mRo Control Zero F7 board support

.ci/Jenkinsfile-compile

@@ -37,7 +37,7 @@ pipeline {
                      "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5x_default", "px4_fmu-v5x_fixedwing", "px4_fmu-v5x_multicopter", "px4_fmu-v5x_rover", "px4_fmu-v5x_rtps", "px4_fmu-v5x_stackcheck",
                      "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "nxp_fmuk66-v3_default", "omnibus_f4sd_default", "holybro_kakutef7"],
+                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
             image: docker_images.nuttx,
             archive: true
           ]

.vscode/cmake-variants.yaml

@@ -61,6 +61,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: intel_aerofc-v1_default
+    mro_ctrl-zero-f7_default:
+      short: mro_ctrl-zero-f7
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_ctrl-zero-f7_default
     nxp_fmuk66-v3_default:
       short: nxp_fmuk66-v3
       buildType: MinSizeRel

.vscode/launch.json

@@ -220,7 +220,7 @@
             ]
         },
         {
-            "name": "Debug av_x-v1 (jlink)",
+            "name": "Debug av_x-v1/mro_ctrl-zero-f7 (jlink)",
             "device": "STM32F777NI",
             "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x7.svd",
             "executable": "${command:cmake.launchTargetPath}",

boards/mro/ctrl-zero-f7/default.cmake

@@ -0,0 +1,125 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL ctrl-zero-f7
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 1
+
+	SERIAL_PORTS
+		TEL1:/dev/ttyS0
+		TEL2:/dev/ttyS1
+		GPS1:/dev/ttyS2
+		#RC:/dev/ttyS3
+		#CONSOLE:/dev/ttyS4
+		#FRSKY:/dev/ttyS5
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		#barometer/dps310
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		#imu/bmi088
+		imu/mpu6000
+		imu/icm20948
+		irlock
+		#lights/blinkm
+		#lights/oreoled
+		#lights/pca8574
+		lights/rgbled
+		magnetometer # all available magnetometer drivers
+		#md25
+		mkblctrl
+		#optical_flow # all available optical flow drivers
+		pca9685
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		px4fmu
+		rc_input
+		roboclaw
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+
+	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
+		airspeed_selector
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		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
+		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/mro/ctrl-zero-f7/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 141,
+    "magic": "mRo-ctrl-zero-f7",
+    "description": "Firmware for the mRo-ctrl-zero-f7 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "mRo-ctrl-zero-f7",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/mro/ctrl-zero-f7/init/rc.board_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+
+fi
+
+set LOGGER_BUF 64
+set MIXER_AUX none

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board sensors init
+#------------------------------------------------------------------------------
+
+# Internal ICM-20602
+mpu6000 -R 10 -s -T 20602 start
+
+# Internal ICM-20689
+#icm20689 -R 10 20689 start
+
+# Internal BMI088
+bmi088 start
+
+# Interal DPS310 (barometer)
+dps310 start
+
+# Possible external compasses
+#ist8310 -C -b 1 start
+#ist8310 -C -b 2 start
+#hmc5883 -C -T -X start
+#qmc5883 -X start