634
0: 1480  9: 1980  10: 2138  13: 11  15: 1630

*N.B. On the EVK Hardware VER and REV drive signals are not supported (if def-ed out) and are read as floating ADC pins which may result in values that are not defined in the manifest table. You will know if this is happening if it scrolls ERROR [drivers_board] Board VVRR is not supported! down the screen. Add VVRR to your test build's manifest.

davids5 · 2019-02-25T20:14:04Z

Minor update VBUS Valid and Connected detection added.

Note: ON EVK HW VBUS Valid can be tested via SW6-4 pads. So the signal appears valid until the pads are shorted. The micro USB closest to the Ethernet can be used to test VBUS connected.

davids5 · 2019-02-27T22:51:53Z

PX4GUID and MCU info working

nsh> ver all
HW arch: NXP_FMURT1062_V1
HW type: V587
HW version: 0x00000008
HW revision: 0x00000007
FW git-hash: 72345e05fa1bdaf93ffd85e7a08805eaa92a85a3
FW version: 1.9.0 0 (17367040)
FW git-branch: master_nuttx_7.28+_rt
OS: NuttX
OS version: Release 7.28.0 (119275775)
OS git-hash: 6d0d712b9c4239223d8f142a072ba8160d237c32
Build datetime: Feb 27 2019 14:30:11
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 00050000000000000000bc6dfa5ab96fe9ba
MCU: i.MX RT1062 r1.0, rev. 0
nsh>

davids5 · 2019-03-05T23:08:33Z

rebased on Firmware master and nuttx/apps master

davids5 · 2019-12-04T19:21:14Z

continued here

davids5 mentioned this pull request Jan 31, 2019

HRT common code ( and derivatives like Tunes library implementation HRT uses) #8099

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David Sidrane and others added 12 commits July 12, 2019 07:59

Update Nuttx and NuttX-apps to 7.28+ w/PX4 imxrt contrib

a2f8a24

board_common:Add PX4 SOC ARCH ID for IMXRT

c093110

px4_micro_hal:Add IMXRT

f2406c4

Add IMXRT based board:fmurt1062-v1 and imxrt drivers

476d8bc

fmurt1062-v1:Board config on EVK

12df5ef

Track board_reset changes in upstream

48fd8e2

io-v2:Freshen config

a7a473e

fmurt1062-v1:Freshen config

b4b193f

K66:Support upstram move from chip to hardware

644c9c7

fmurt1062:Support upstream move from chip->hardware

984537f

Track Upstream Firmare reorg

b280991

Update Nuttx and to 7.30+ w/PX4 imxrt contrib

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NXP i.MXRT port of PX4 FMUv5 #13678

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[WIP Do not merge] NXP i.MXRT port of PX4 FMUv5 #11351

[WIP Do not merge] NXP i.MXRT port of PX4 FMUv5 #11351

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[WIP Do not merge] NXP i.MXRT port of PX4 FMUv5 #11351

[WIP Do not merge] NXP i.MXRT port of PX4 FMUv5 #11351

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