From 036a45377dc3410ec184c7411520683748a8a5bf Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 22 Jan 2020 14:58:57 -0500 Subject: [PATCH] boards rename auav_x21 -> mro_x21 --- .ci/Jenkinsfile-compile | 17 ++++++---- .github/workflows/compile_nuttx.yml | 15 ++++++--- Makefile | 2 +- boards/auav/x21/init/rc.board_defaults | 10 ------ boards/{auav => mro}/x21/default.cmake | 3 +- boards/{auav => mro}/x21/firmware.prototype | 4 +-- boards/mro/x21/init/rc.board_defaults | 13 ++++++++ .../{auav => mro}/x21/init/rc.board_mavlink | 2 +- .../{auav => mro}/x21/init/rc.board_sensors | 2 +- .../x21/nuttx-config/include/board.h | 33 +++++++++---------- .../x21/nuttx-config/nsh/defconfig | 4 +-- .../x21/nuttx-config/scripts/script.ld | 0 boards/{auav => mro}/x21/src/CMakeLists.txt | 0 boards/{auav => mro}/x21/src/board_config.h | 2 +- boards/{auav => mro}/x21/src/can.c | 2 +- boards/{auav => mro}/x21/src/init.c | 2 +- boards/{auav => mro}/x21/src/led.c | 4 +-- boards/{auav => mro}/x21/src/spi.c | 2 +- boards/{auav => mro}/x21/src/timer_config.c | 2 +- boards/{auav => mro}/x21/src/usb.c | 2 +- 20 files changed, 65 insertions(+), 56 deletions(-) delete mode 100644 boards/auav/x21/init/rc.board_defaults rename boards/{auav => mro}/x21/default.cmake (98%) rename boards/{auav => mro}/x21/firmware.prototype (71%) create mode 100644 boards/mro/x21/init/rc.board_defaults rename boards/{auav => mro}/x21/init/rc.board_mavlink (74%) rename boards/{auav => mro}/x21/init/rc.board_sensors (91%) rename boards/{auav => mro}/x21/nuttx-config/include/board.h (96%) rename boards/{auav => mro}/x21/nuttx-config/nsh/defconfig (98%) rename boards/{auav => mro}/x21/nuttx-config/scripts/script.ld (100%) rename boards/{auav => mro}/x21/src/CMakeLists.txt (100%) rename boards/{auav => mro}/x21/src/board_config.h (99%) rename boards/{auav => mro}/x21/src/can.c (99%) rename boards/{auav => mro}/x21/src/init.c (99%) rename boards/{auav => mro}/x21/src/led.c (98%) rename boards/{auav => mro}/x21/src/spi.c (99%) rename boards/{auav => mro}/x21/src/timer_config.c (99%) rename boards/{auav => mro}/x21/src/usb.c (99%) diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index d667a6dc73..7b6d6753fe 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -29,19 +29,22 @@ pipeline { def nuttx_builds_archive = [ target: [ - "px4_io-v2_default", + "airmind_mindpx-v2_default", + "av_x-v1_default", + "bitcraze_crazyflie_default", + "holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck", + "intel_aerofc-v1_default", + "modalai_fc-v1_default", + "mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default", + "nxp_fmuk66-v3_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", "px4_fmu-v4_default", "px4_fmu-v4pro_default", "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", - "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default", - "holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck", - "modalai_fc-v1_default", - "mro_ctrl-zero-f7_default", "mro_x21-777_default", - "nxp_fmuk66-v3_default", - "omnibus_f4sd_default", + "px4_io-v2_default", "uvify_core_default" ], image: docker_images.nuttx, diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index a0cd6ca325..7bcca6a843 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -9,16 +9,23 @@ jobs: strategy: matrix: config: [ - px4_io-v2_default, + airmind_mindpx-v2_default, + av_x-v1_default, + bitcraze_crazyflie_default, + holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck, + intel_aerofc-v1_default, + modalai_fc-v1_default, + mro_x21_default, mro_ctrl-zero-f7_default, mro_x21-777_default, + nxp_fmuk66-v3_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, px4_fmu-v4_default, px4_fmu-v4pro_default, 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, - airmind_mindpx-v2_default, auav_x21_default, av_x-v1_default, bitcraze_crazyflie_default, - holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck, - intel_aerofc-v1_default, modalai_fc-v1_default, mro_ctrl-zero-f7_default, nxp_fmuk66-v3_default, omnibus_f4sd_default, uvify_core_default + px4_io-v2_default, + uvify_core_default ] steps: - uses: actions/checkout@v1 diff --git a/Makefile b/Makefile index 4e815463b3..a1664597f0 100644 --- a/Makefile +++ b/Makefile @@ -254,7 +254,7 @@ px4fmu_firmware: \ misc_qgc_extra_firmware: \ check_nxp_fmuk66-v3_default \ check_intel_aerofc-v1_default \ - check_auav_x21_default \ + check_mro_x21_default \ check_bitcraze_crazyflie_default \ check_airmind_mindpx-v2_default \ check_px4_fmu-v2_lpe \ diff --git a/boards/auav/x21/init/rc.board_defaults b/boards/auav/x21/init/rc.board_defaults deleted file mode 100644 index a247fc961b..0000000000 --- a/boards/auav/x21/init/rc.board_defaults +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/sh -# -# AUAV/mRO x21 specific board defaults -#------------------------------------------------------------------------------ - - -if [ $AUTOCNF = yes ] -then - -fi diff --git a/boards/auav/x21/default.cmake b/boards/mro/x21/default.cmake similarity index 98% rename from boards/auav/x21/default.cmake rename to boards/mro/x21/default.cmake index 9bd21f1e8c..d478204d07 100644 --- a/boards/auav/x21/default.cmake +++ b/boards/mro/x21/default.cmake @@ -1,7 +1,7 @@ px4_add_board( PLATFORM nuttx - VENDOR auav + VENDOR mro MODEL x21 LABEL default TOOLCHAIN arm-none-eabi @@ -71,6 +71,7 @@ px4_add_board( mc_att_control mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control diff --git a/boards/auav/x21/firmware.prototype b/boards/mro/x21/firmware.prototype similarity index 71% rename from boards/auav/x21/firmware.prototype rename to boards/mro/x21/firmware.prototype index b817016e46..99f0af4aaa 100644 --- a/boards/auav/x21/firmware.prototype +++ b/boards/mro/x21/firmware.prototype @@ -1,10 +1,10 @@ { "board_id": 33, "magic": "PX4FWv1", - "description": "Firmware for the AUAV X2.1 board", + "description": "Firmware for the mRo X2.1 board", "image": "", "build_time": 0, - "summary": "AUAV X2.1", + "summary": "mRo X2.1", "version": "0.1", "image_size": 0, "image_maxsize": 2080768, diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults new file mode 100644 index 0000000000..02b6710a55 --- /dev/null +++ b/boards/mro/x21/init/rc.board_defaults @@ -0,0 +1,13 @@ +#!/bin/sh +# +# mRo x21 specific board defaults +#------------------------------------------------------------------------------ + + +if [ $AUTOCNF = yes ] +then + + # to minimize cpu usage on older boards limit inner loop to 400 Hz + param set IMU_GYRO_RATEMAX 400 + +fi diff --git a/boards/auav/x21/init/rc.board_mavlink b/boards/mro/x21/init/rc.board_mavlink similarity index 74% rename from boards/auav/x21/init/rc.board_mavlink rename to boards/mro/x21/init/rc.board_mavlink index 7ad322c9a7..a005e68768 100644 --- a/boards/auav/x21/init/rc.board_mavlink +++ b/boards/mro/x21/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# AUAV/mRO x21 specific board MAVLink startup script. +# mRo x21 specific board MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/auav/x21/init/rc.board_sensors b/boards/mro/x21/init/rc.board_sensors similarity index 91% rename from boards/auav/x21/init/rc.board_sensors rename to boards/mro/x21/init/rc.board_sensors index 9a2918b544..fa1df3cfeb 100644 --- a/boards/auav/x21/init/rc.board_sensors +++ b/boards/mro/x21/init/rc.board_sensors @@ -1,6 +1,6 @@ #!/bin/sh # -# AUAV/mRO x21 specific board sensors init +# mRo x21 specific board sensors init #------------------------------------------------------------------------------ adc start diff --git a/boards/auav/x21/nuttx-config/include/board.h b/boards/mro/x21/nuttx-config/include/board.h similarity index 96% rename from boards/auav/x21/nuttx-config/include/board.h rename to boards/mro/x21/nuttx-config/include/board.h index c5ba583ac6..cbada0ff36 100644 --- a/boards/auav/x21/nuttx-config/include/board.h +++ b/boards/mro/x21/nuttx-config/include/board.h @@ -1,5 +1,5 @@ /************************************************************************************ - * configs/auav-x21/include/board.h + * board.h * include/arch/board/board.h * * Copyright (C) 2009, 2016 Gregory Nutt. All rights reserved. @@ -209,9 +209,8 @@ /* Alternate function pin selections ************************************************/ -/* - * UARTs. - */ +/* UARTs */ + #define GPIO_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */ #define GPIO_USART1_TX 0 /* USART1 is RX-only */ @@ -234,39 +233,37 @@ #define GPIO_UART7_RX GPIO_UART7_RX_1 #define GPIO_UART7_TX GPIO_UART7_TX_1 - /* UART8 has no alternate pin config */ /* UART RX DMA configurations */ -#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 -/* - * CAN +/* CAN * * CAN1 is routed to the onboard transceiver. */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 -/* - * I2C +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 + +/* I2C * * The optional _GPIO configurations allow the I2C driver to manually * reset the bus to clear stuck slaves. They match the pin configuration, * but are normally-high GPIOs. */ -#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) -/* - * SPI +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) + +/* SPI * * There are sensors on SPI1, and SPI2 is connected to the FRAM. */ + #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 #define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 diff --git a/boards/auav/x21/nuttx-config/nsh/defconfig b/boards/mro/x21/nuttx-config/nsh/defconfig similarity index 98% rename from boards/auav/x21/nuttx-config/nsh/defconfig rename to boards/mro/x21/nuttx-config/nsh/defconfig index a10345086d..6ad9671ac1 100644 --- a/boards/auav/x21/nuttx-config/nsh/defconfig +++ b/boards/mro/x21/nuttx-config/nsh/defconfig @@ -218,10 +218,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y CONFIG_UART7_TXBUFSIZE=300 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=300 -CONFIG_UART8_RXDMA=y CONFIG_UART8_TXBUFSIZE=300 CONFIG_USART1_RXBUFSIZE=128 -CONFIG_USART1_RXDMA=y CONFIG_USART1_TXBUFSIZE=32 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y @@ -234,7 +232,7 @@ CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=300 CONFIG_USART3_RXDMA=y -CONFIG_USART3_TXBUFSIZE=300 +CONFIG_USART3_TXBUFSIZE=600 CONFIG_USART6_BAUD=57600 CONFIG_USART6_RXBUFSIZE=300 CONFIG_USART6_RXDMA=y diff --git a/boards/auav/x21/nuttx-config/scripts/script.ld b/boards/mro/x21/nuttx-config/scripts/script.ld similarity index 100% rename from boards/auav/x21/nuttx-config/scripts/script.ld rename to boards/mro/x21/nuttx-config/scripts/script.ld diff --git a/boards/auav/x21/src/CMakeLists.txt b/boards/mro/x21/src/CMakeLists.txt similarity index 100% rename from boards/auav/x21/src/CMakeLists.txt rename to boards/mro/x21/src/CMakeLists.txt diff --git a/boards/auav/x21/src/board_config.h b/boards/mro/x21/src/board_config.h similarity index 99% rename from boards/auav/x21/src/board_config.h rename to boards/mro/x21/src/board_config.h index a4fbd3445c..120568f7c1 100644 --- a/boards/auav/x21/src/board_config.h +++ b/boards/mro/x21/src/board_config.h @@ -34,7 +34,7 @@ /** * @file board_config.h * - * AUAVX2.1 internal definitions + * mRo X2.1 internal definitions */ #pragma once diff --git a/boards/auav/x21/src/can.c b/boards/mro/x21/src/can.c similarity index 99% rename from boards/auav/x21/src/can.c rename to boards/mro/x21/src/can.c index dc78ed9cd7..42c04b2900 100644 --- a/boards/auav/x21/src/can.c +++ b/boards/mro/x21/src/can.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file auav__can.c + * @file can.c * * Board-specific CAN functions. */ diff --git a/boards/auav/x21/src/init.c b/boards/mro/x21/src/init.c similarity index 99% rename from boards/auav/x21/src/init.c rename to boards/mro/x21/src/init.c index 74b5076e66..4ea81a7bd4 100644 --- a/boards/auav/x21/src/init.c +++ b/boards/mro/x21/src/init.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file auav_init.c + * @file init.c * * PX4FMU-specific early startup code. This file implements the * board_app_initialize() function that is called early by nsh during startup. diff --git a/boards/auav/x21/src/led.c b/boards/mro/x21/src/led.c similarity index 98% rename from boards/auav/x21/src/led.c rename to boards/mro/x21/src/led.c index 3cbc464bec..86b3333c06 100644 --- a/boards/auav/x21/src/led.c +++ b/boards/mro/x21/src/led.c @@ -32,9 +32,9 @@ ****************************************************************************/ /** - * @file auav_led.c + * @file led.c * - * PX4FMU LED backend. + * LED backend. */ #include diff --git a/boards/auav/x21/src/spi.c b/boards/mro/x21/src/spi.c similarity index 99% rename from boards/auav/x21/src/spi.c rename to boards/mro/x21/src/spi.c index a176837cd4..95d45d845c 100644 --- a/boards/auav/x21/src/spi.c +++ b/boards/mro/x21/src/spi.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file auav_spi.c + * @file spi.c * * Board-specific SPI functions. */ diff --git a/boards/auav/x21/src/timer_config.c b/boards/mro/x21/src/timer_config.c similarity index 99% rename from boards/auav/x21/src/timer_config.c rename to boards/mro/x21/src/timer_config.c index 6350d7c5e0..3935158734 100644 --- a/boards/auav/x21/src/timer_config.c +++ b/boards/mro/x21/src/timer_config.c @@ -32,7 +32,7 @@ ****************************************************************************/ /* - * @file auav_timer_config.c + * @file timer_config.c * * Configuration data for the stm32 pwm_servo, input capture and pwm input driver. * diff --git a/boards/auav/x21/src/usb.c b/boards/mro/x21/src/usb.c similarity index 99% rename from boards/auav/x21/src/usb.c rename to boards/mro/x21/src/usb.c index bde39e4183..0359001d77 100644 --- a/boards/auav/x21/src/usb.c +++ b/boards/mro/x21/src/usb.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file auav_usb.c + * @file usb.c * * Board-specific USB functions. */