[WIP] add new CUAV Nora board

boards/cuav/nora/bootloader.cmake

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+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL nora
+	LABEL bootloader
+	TOOLCHAIN arm-none-eabi
+    ARCHITECTURE cortex-m7
+
+
+	DRIVERS
+#	bootloader
+
+	MODULES
+
+	SYSTEMCMDS
+
+	EXAMPLES
+
+	)

boards/cuav/nora/default.cmake

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+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL nora
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	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
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		GPS2:/dev/ttyS2
+		TEL2:/dev/ttyS3
+	DRIVERS
+		adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/adis16448
+		imu/adis16477
+		imu/adis16497
+		imu/bmi088
+		imu/mpu6000
+		imu/icm20948
+		imu/mpu9250
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
+		pwm_out_sim
+		px4fmu
+		px4io
+		rc_input
+
+		rpm
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+#		uavcan - No H7 or FD can support in UAVCAN yet
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	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
+		work_queue
+	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
+		uuv_example_app
+	)

boards/cuav/nora/firmware.prototype

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+{
+    "board_id": 1009,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the nora board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NORA",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/cuav/nora/init/rc.board_defaults

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+#!/bin/sh
+#
+# Cuav Nora specific board defaults
+#------------------------------------------------------------------------------
+
+
+#
+# Bootloader upgrade
+#
+set BL_FILE /etc/extras/cuav_nora_bootloader.bin
+if [ -f $BL_FILE ]
+then
+	if param compare SYS_BL_UPDATE 1
+	then
+		param set SYS_BL_UPDATE 0
+		param save
+		echo "BL update..." >> $LOG_FILE
+		bl_update $BL_FILE
+		echo "BL update done" >> $LOG_FILE
+		reboot
+	fi
+fi
+unset BL_FILE
+
+#
+# No px4IO
+#
+unset IOFW
+param set SYS_USE_IO 0
+
+
+if [ $AUTOCNF = yes ]
+then
+	# Enable IMU thermal control
+	param set SENS_EN_THERMAL 1
+fi
+
+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

boards/cuav/nora/init/rc.board_mavlink

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+#!/bin/sh
+#
+# Nora specific specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# 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

boards/cuav/nora/init/rc.board_sensors

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+#!/bin/sh
+#
+# Cuav Nora specific board sensors init
+#------------------------------------------------------------------------------
+adc start
+
+# Internal SPI bus ICM-20689
+mpu6000 -R 8 -z -T 20689 start
+#$icm20948 -R start
+
+# Internal SPI bus BMI088 accel
+bmi088 -A -R 10 start
+
+# Internal SPI bus BMI088 gyro
+bmi088 -G -R 10 start
+
+#rm3100 -R 1 start
+rm3100 start
+# Possible external compasses
+ist8310 -b 4 start
+
+hmc5883 -C -T -X start
+qmc5883 -X start
+lis3mdl -X start
+
+# Possible internal compass
+ist8310 -b 5 start
+
+# Baro on internal SPI
+ms5611 -S start
+
+# Baro on external SPI
+ms5611 -s start

boards/cuav/nora/nuttx-config/Kconfig

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+#
+# 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-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.