Browse Source
durandal bootloader:Run at 480 Mhz durandal-v1:bootloader use VBUS detection Add Durandal bootloader to buildsbg
David Sidrane
5 years ago
committed by
Lorenz Meier
10 changed files with 843 additions and 3 deletions
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px4_add_board( |
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PLATFORM nuttx |
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VENDOR holybro |
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MODEL durandal-v1 |
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LABEL bootloader |
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TOOLCHAIN arm-none-eabi |
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ARCHITECTURE cortex-m7 |
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DRIVERS |
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# bootloader |
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MODULES |
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SYSTEMCMDS |
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EXAMPLES |
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) |
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# |
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# This file is autogenerated: PLEASE DO NOT EDIT IT. |
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# |
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# You can use "make menuconfig" to make any modifications to the installed .config file. |
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your |
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# modifications. |
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# |
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# CONFIG_DISABLE_OS_API is not set |
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set |
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# CONFIG_MMCSD_HAVE_CARDDETECT is not set |
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# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set |
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# CONFIG_MMCSD_MMCSUPPORT is not set |
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# CONFIG_MMCSD_SPI is not set |
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# CONFIG_NSH_DISABLEBG is not set |
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# CONFIG_NSH_DISABLESCRIPT is not set |
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# CONFIG_NSH_DISABLE_DF is not set |
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# CONFIG_NSH_DISABLE_EXEC is not set |
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# CONFIG_NSH_DISABLE_EXIT is not set |
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# CONFIG_NSH_DISABLE_GET is not set |
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# CONFIG_NSH_DISABLE_ITEF is not set |
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# CONFIG_NSH_DISABLE_LOOPS is not set |
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# CONFIG_NSH_DISABLE_SEMICOLON is not set |
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# CONFIG_NSH_DISABLE_TIME is not set |
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CONFIG_ARCH="arm" |
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CONFIG_ARCH_BOARD_CUSTOM=y |
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" |
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y |
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" |
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CONFIG_ARCH_CHIP="stm32h7" |
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CONFIG_ARCH_CHIP_STM32H743ZI=y |
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CONFIG_ARCH_CHIP_STM32H7=y |
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CONFIG_ARCH_INTERRUPTSTACK=512 |
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CONFIG_ARCH_MATH_H=y |
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CONFIG_ARCH_STACKDUMP=y |
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CONFIG_ARMV7M_BASEPRI_WAR=y |
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# this is off because H7 is not maintaining alignment yet CONFIG_ARMV7M_DCACHE=y |
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CONFIG_ARMV7M_DTCM=y |
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CONFIG_ARMV7M_ICACHE=y |
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CONFIG_ARMV7M_MEMCPY=y |
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CONFIG_ARMV7M_USEBASEPRI=y |
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CONFIG_BOARDCTL_RESET=y |
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CONFIG_BOARD_CRASHDUMP=y |
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CONFIG_BOARD_LOOPSPERMSEC=22114 |
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CONFIG_BOARD_RESET_ON_ASSERT=2 |
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CONFIG_BUILTIN=y |
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CONFIG_C99_BOOL8=y |
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CONFIG_CDCACM=y |
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CONFIG_CDCACM_PRODUCTID=0x008b |
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CONFIG_CDCACM_PRODUCTSTR="PX4 DurandalV1" |
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CONFIG_CDCACM_RXBUFSIZE=600 |
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CONFIG_CDCACM_TXBUFSIZE=12000 |
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CONFIG_CDCACM_VENDORID=0x26ac |
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CONFIG_CDCACM_VENDORSTR="Holybro" |
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CONFIG_CLOCK_MONOTONIC=y |
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CONFIG_DEBUG_FULLOPT=y |
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CONFIG_DEBUG_HARDFAULT_ALERT=y |
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CONFIG_DEBUG_SYMBOLS=y |
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CONFIG_DEFAULT_SMALL=y |
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CONFIG_DEV_FIFO_SIZE=0 |
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CONFIG_DEV_PIPE_MAXSIZE=1024 |
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CONFIG_DEV_PIPE_SIZE=70 |
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CONFIG_EXPERIMENTAL=y |
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CONFIG_FAT_DMAMEMORY=y |
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CONFIG_FAT_LCNAMES=y |
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CONFIG_FAT_LFN=y |
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CONFIG_FAT_LFN_ALIAS_HASH=y |
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CONFIG_FDCLONE_STDIO=y |
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CONFIG_FS_BINFS=y |
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CONFIG_FS_CROMFS=y |
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CONFIG_FS_FAT=y |
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CONFIG_FS_FATTIME=y |
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CONFIG_FS_PROCFS=y |
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CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y |
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CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y |
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CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y |
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CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y |
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CONFIG_FS_PROCFS_EXCLUDE_USAGE=y |
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CONFIG_FS_PROCFS_REGISTER=y |
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CONFIG_FS_ROMFS=y |
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CONFIG_GRAN=y |
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CONFIG_GRAN_INTR=y |
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CONFIG_HAVE_CXX=y |
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CONFIG_HAVE_CXXINITIALIZE=y |
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CONFIG_I2C=y |
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CONFIG_I2C_RESET=y |
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CONFIG_IDLETHREAD_STACKSIZE=750 |
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CONFIG_LIBC_FLOATINGPOINT=y |
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CONFIG_LIBC_LONG_LONG=y |
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CONFIG_LIBC_STRERROR=y |
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CONFIG_MAX_TASKS=64 |
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CONFIG_MAX_WDOGPARMS=2 |
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CONFIG_MEMSET_64BIT=y |
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CONFIG_MEMSET_OPTSPEED=y |
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CONFIG_MMCSD=y |
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CONFIG_MMCSD_MULTIBLOCK_DISABLE=y |
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CONFIG_MMCSD_SDIO=y |
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CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y |
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CONFIG_MM_REGIONS=3 |
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CONFIG_MTD=y |
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CONFIG_MTD_BYTE_WRITE=y |
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CONFIG_MTD_PARTITION=y |
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CONFIG_MTD_PROGMEM=y |
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CONFIG_MTD_RAMTRON=y |
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CONFIG_NFILE_DESCRIPTORS=20 |
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CONFIG_NFILE_STREAMS=8 |
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CONFIG_NSH_ARCHINIT=y |
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CONFIG_NSH_ARCHROMFS=y |
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CONFIG_NSH_ARGCAT=y |
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CONFIG_NSH_BUILTIN_APPS=y |
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CONFIG_NSH_CMDPARMS=y |
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CONFIG_NSH_CROMFSETC=y |
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CONFIG_NSH_DISABLE_IFCONFIG=y |
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CONFIG_NSH_DISABLE_IFUPDOWN=y |
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CONFIG_NSH_DISABLE_MB=y |
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CONFIG_NSH_DISABLE_MH=y |
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CONFIG_NSH_DISABLE_TELNETD=y |
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CONFIG_NSH_LINELEN=128 |
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CONFIG_NSH_MAXARGUMENTS=12 |
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CONFIG_NSH_NESTDEPTH=8 |
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CONFIG_NSH_QUOTE=y |
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CONFIG_NSH_ROMFSETC=y |
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CONFIG_NSH_ROMFSSECTSIZE=128 |
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CONFIG_NSH_STRERROR=y |
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CONFIG_NSH_VARS=y |
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CONFIG_NXFONTS_DISABLE_16BPP=y |
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CONFIG_NXFONTS_DISABLE_1BPP=y |
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CONFIG_NXFONTS_DISABLE_24BPP=y |
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CONFIG_NXFONTS_DISABLE_2BPP=y |
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CONFIG_NXFONTS_DISABLE_32BPP=y |
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CONFIG_NXFONTS_DISABLE_4BPP=y |
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CONFIG_NXFONTS_DISABLE_8BPP=y |
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CONFIG_PIPES=y |
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CONFIG_PREALLOC_MQ_MSGS=4 |
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CONFIG_PREALLOC_TIMERS=50 |
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CONFIG_PREALLOC_WDOGS=50 |
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CONFIG_PRIORITY_INHERITANCE=y |
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CONFIG_PTHREAD_MUTEX_ROBUST=y |
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CONFIG_PTHREAD_STACK_MIN=512 |
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CONFIG_RAMTRON_SETSPEED=y |
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CONFIG_RAMTRON_WRITEWAIT=y |
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CONFIG_RAM_SIZE=245760 |
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CONFIG_RAM_START=0x20010000 |
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CONFIG_RAW_BINARY=y |
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CONFIG_RTC_DATETIME=y |
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CONFIG_SCHED_ATEXIT=y |
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CONFIG_SCHED_HPWORK=y |
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CONFIG_SCHED_HPWORKPRIORITY=249 |
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CONFIG_SCHED_HPWORKSTACKSIZE=1280 |
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CONFIG_SCHED_INSTRUMENTATION=y |
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CONFIG_SCHED_LPWORK=y |
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CONFIG_SCHED_LPWORKPRIORITY=50 |
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CONFIG_SCHED_LPWORKSTACKSIZE=1536 |
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CONFIG_SCHED_WAITPID=y |
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CONFIG_SDCLONE_DISABLE=y |
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CONFIG_SDMMC1_SDIO_MODE=y |
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CONFIG_SEM_NNESTPRIO=8 |
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CONFIG_SEM_PREALLOCHOLDERS=0 |
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CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y |
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CONFIG_SERIAL_TERMIOS=y |
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CONFIG_SIG_DEFAULT=y |
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CONFIG_SIG_SIGALRM_ACTION=y |
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CONFIG_SIG_SIGUSR1_ACTION=y |
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CONFIG_SIG_SIGUSR2_ACTION=y |
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CONFIG_SIG_SIGWORK=4 |
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CONFIG_STACK_COLORATION=y |
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CONFIG_START_DAY=30 |
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CONFIG_START_MONTH=11 |
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CONFIG_STDIO_BUFFER_SIZE=32 |
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CONFIG_STM32H7_ADC1=y |
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CONFIG_STM32H7_BBSRAM=y |
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CONFIG_STM32H7_BBSRAM_FILES=5 |
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CONFIG_STM32H7_BKPSRAM=y |
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CONFIG_STM32H7_DMA1=y |
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CONFIG_STM32H7_DMA2=y |
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CONFIG_STM32H7_DMACAPABLE=y |
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CONFIG_STM32H7_DTCMEXCLUDE=y |
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CONFIG_STM32H7_DTCM_PROCFS=y |
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CONFIG_STM32H7_FLOWCONTROL_BROKEN=y |
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CONFIG_STM32H7_I2C1=y |
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CONFIG_STM32H7_I2C2=y |
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CONFIG_STM32H7_I2C3=y |
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CONFIG_STM32H7_I2C4=y |
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CONFIG_STM32H7_I2C_DYNTIMEO=y |
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CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 |
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CONFIG_STM32H7_OTGFS=y |
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CONFIG_STM32H7_PROGMEM=y |
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CONFIG_STM32H7_RTC=y |
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CONFIG_STM32H7_RTC_MAGIC_REG=1 |
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CONFIG_STM32H7_SAVE_CRASHDUMP=y |
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CONFIG_STM32H7_SDMMC1=y |
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CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y |
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CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y |
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CONFIG_STM32H7_SPI1=y |
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CONFIG_STM32H7_SPI2=y |
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CONFIG_STM32H7_SPI4=y |
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CONFIG_STM32H7_SPI5=y |
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CONFIG_STM32H7_SPI6=y |
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CONFIG_STM32H7_TIM1=y |
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CONFIG_STM32H7_TIM3=y |
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CONFIG_STM32H7_TIM4=y |
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CONFIG_STM32H7_UART4=y |
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CONFIG_STM32H7_UART7=y |
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CONFIG_STM32H7_UART8=y |
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CONFIG_STM32H7_USART1=y |
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CONFIG_STM32H7_USART2=y |
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CONFIG_STM32H7_USART3=y |
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CONFIG_STM32H7_USART6=y |
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CONFIG_STM32H7_USART_BREAKS=y |
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CONFIG_STM32H7_USART_INVERT=y |
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CONFIG_STM32H7_USART_SINGLEWIRE=y |
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CONFIG_STM32H7_USART_SWAP=y |
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CONFIG_SYSTEM_CDCACM=y |
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CONFIG_SYSTEM_NSH=y |
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CONFIG_TASK_NAME_SIZE=24 |
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CONFIG_TIME_EXTENDED=y |
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CONFIG_TTY_SIGINT=y |
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CONFIG_TTY_SIGSTP=y |
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CONFIG_UART4_BAUD=57600 |
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CONFIG_UART4_DMA=y |
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CONFIG_UART4_RXBUFSIZE=600 |
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CONFIG_UART4_TXBUFSIZE=1500 |
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CONFIG_UART7_BAUD=57600 |
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CONFIG_UART7_RXBUFSIZE=600 |
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CONFIG_UART7_SERIAL_CONSOLE=y |
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CONFIG_UART7_TXBUFSIZE=1500 |
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CONFIG_UART8_BAUD=57600 |
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CONFIG_UART8_DMA=y |
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CONFIG_UART8_RXBUFSIZE=600 |
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CONFIG_UART8_TXBUFSIZE=1500 |
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CONFIG_USART1_BAUD=57600 |
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CONFIG_USART1_DMA=y |
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CONFIG_USART1_RXBUFSIZE=600 |
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CONFIG_USART1_TXBUFSIZE=1500 |
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CONFIG_USART2_BAUD=57600 |
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CONFIG_USART2_DMA=y |
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CONFIG_USART2_IFLOWCONTROL=y |
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CONFIG_USART2_OFLOWCONTROL=y |
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CONFIG_USART2_RXBUFSIZE=600 |
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CONFIG_USART2_TXBUFSIZE=1500 |
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CONFIG_USART3_BAUD=57600 |
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CONFIG_USART3_DMA=y |
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CONFIG_USART3_IFLOWCONTROL=y |
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CONFIG_USART3_OFLOWCONTROL=y |
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CONFIG_USART3_RXBUFSIZE=600 |
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CONFIG_USART3_TXBUFSIZE=3000 |
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CONFIG_USART6_BAUD=57600 |
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CONFIG_USART6_DMA=y |
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CONFIG_USART6_RXBUFSIZE=600 |
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CONFIG_USART6_TXBUFSIZE=1500 |
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CONFIG_USBDEV=y |
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CONFIG_USBDEV_BUSPOWERED=y |
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CONFIG_USBDEV_MAXPOWER=500 |
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CONFIG_USEC_PER_TICK=1000 |
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CONFIG_USERMAIN_STACKSIZE=2624 |
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CONFIG_USER_ENTRYPOINT="nsh_main" |
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CONFIG_WATCHDOG=y |
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# |
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# This file is autogenerated: PLEASE DO NOT EDIT IT. |
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# |
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# You can use "make menuconfig" to make any modifications to the installed .config file. |
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your |
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# modifications. |
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# |
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# CONFIG_DEV_CONSOLE is not set |
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set |
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# CONFIG_SPI_EXCHANGE is not set |
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# CONFIG_STM32H7_SYSCFG is not set |
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CONFIG_ARCH="arm" |
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CONFIG_ARCH_BOARD_CUSTOM=y |
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" |
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y |
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" |
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CONFIG_ARCH_CHIP="stm32h7" |
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CONFIG_ARCH_CHIP_STM32H743ZI=y |
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CONFIG_ARCH_CHIP_STM32H7=y |
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CONFIG_ARCH_INTERRUPTSTACK=512 |
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CONFIG_ARCH_MATH_H=y |
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CONFIG_ARMV7M_BASEPRI_WAR=y |
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CONFIG_ARMV7M_ICACHE=y |
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CONFIG_ARMV7M_MEMCPY=y |
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CONFIG_ARMV7M_USEBASEPRI=y |
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CONFIG_BOARDCTL_RESET=y |
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CONFIG_BOARD_INITTHREAD_PRIORITY=254 |
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CONFIG_BOARD_LATE_INITIALIZE=y |
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CONFIG_BOARD_LOOPSPERMSEC=22114 |
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CONFIG_BOARD_RESET_ON_ASSERT=2 |
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CONFIG_C99_BOOL8=y |
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CONFIG_CDCACM=y |
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CONFIG_CDCACM_PRODUCTID=0x008b |
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CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro Durandal Vx" |
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CONFIG_CDCACM_RXBUFSIZE=600 |
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CONFIG_CDCACM_TXBUFSIZE=12000 |
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CONFIG_CDCACM_VENDORID=0x26ac |
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CONFIG_CDCACM_VENDORSTR="Holybro" |
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CONFIG_CLOCK_MONOTONIC=y |
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CONFIG_DEBUG_FULLOPT=y |
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CONFIG_DEBUG_SYMBOLS=y |
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CONFIG_DEFAULT_SMALL=y |
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CONFIG_DISABLE_MQUEUE=y |
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CONFIG_DISABLE_PTHREAD=y |
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CONFIG_EXPERIMENTAL=y |
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CONFIG_FDCLONE_DISABLE=y |
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CONFIG_FDCLONE_STDIO=y |
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CONFIG_FS_WRITABLE=y |
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CONFIG_HAVE_CXX=y |
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CONFIG_HAVE_CXXINITIALIZE=y |
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CONFIG_IDLETHREAD_STACKSIZE=750 |
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CONFIG_LIBC_FLOATINGPOINT=y |
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CONFIG_LIBC_LONG_LONG=y |
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CONFIG_LIBC_STRERROR=y |
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CONFIG_LIB_BOARDCTL=y |
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CONFIG_MAX_TASKS=8 |
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CONFIG_MAX_WDOGPARMS=2 |
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CONFIG_MEMSET_64BIT=y |
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CONFIG_MEMSET_OPTSPEED=y |
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CONFIG_MM_REGIONS=3 |
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CONFIG_NFILE_DESCRIPTORS=5 |
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CONFIG_NFILE_STREAMS=3 |
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CONFIG_NPTHREAD_KEYS=4 |
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CONFIG_NXFONTS_DISABLE_16BPP=y |
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CONFIG_NXFONTS_DISABLE_1BPP=y |
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CONFIG_NXFONTS_DISABLE_24BPP=y |
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CONFIG_NXFONTS_DISABLE_2BPP=y |
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CONFIG_NXFONTS_DISABLE_32BPP=y |
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CONFIG_NXFONTS_DISABLE_4BPP=y |
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CONFIG_NXFONTS_DISABLE_8BPP=y |
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CONFIG_PREALLOC_TIMERS=50 |
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CONFIG_PREALLOC_WDOGS=50 |
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CONFIG_PTHREAD_STACK_MIN=512 |
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CONFIG_RAM_SIZE=245760 |
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CONFIG_RAM_START=0x20010000 |
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CONFIG_RAW_BINARY=y |
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CONFIG_SDCLONE_DISABLE=y |
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CONFIG_SERIAL_TERMIOS=y |
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CONFIG_SIG_DEFAULT=y |
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CONFIG_SIG_SIGALRM_ACTION=y |
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CONFIG_SIG_SIGUSR1_ACTION=y |
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CONFIG_SIG_SIGUSR2_ACTION=y |
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CONFIG_SPI=y |
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CONFIG_STACK_COLORATION=y |
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CONFIG_START_DAY=30 |
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CONFIG_START_MONTH=11 |
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CONFIG_STDIO_BUFFER_SIZE=32 |
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CONFIG_STM32H7_BKPSRAM=y |
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CONFIG_STM32H7_DMA1=y |
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CONFIG_STM32H7_OTGFS=y |
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CONFIG_STM32H7_PROGMEM=y |
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CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y |
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CONFIG_STM32H7_TIM1=y |
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CONFIG_STM32H7_USART3=y |
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CONFIG_SYSTEMTICK_HOOK=y |
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CONFIG_SYSTEM_CDCACM=y |
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CONFIG_TASK_NAME_SIZE=24 |
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CONFIG_TIME_EXTENDED=y |
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CONFIG_TTY_SIGINT=y |
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CONFIG_TTY_SIGINT_CHAR=0x03 |
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CONFIG_TTY_SIGSTP=y |
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CONFIG_USART3_DMA=y |
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CONFIG_USART3_RXBUFSIZE=600 |
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CONFIG_USART3_TXBUFSIZE=300 |
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CONFIG_USBDEV=y |
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CONFIG_USBDEV_BUSPOWERED=y |
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CONFIG_USBDEV_MAXPOWER=500 |
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CONFIG_USEC_PER_TICK=1000 |
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CONFIG_USERMAIN_STACKSIZE=2624 |
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CONFIG_USER_ENTRYPOINT="bootloader_main" |
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/**************************************************************************** |
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* scripts/script.ld |
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* |
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* Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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|
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/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory. |
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* The flash memory is partitioned into a User Flash memory and a System |
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* Flash memory. Each of these memories has two banks: |
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* |
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* 1) User Flash memory: |
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* |
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* Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each |
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* Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each |
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* |
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* 2) System Flash memory: |
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* |
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* Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector |
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* Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector |
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* |
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* 3) User option bytes for user configuration, only in Bank 1. |
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* |
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* In the STM32H743II, two different boot spaces can be selected through |
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* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and |
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* BOOT_ADD1 option bytes: |
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* |
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* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. |
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* ST programmed value: Flash memory at 0x0800:0000 |
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* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. |
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* ST programmed value: System bootloader at 0x1FF0:0000 |
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* |
||||
* The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default, |
||||
* the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is |
||||
* drepresed, then the boot will be from 0x1FF0:0000 |
||||
* |
||||
* The STM32H743ZI also has 1024Kb of data SRAM. |
||||
* SRAM is split up into several blocks and into three power domains: |
||||
* |
||||
* 1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with |
||||
* 0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus |
||||
* |
||||
* 1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000 |
||||
* |
||||
* The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit |
||||
* DTCM ports. The DTCM-RAM could be used for critical real-time |
||||
* data, such as interrupt service routines or stack / heap memory. |
||||
* Both DTCM-RAMs can be used in parallel (for load/store operations) |
||||
* thanks to the Cortex-M7 dual issue capability. |
||||
* |
||||
* 1.2) 64Kb of ITCM-RAM beginning at address 0x0000:0000 |
||||
* |
||||
* This RAM is connected to ITCM 64-bit interface designed for |
||||
* execution of critical real-times routines by the CPU. |
||||
* |
||||
* 2) AXI SRAM (D1 domain) accessible by all system masters except BDMA |
||||
* through D1 domain AXI bus matrix |
||||
* |
||||
* 2.1) 512Kb of SRAM beginning at address 0x2400:0000 |
||||
* |
||||
* 3) AHB SRAM (D2 domain) accessible by all system masters except BDMA |
||||
* through D2 domain AHB bus matrix |
||||
* |
||||
* 3.1) 128Kb of SRAM1 beginning at address 0x3000:0000 |
||||
* 3.2) 128Kb of SRAM2 beginning at address 0x3002:0000 |
||||
* 3.3) 32Kb of SRAM3 beginning at address 0x3004:0000 |
||||
* |
||||
* SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000 |
||||
* |
||||
* 4) AHB SRAM (D3 domain) accessible by most of system masters |
||||
* through D3 domain AHB bus matrix |
||||
* |
||||
* 4.1) 64Kb of SRAM4 beginning at address 0x3800:0000 |
||||
* 4.1) 4Kb of backup RAM beginning at address 0x3880:0000 |
||||
* |
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 |
||||
* where the code expects to begin execution by jumping to the entry point in |
||||
* the 0x0800:0000 address range. |
||||
*/ |
||||
|
||||
MEMORY |
||||
{ |
||||
itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 64K |
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K |
||||
dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH = 64K |
||||
dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH = 64K |
||||
sram (rwx) : ORIGIN = 0x24000000, LENGTH = 512K |
||||
sram1 (rwx) : ORIGIN = 0x30000000, LENGTH = 128K |
||||
sram2 (rwx) : ORIGIN = 0x30020000, LENGTH = 128K |
||||
sram3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K |
||||
sram4 (rwx) : ORIGIN = 0x38000000, LENGTH = 64K |
||||
bbram (rwx) : ORIGIN = 0x38800000, LENGTH = 4K |
||||
} |
||||
|
||||
OUTPUT_ARCH(arm) |
||||
EXTERN(_vectors) |
||||
ENTRY(_stext) |
||||
|
||||
/* |
||||
* Ensure that abort() is present in the final object. The exception handling |
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided). |
||||
*/ |
||||
EXTERN(abort) |
||||
EXTERN(_bootdelay_signature) |
||||
|
||||
SECTIONS |
||||
{ |
||||
.text : { |
||||
_stext = ABSOLUTE(.); |
||||
*(.vectors) |
||||
. = ALIGN(32); |
||||
/* |
||||
This signature provides the bootloader with a way to delay booting |
||||
*/ |
||||
_bootdelay_signature = ABSOLUTE(.); |
||||
FILL(0xffecc2925d7d05c5) |
||||
. += 8; |
||||
*(.text .text.*) |
||||
*(.fixup) |
||||
*(.gnu.warning) |
||||
*(.rodata .rodata.*) |
||||
*(.gnu.linkonce.t.*) |
||||
*(.glue_7) |
||||
*(.glue_7t) |
||||
*(.got) |
||||
*(.gcc_except_table) |
||||
*(.gnu.linkonce.r.*) |
||||
_etext = ABSOLUTE(.); |
||||
|
||||
/* |
||||
* This is a hack to make the newlib libm __errno() call |
||||
* use the NuttX get_errno_ptr() function. |
||||
*/ |
||||
__errno = get_errno_ptr; |
||||
} > flash |
||||
|
||||
/* |
||||
* Init functions (static constructors and the like) |
||||
*/ |
||||
.init_section : { |
||||
_sinit = ABSOLUTE(.); |
||||
KEEP(*(.init_array .init_array.*)) |
||||
_einit = ABSOLUTE(.); |
||||
} > flash |
||||
|
||||
/* |
||||
* Construction data for parameters. |
||||
*/ |
||||
__param ALIGN(4): { |
||||
__param_start = ABSOLUTE(.); |
||||
KEEP(*(__param*)) |
||||
__param_end = ABSOLUTE(.); |
||||
} > flash |
||||
|
||||
.ARM.extab : { |
||||
*(.ARM.extab*) |
||||
} > flash |
||||
|
||||
__exidx_start = ABSOLUTE(.); |
||||
.ARM.exidx : { |
||||
*(.ARM.exidx*) |
||||
} > flash |
||||
__exidx_end = ABSOLUTE(.); |
||||
|
||||
_eronly = ABSOLUTE(.); |
||||
|
||||
.data : { |
||||
_sdata = ABSOLUTE(.); |
||||
*(.data .data.*) |
||||
*(.gnu.linkonce.d.*) |
||||
CONSTRUCTORS |
||||
_edata = ABSOLUTE(.); |
||||
} > sram AT > flash |
||||
|
||||
.bss : { |
||||
_sbss = ABSOLUTE(.); |
||||
*(.bss .bss.*) |
||||
*(.gnu.linkonce.b.*) |
||||
*(COMMON) |
||||
. = ALIGN(4); |
||||
_ebss = ABSOLUTE(.); |
||||
} > sram |
||||
|
||||
/* Stabs debugging sections. */ |
||||
.stab 0 : { *(.stab) } |
||||
.stabstr 0 : { *(.stabstr) } |
||||
.stab.excl 0 : { *(.stab.excl) } |
||||
.stab.exclstr 0 : { *(.stab.exclstr) } |
||||
.stab.index 0 : { *(.stab.index) } |
||||
.stab.indexstr 0 : { *(.stab.indexstr) } |
||||
.comment 0 : { *(.comment) } |
||||
.debug_abbrev 0 : { *(.debug_abbrev) } |
||||
.debug_info 0 : { *(.debug_info) } |
||||
.debug_line 0 : { *(.debug_line) } |
||||
.debug_pubnames 0 : { *(.debug_pubnames) } |
||||
.debug_aranges 0 : { *(.debug_aranges) } |
||||
} |
@ -0,0 +1,87 @@
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved. |
||||
* |
||||
* 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 PX4 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. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file bootloader_main.c |
||||
* |
||||
* PX4FMU-specific early startup code for bootloader |
||||
*/ |
||||
|
||||
/****************************************************************************
|
||||
* Included Files |
||||
****************************************************************************/ |
||||
|
||||
#include "board_config.h" |
||||
#include "bl.h" |
||||
|
||||
#include <stdbool.h> |
||||
#include <stdio.h> |
||||
#include <string.h> |
||||
#include <debug.h> |
||||
#include <errno.h> |
||||
|
||||
#include <nuttx/config.h> |
||||
#include <nuttx/board.h> |
||||
#include <chip.h> |
||||
#include <stm32_uart.h> |
||||
#include <arch/board/board.h> |
||||
#include "up_internal.h" |
||||
|
||||
extern int sercon_main(int c, char **argv); |
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions |
||||
****************************************************************************/ |
||||
__EXPORT void |
||||
stm32_boardinitialize(void) |
||||
{ |
||||
/* configure USB interfaces */ |
||||
|
||||
stm32_usbinitialize(); |
||||
} |
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg) |
||||
{ |
||||
return 0; |
||||
} |
||||
|
||||
void board_late_initialize(void) |
||||
{ |
||||
sercon_main(0, NULL); |
||||
} |
||||
|
||||
extern void sys_tick_handler(void); |
||||
void board_timerhook(void) |
||||
{ |
||||
sys_tick_handler(); |
||||
} |
@ -0,0 +1,128 @@
@@ -0,0 +1,128 @@
|
||||
/*
|
||||
* hw_config.h |
||||
* |
||||
* Created on: May 17, 2015 |
||||
* Author: david_s5 |
||||
*/ |
||||
|
||||
#ifndef HW_CONFIG_H_ |
||||
#define HW_CONFIG_H_ |
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016: |
||||
* To simplify the ripple effect on the tools, we will be using |
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore |
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL " |
||||
* in the USBDEVICESTRING |
||||
* This Change will be made in an upcoming BL release |
||||
****************************************************************************/ |
||||
/*
|
||||
* Define usage to configure a bootloader |
||||
* |
||||
* |
||||
* Constant example Usage |
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed |
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request |
||||
* BOARD_FMUV2 |
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading |
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading |
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string |
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig |
||||
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom |
||||
* delay provided by an APP FW |
||||
* BOARD_TYPE 9 - Must match .prototype boad_id |
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection |
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector |
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector |
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time. |
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted |
||||
* programmatically |
||||
* |
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing. |
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased |
||||
* during a FW upgrade. |
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the |
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device. |
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined |
||||
* in the table. |
||||
* |
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus |
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from |
||||
* BOARD_FLASH_SIZE to determine the size of the App FW |
||||
* and hence the address space of FLASH to erase and program. |
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.) |
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL |
||||
* |
||||
* * Other defines are somewhat self explanatory. |
||||
*/ |
||||
|
||||
/* Boot device selection list*/ |
||||
#define USB0_DEV 0x01 |
||||
#define SERIAL0_DEV 0x02 |
||||
#define SERIAL1_DEV 0x04 |
||||
|
||||
#define APP_LOAD_ADDRESS 0x08020000 |
||||
#define BOOTLOADER_DELAY 5000 |
||||
#define INTERFACE_USB 1 |
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0" |
||||
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS) |
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 1 |
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200" |
||||
#define BOOT_DELAY_ADDRESS 0x000001a0 |
||||
#define BOARD_TYPE 139 |
||||
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880) |
||||
#define BOARD_FLASH_SECTORS (15) |
||||
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024) |
||||
|
||||
#define OSC_FREQ 16 |
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
|
||||
#define BOARD_LED_ON 0 |
||||
#define BOARD_LED_OFF 1 |
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1 |
||||
|
||||
/*
|
||||
* Uncommenting this allows to force the bootloader through |
||||
* a PWM output pin. As this can accidentally initialize |
||||
* an ESC prematurely, it is not recommended. This feature |
||||
* has not been used and hence defaults now to off. |
||||
* |
||||
* # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14) |
||||
* # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) |
||||
* |
||||
* # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) |
||||
* # define BOARD_POWER_ON 1 |
||||
* # define BOARD_POWER_OFF 0 |
||||
* # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power)
|
||||
* |
||||
*/ |
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH) |
||||
# define ARCH_SN_MAX_LENGTH 12 |
||||
#endif |
||||
|
||||
#if !defined(APP_RESERVATION_SIZE) |
||||
# define APP_RESERVATION_SIZE 0 |
||||
#endif |
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE) |
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1 |
||||
#endif |
||||
|
||||
#if !defined(USB_DATA_ALIGN) |
||||
# define USB_DATA_ALIGN |
||||
#endif |
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION |
||||
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV |
||||
#endif |
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB |
||||
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV |
||||
#endif |
||||
|
||||
#endif /* HW_CONFIG_H_ */ |
Loading…
Reference in new issue