cuav/nora: some cleanup & rebase fixups

PX4 · Mar 25, 2020 · abe16d7 · abe16d7
1 parent 66e78e8
commit abe16d7
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Showing 15 changed files with 124 additions and 896 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -277,6 +277,12 @@ then
 			pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
 			pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
 			pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x100 -p p:PWM_MAIN_DIS9 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x200 -p p:PWM_MAIN_DIS10 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x400 -p p:PWM_MAIN_DIS11 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x800 -p p:PWM_MAIN_DIS12 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x1000 -p p:PWM_MAIN_DIS13 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -m 0x2000 -p p:PWM_MAIN_DIS14 -d ${OUTPUT_AUX_DEV}
 
 			#
 			# Per channel min settings.
@@ -289,6 +295,12 @@ then
 			pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
 			pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
 			pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x100 -p p:PWM_MAIN_MIN9 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x200 -p p:PWM_MAIN_MIN10 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x400 -p p:PWM_MAIN_MIN11 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x800 -p p:PWM_MAIN_MIN12 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x1000 -p p:PWM_MAIN_MIN13 -d ${OUTPUT_AUX_DEV}
+			pwm min -m 0x2000 -p p:PWM_MAIN_MIN14 -d ${OUTPUT_AUX_DEV}
 
 			#
 			# Per channel max settings.
@@ -301,6 +313,12 @@ then
 			pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
 			pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
 			pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x100 -p p:PWM_MAIN_MAX9 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x200 -p p:PWM_MAIN_MAX10 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x400 -p p:PWM_MAIN_MAX11 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x800 -p p:PWM_MAIN_MAX12 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x1000 -p p:PWM_MAIN_MAX13 -d ${OUTPUT_AUX_DEV}
+			pwm max -m 0x2000 -p p:PWM_MAIN_MAX14 -d ${OUTPUT_AUX_DEV}
 
 			if [ $FAILSAFE_AUX != none ]
 			then
@@ -318,6 +336,12 @@ then
 			pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
 			pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
 			pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x100 -p p:PWM_MAIN_FAIL9 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x200 -p p:PWM_MAIN_FAIL10 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x400 -p p:PWM_MAIN_FAIL11 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x800 -p p:PWM_MAIN_FAIL12 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x1000 -p p:PWM_MAIN_FAIL13 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -m 0x2000 -p p:PWM_MAIN_FAIL14 -d ${OUTPUT_AUX_DEV}
 		fi
 	fi
 fi

diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	IO px4_io-v2_default
 	TESTING
 #	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
 	SERIAL_PORTS
@@ -50,7 +49,6 @@ px4_add_board(
 #					   all arch dependant code there
 		pwm_out_sim
 		px4fmu
-		px4io
 		rc_input
 
 		rpm
@@ -117,7 +115,6 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		bottle_drop # OBC challenge
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults
@@ -22,12 +22,6 @@ then
 fi
 unset BL_FILE
 
-#
-# No px4IO
-#
-unset IOFW
-param set SYS_USE_IO 0
-
 
 if [ $AUTOCNF = yes ]
 then
@@ -39,35 +33,3 @@ set LOGGER_BUF 64
 
 safety_button start
 
-fmu mode_pwm
-pwm rate -a -r 400
-
-pwm disarmed -m 0x100 -p p:PWM_MAIN_DIS9
-pwm disarmed -m 0x200 -p p:PWM_MAIN_DIS10
-pwm disarmed -m 0x400 -p p:PWM_MAIN_DIS11
-pwm disarmed -m 0x800 -p p:PWM_MAIN_DIS12
-pwm disarmed -m 0x1000 -p p:PWM_MAIN_DIS13
-pwm disarmed -m 0x2000 -p p:PWM_MAIN_DIS14
-
-pwm min -m 0x100 -p p:PWM_MAIN_MIN9
-pwm min -m 0x200 -p p:PWM_MAIN_MIN10
-pwm min -m 0x400 -p p:PWM_MAIN_MIN11
-pwm min -m 0x800 -p p:PWM_MAIN_MIN12
-pwm min -m 0x1000 -p p:PWM_MAIN_MIN13
-pwm min -m 0x2000 -p p:PWM_MAIN_MIN14
-
-pwm max -m 0x100 -p p:PWM_MAIN_MAX9
-pwm max -m 0x200 -p p:PWM_MAIN_MAX10
-pwm max -m 0x400 -p p:PWM_MAIN_MAX11
-pwm max -m 0x800 -p p:PWM_MAIN_MAX12
-pwm max -m 0x1000 -p p:PWM_MAIN_MAX13
-pwm max -m 0x2000 -p p:PWM_MAIN_MAX14
-
-pwm failsafe -m 0x100 -p p:PWM_MAIN_FAIL9
-pwm failsafe -m 0x200 -p p:PWM_MAIN_FAIL10
-pwm failsafe -m 0x400 -p p:PWM_MAIN_FAIL11
-pwm failsafe -m 0x800 -p p:PWM_MAIN_FAIL12
-pwm failsafe -m 0x1000 -p p:PWM_MAIN_FAIL13
-pwm failsafe -m 0x2000 -p p:PWM_MAIN_FAIL14
-
-set PWM_RATE none
diff --git a/boards/cuav/nora/init/rc.board_mavlink b/boards/cuav/nora/init/rc.board_mavlink
@@ -6,7 +6,3 @@
 # Start MAVLink on the USB port
 mavlink start -d /dev/ttyACM0
 
-# Start MAVLink on the uart port
-mavlink start -d /dev/ttyS3
-
-#gps start -d /dev/ttyS2
diff --git a/boards/cuav/nora/init/rc.board_sensors b/boards/cuav/nora/init/rc.board_sensors
@@ -5,29 +5,25 @@
 adc start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -z -T 20689 start
-#$icm20948 -R start
+mpu6000 -R 8 -s -T 20689 start
+#icm20948 -R start
 
 # Internal SPI bus BMI088 accel
-bmi088 -A -R 10 start
-
+bmi088 -A -s -R 10 start
 # Internal SPI bus BMI088 gyro
-bmi088 -G -R 10 start
+bmi088 -G -s -R 10 start
 
-#rm3100 -R 1 start
-rm3100 start
-# Possible external compasses
-ist8310 -b 4 start
+rm3100 -s start
 
-hmc5883 -C -T -X start
+# Possible external compasses
+ist8310 -X start
+hmc5883 -T -X start
 qmc5883 -X start
 lis3mdl -X start
 
 # Possible internal compass
-ist8310 -b 5 start
+ist8310 -I start
 
 # Baro on internal SPI
-ms5611 -S start
-
-# Baro on external SPI
 ms5611 -s start
+
diff --git a/boards/cuav/nora/nuttx-config/nsh/defconfig b/boards/cuav/nora/nuttx-config/nsh/defconfig
@@ -192,6 +192,7 @@ CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
@@ -217,19 +218,23 @@ CONFIG_TIME_EXTENDED=y
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
+CONFIG_UART4_DMA=y
 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_DMA=y
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
+CONFIG_USART1_DMA=y
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
+CONFIG_USART2_DMA=y
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600