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

Makefile

@@ -253,6 +253,7 @@ px4fmu_firmware: \
 
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
 	check_intel_aerofc-v1_default \
 	check_auav_x21_default \
 	check_bitcraze_crazyflie_default \

boards/nxp/fmuk66-v3/src/board_config.h

@@ -50,7 +50,7 @@ __BEGIN_DECLS
 
 /* these headers are not C++ safe */
 #include <kinetis.h>
-#include <chip/kinetis_pinmux.h>
+#include <hardware/kinetis_pinmux.h>
 #include <arch/board/board.h>
 
 /* FMUK66 GPIOs ***********************************************************************************/

boards/nxp/fmuk66-v3/src/init.c

@@ -62,7 +62,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <chip/kinetis_uart.h>
+#include <hardware/kinetis_uart.h>
 #include "board_config.h"
 
 #include "up_arch.h"

boards/nxp/fmuk66-v3/src/timer_config.c

@@ -43,8 +43,8 @@
 #include <stdint.h>
 
 #include <kinetis.h>
-#include "chip/kinetis_sim.h"
-#include "chip/kinetis_ftm.h"
+#include "hardware/kinetis_sim.h"
+#include "hardware/kinetis_ftm.h"
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/kinetis/drv_io_timer.h>

boards/nxp/fmurt1062-v1/default.cmake

@@ -0,0 +1,131 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR nxp
+	MODEL fmurt1062-v1
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	TESTING
+#	UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+#		GPS1:/dev/ttyS0
+#		TEL1:/dev/ttyS1
+#		TEL2:/dev/ttyS2
+#		GPS2:/dev/ttyS3
+#       ON EVK
+		GPS1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+#		camera_capture Not portable!
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#heater
+		imu/adis16448
+		imu/adis16497
+		#imu # all available imu drivers
+		imu/bma180
+		imu/bmi055
+		imu/bmi160
+		imu/mpu6000
+		imu/mpu9250
+		irlock
+		imxrt
+		imxrt/adc
+		imxrt/tone_alarm
+		lights/blinkm
+		lights/oreoled
+		lights/pca8574
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		pca9685
+		optical_flow
+		power_monitor/ina226
+		#protocol_splitter
+		#pwm_input # NOT Portable YET drivers
+		pwm_out_sim
+		px4fmu
+		rc_input
+		roboclaw
+		tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
+		tone_alarm
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		rover_pos_control
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		sensors
+		sih
+		vmount
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dmesg
+		dumpfile
+		esc_calib
+		#hardfault_log # Needs bbsrm
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		position_estimator_inav
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		segway
+		uuv_example_app
+
+	)

boards/nxp/fmurt1062-v1/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 28,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPFMURT1062v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPFMURT1062v1",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 8388608,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/nxp/fmurt1062-v1/init/rc.board

@@ -0,0 +1,54 @@
+#!nsh
+#
+# PX4 FMUv5 specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on NXP FMURT1062:
+#
+# LPUART2       /dev/ttyS0      GPS
+# LPUART3       /dev/ttyS2      TELEM2 (GPIO flow control)
+# LPUART4       /dev/ttyS1      TELEM1 (UART flow control)
+# LPUART5       /dev/ttyS3      TELEM4 GPS2
+# LPUART6       /dev/ttyS4      TELEM3 (RC_INPUT)
+# LPUART7       /dev/ttyS5      CONSOLE
+# LPUART8       /dev/ttyS6      PX4IO
+#
+#------------------------------------------------------------------------------
+#
+
+
+
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_FMU_TASK 1
+fi
+
+set LOGGER_BUF 64
+
+# Internal SPI bus ICM-20602
+mpu6000 -R 8 -s -T 20602 start
+
+# Internal SPI bus ICM-20689
+mpu6000 -R 8 -z -T 20689 start
+
+# Internal SPI bus BMI055 accel
+bmi055 -A -R 10 start
+
+# Internal SPI bus BMI055 gyro
+bmi055 -G -R 10 start
+
+# Possible external compasses
+hmc5883 -C -T -X start
+
+# Possible external compasses
+ist8310 -C -b 1 start
+ist8310 -C -b 2 start
+
+# Possible internal compass
+ist8310 -C -b 5 start
+
+# Possible pmw3901 optical flow sensor
+pmw3901 start
+
+px4flow start &

boards/nxp/fmurt1062-v1/nuttx-config/Kconfig

@@ -0,0 +1,16 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+choice
+	prompt "Boot Flash"
+	default NXP_FMURT1062_V3_QSPI_FLASH
+
+config NXP_FMURT1062_V3_HYPER_FLASH
+	bool "HYPER Flash"
+
+config NXP_FMURT1062_V3_QSPI_FLASH
+	bool "QSPI Flash"
+
+endchoice # Boot Flash