[WIP] Add S23K1XX and rddrone uavcan146

.ci/Jenkinsfile-compile

@@ -38,6 +38,7 @@ pipeline {
                      "mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmurt1062-v1_default",
+                     "nxp_rddrone-uavcan146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
                      "px4_fmu-v3_default",

boards/nxp/rddrone-uavcan146/Kconfig

@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#

boards/nxp/rddrone-uavcan146/default.cmake

@@ -0,0 +1,19 @@
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR nxp
+	MODEL rddrone-uavcan146
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+
+	UAVCAN_INTERFACES 2
+
+	DRIVERS
+
+	MODULES
+
+	SYSTEMCMDS
+		i2cdetect
+
+	EXAMPLES
+	)

boards/nxp/rddrone-uavcan146/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 10000,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the rddrone-uavcan146 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "RDDRONE-UAVCAN146",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/nxp/rddrone-uavcan146/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.

boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h

@@ -0,0 +1,153 @@
+/****************************************************************************
+ * boards/arm/s32k1xx/rddrone-uavcan146/include/board.h
+ *
+ *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <[email protected]>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H
+#define __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+#  include <stdint.h>
+#  include <stdbool.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+/* The RDDRONE-UAVCAN146 is fitted with a 8MHz Crystal */
+
+#define BOARD_XTAL_FREQUENCY 8000000
+
+/* The S32K146 will run at 112MHz */
+
+/* LED definitions **********************************************************/
+
+/* The RDDRONE-UAVCAN146 has one RGB LED:
+ *
+ *   RedLED   PTD15 (FTM0 CH0)
+ *   GreenLED PTD16 (FTM0 CH1)
+ *   BlueLED  PTD0  (FTM0 CH2)
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in
+ * any way.  The following definitions are used to access individual RGB
+ * components.
+ *
+ * The RGB components could, alternatively be controlled through PWM using
+ * the common RGB LED driver.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED_R       0
+#define BOARD_LED_G       1
+#define BOARD_LED_B       2
+#define BOARD_NLEDS       3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED_R_BIT   (1 << BOARD_LED_R)
+#define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
+#define BOARD_LED_B_BIT   (1 << BOARD_LED_B)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
+ * the RDDRONE-UAVCAN146.  The following definitions describe how NuttX
+ * controls the LEDs:
+ *
+ *   SYMBOL                Meaning                      LED state
+ *                                                      RED   GREEN  BLUE
+ *   -------------------  ----------------------------  -----------------
+ */
+
+#define LED_STARTED       1 /* NuttX has been started    OFF   OFF    OFF */
+#define LED_HEAPALLOCATE  2 /* Heap has been allocated   OFF   OFF    ON  */
+#define LED_IRQSENABLED   0 /* Interrupts enabled        OFF   OFF    ON  */
+#define LED_STACKCREATED  3 /* Idle stack created        OFF   ON     OFF */
+#define LED_INIRQ         0 /* In an interrupt          (no change)       */
+#define LED_SIGNAL        0 /* In a signal handler      (no change)       */
+#define LED_ASSERTION     0 /* An assertion failed      (no change)       */
+#define LED_PANIC         4 /* The system has crashed    FLASH OFF    OFF */
+#undef  LED_IDLE            /* RDDRONE-UAVCAN146 in sleep mode (Not used) */
+
+/* Button definitions *******************************************************/
+
+/* The RDDRONE-UAVCAN146 supports two buttons:
+ *
+ *   SW2  PTC12
+ *   SW3  PTC13
+ */
+
+#define BUTTON_SW2         0
+#define BUTTON_SW3         1
+#define NUM_BUTTONS        2
+
+#define BUTTON_SW2_BIT    (1 << BUTTON_SW2)
+#define BUTTON_SW3_BIT    (1 << BUTTON_SW3)
+
+/* Alternate function pin selections ****************************************/
+
+/* By default, the serial console will be provided on the OpenSDA VCOM port:
+ *
+ *   OpenSDA UART TX  PTC7 (LPUART1_TX)
+ *   OpenSDA UART RX  PTC6 (LPUART1_RX)
+ */
+
+#define PIN_LPUART0_CTS   PIN_LPUART0_CTS_2 /* PTC8 */
+#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_2 /* PTC9 */
+#define PIN_LPUART0_RX    PIN_LPUART0_RX_1  /* PTB0 */
+#define PIN_LPUART0_TX    PIN_LPUART0_TX_1  /* PTB1 */
+
+#define PIN_LPUART1_RX    PIN_LPUART1_RX_1  /* PTC6 */
+#define PIN_LPUART1_TX    PIN_LPUART1_TX_1  /* PTC7 */
+
+/* SPI selections ***********************************************************/
+
+#define PIN_LPSPI0_SCK   PIN_LPSPI0_SCK_2   /* PTB2 */
+#define PIN_LPSPI0_MISO  PIN_LPSPI0_SIN_2   /* PTB3 */
+#define PIN_LPSPI0_MOSI  PIN_LPSPI0_SOUT_3  /* PTB4 */
+#define PIN_LPSPI0_PCS   PIN_LPSPI0_PCS0_2  /* PTB5 */
+
+/* I2C selections ***********************************************************/
+
+#define PIN_LPI2C0_SCL   PIN_LPI2C0_SCL_2   /* PTA3 */
+#define PIN_LPI2C0_SDA	 PIN_LPI2C0_SDA_2   /* PTA2 */
+
+#endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */

boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig

@@ -0,0 +1,74 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_FPU is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_CMDPARMS is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="s32k1xx"
+CONFIG_ARCH_CHIP_S32K146=y
+CONFIG_ARCH_CHIP_S32K14X=y
+CONFIG_ARCH_CHIP_S32K1XX=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=3997
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2CTOOL_DEFFREQ=100000
+CONFIG_I2CTOOL_MAXADDR=0x7f
+CONFIG_I2CTOOL_MAXBUS=0
+CONFIG_I2CTOOL_MINADDR=0x00
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LPUART0_RXBUFSIZE=64
+CONFIG_LPUART0_TXBUFSIZE=64
+CONFIG_LPUART1_RXBUFSIZE=64
+CONFIG_LPUART1_SERIAL_CONSOLE=y
+CONFIG_LPUART1_TXBUFSIZE=64
+CONFIG_MAX_TASKS=16
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_MOTOROLA_SREC=y
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NFILE_STREAMS=8
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PREALLOC_WDOGS=16
+CONFIG_RAM_SIZE=126976
+CONFIG_RAM_START=0x1fff0000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_S32K1XX_LPI2C0=y
+CONFIG_S32K1XX_LPSPI0=y
+CONFIG_S32K1XX_LPUART0=y
+CONFIG_S32K1XX_LPUART1=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SPITOOL_DEFFREQ=400000
+CONFIG_SPITOOL_MAXBUS=0
+CONFIG_SPITOOL_PROGNAME="spi"
+CONFIG_START_DAY=18
+CONFIG_START_MONTH=8
+CONFIG_START_YEAR=2019
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_I2CTOOL=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SPITOOL=y
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/nxp/rddrone-uavcan146/nuttx-config/scripts/s32k146.cfg

@@ -0,0 +1,58 @@
+#
+# NXP S32K146 - 1x ARM Cortex-M4 @ up to 180 MHz
+#
+
+adapter_khz 4000
+transport select swd
+
+if { [info exists CHIPNAME] } {
+	set _CHIPNAME $CHIPNAME
+} else {
+	set _CHIPNAME s32k146
+}
+
+#
+# M4 JTAG mode TAP
+#
+if { [info exists M4_JTAG_TAPID] } {
+	set _M4_JTAG_TAPID $M4_JTAG_TAPID
+} else {
+	set _M4_JTAG_TAPID 0x4ba00477
+}
+
+#
+# M4 SWD mode TAP
+#
+if { [info exists M4_SWD_TAPID] } {
+	set _M4_SWD_TAPID $M4_SWD_TAPID
+} else {
+	set _M4_SWD_TAPID 0x2ba01477
+}
+
+source [find target/swj-dp.tcl]
+
+if { [using_jtag] } {
+	set _M4_TAPID $_M4_JTAG_TAPID
+} else {
+	set _M4_TAPID $_M4_SWD_TAPID
+}
+
+swj_newdap $_CHIPNAME m4 -irlen 4 -ircapture 0x1 -irmask 0xf \
+				-expected-id $_M4_TAPID
+
+target create $_CHIPNAME.m4 cortex_m -chain-position $_CHIPNAME.m4
+
+# S32K146 has 64+60 KB contiguous SRAM
+if { [info exists WORKAREASIZE] } {
+	set _WORKAREASIZE $WORKAREASIZE
+} else {
+	set _WORKAREASIZE 0x1F000
+}
+$_CHIPNAME.m4 configure -work-area-phys 0x1FFF0000 \
+                        -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+$_CHIPNAME.m4 configure -rtos nuttx
+
+if { ![using_hla] } {
+	cortex_m reset_config vectreset
+}