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Initial Matek m9nf4 can node support 

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added uavcan board identity

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added usb.c, LED rework may be needed

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

PX4 dates added to all files

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Matek M9NF4 CAN Node initial board support

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed GPS to ttyS3 in board sensors, led board on/off definitions

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Added app descriptor section to canbootloader linker script

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed board naming convention to match vendor

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Changed canbootloader and nsh menuconfig

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Test defconfig changes, IRQ hardfault in bootloader

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

Working canbootloader, App firmware stil WIP

Working App firmware: changed romfsroot to 'cannode', TODO: verify GPS & IMU config

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

TODO: Debug GPS no sats/low sats issue, no magnetometer on some boards

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
master
dirksavage88 3 years ago committed by Daniel Agar
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  1. 2
      .ci/Jenkinsfile-compile
  2. 1
      .github/workflows/compile_nuttx.yml
  3. 10
      .vscode/cmake-variants.yaml
  4. 7
      boards/matek/gnss-m9n-f4/canbootloader.px4board
  5. 18
      boards/matek/gnss-m9n-f4/default.px4board
  6. 13
      boards/matek/gnss-m9n-f4/firmware.prototype
  7. 12
      boards/matek/gnss-m9n-f4/init/rc.board_sensors
  8. 72
      boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig
  9. 327
      boards/matek/gnss-m9n-f4/nuttx-config/include/board.h
  10. 79
      boards/matek/gnss-m9n-f4/nuttx-config/include/board_dma_map.h
  11. 186
      boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig
  12. 138
      boards/matek/gnss-m9n-f4/nuttx-config/scripts/canbootloader_script.ld
  13. 148
      boards/matek/gnss-m9n-f4/nuttx-config/scripts/script.ld
  14. 72
      boards/matek/gnss-m9n-f4/src/CMakeLists.txt
  15. 63
      boards/matek/gnss-m9n-f4/src/autoled.cpp
  16. 157
      boards/matek/gnss-m9n-f4/src/board_config.h
  17. 190
      boards/matek/gnss-m9n-f4/src/boot.c
  18. 129
      boards/matek/gnss-m9n-f4/src/boot_config.h
  19. 130
      boards/matek/gnss-m9n-f4/src/can.c
  20. 38
      boards/matek/gnss-m9n-f4/src/i2c.cpp
  21. 293
      boards/matek/gnss-m9n-f4/src/init.c
  22. 172
      boards/matek/gnss-m9n-f4/src/led.c
  23. 41
      boards/matek/gnss-m9n-f4/src/led.h
  24. 47
      boards/matek/gnss-m9n-f4/src/spi.cpp
  25. 49
      boards/matek/gnss-m9n-f4/src/timer_config.cpp
  26. 107
      boards/matek/gnss-m9n-f4/src/usb.c
  27. 17
      boards/matek/gnss-m9n-f4/uavcan_board_identity

2
.ci/Jenkinsfile-compile
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@ -60,6 +60,8 @@ pipeline { @@ -60,6 +60,8 @@ pipeline {
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"matek_h743-slim",
"matek_gnss-m9n-f4_default",
"matek_gnss-m9n-f4_canbootloader",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"modalai_fc-v2_default",

1
.github/workflows/compile_nuttx.yml
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@ -36,6 +36,7 @@ jobs: @@ -36,6 +36,7 @@ jobs:
holybro_kakuteh7,
holybro_pix32v5,
matek_h743-slim,
matek_gnss-m9n-f4,
modalai_fc-v1,
modalai_fc-v2,
mro_ctrl-zero-f7,

10
.vscode/cmake-variants.yaml vendored
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@ -196,6 +196,16 @@ CONFIG: @@ -196,6 +196,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: matek_h743-slim_default
matek_gnss-m9n-f4_canbootloader:
short: matek_gnss-m9n-f4_canbootloader
buildType: MiniSizeRel
settings:
CONFIG: matek_m9nf4can_canbootloader
matek_gnss-m9n-f4_default:
short: matek_gnss-m9n-f4_default
buildType: MiniSizeRel
settings:
CONFIG: matek_gnss-m9n-f4_default
modalai_fc-v1_default:
short: modalai_fc-v1
buildType: MinSizeRel

7
boards/matek/gnss-m9n-f4/canbootloader.px4board
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@ -0,0 +1,7 @@ @@ -0,0 +1,7 @@
CONFIG_PLATFORM_NUTTX=y
CONFIG_BOARD_PLATFORM="nuttx"
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT=""
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BOOTLOADERS=y

18
boards/matek/gnss-m9n-f4/default.px4board
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@ -0,0 +1,18 @@ @@ -0,0 +1,18 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y

13
boards/matek/gnss-m9n-f4/firmware.prototype
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@ -0,0 +1,13 @@ @@ -0,0 +1,13 @@
{
"board_id": 140,
"magic": "PX4FWv1",
"description": "Firmware for the MatekM9nf4can cannode board",
"image": "",
"build_time": 0,
"summary": "MateksysGnss-m9n-f4",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}

12
boards/matek/gnss-m9n-f4/init/rc.board_sensors
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@ -0,0 +1,12 @@ @@ -0,0 +1,12 @@
#!/bin/sh
#
# Matek M9NF4 CAN specific board sensors init
#------------------------------------------------------------------------------
gps start -d /dev/ttyS2
icm20602 -s start
rm3100 -b 2 -s start
dps310 -a 118 -X start

72
boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig
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@ -0,0 +1,72 @@ @@ -0,0 +1,72 @@
#
# 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="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F405RG=y
CONFIG_ARCH_INTERRUPTSTACK=4096
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BINFMT_DISABLE=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_C99_BOOL8=y
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_EXPERIMENTAL=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIB_BOARDCTL=y
CONFIG_MM_REGIONS=2
CONFIG_NAME_MAX=0
CONFIG_NUNGET_CHARS=0
CONFIG_NXFONTS_DISABLE_16BPP=y
CONFIG_NXFONTS_DISABLE_1BPP=y
CONFIG_NXFONTS_DISABLE_24BPP=y
CONFIG_NXFONTS_DISABLE_2BPP=y
CONFIG_NXFONTS_DISABLE_32BPP=y
CONFIG_NXFONTS_DISABLE_4BPP=y
CONFIG_NXFONTS_DISABLE_8BPP=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=131072
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_CCMEXCLUDE=y
CONFIG_STM32_DFU=y
CONFIG_STM32_NOEXT_VECTORS=y
CONFIG_STM32_TIM8=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2944

327
boards/matek/gnss-m9n-f4/nuttx-config/include/board.h
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@ -0,0 +1,327 @@ @@ -0,0 +1,327 @@
/************************************************************************************
* include/arch/board/board.h
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Author: Nathan Tsoi <nathan@vertile.com>
*
* 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.
*
************************************************************************************/
#include "board_dma_map.h"
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The Mateksys GNSS M9N-F4 board features a single 8MHz crystal.
*
* This is the canonical configuration:
* System Clock source : PLL (HSE)
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
* HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
* PLLM : 8 (STM32_PLLCFG_PLLM)
* PLLN : 336 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
* Flash Latency(WS) : 5
* Prefetch Buffer : OFF
* Instruction cache : ON
* Data cache : ON
* Require 48MHz for USB OTG FS, : Enabled
* SDIO and RNG clock
*/
/* HSI - 16 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - On-board crystal frequency is 8MHz
* LSE - 32.768 kHz
*/
#define STM32_BOARD_XTAL 8000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY 32768
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (8,000,000 / 8) * 336
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
#define STM32_SYSCLK_FREQUENCY 168000000ul
/* AHB clock (HCLK) is SYSCLK (168MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
/* Timers driven from APB1 will be twice PCLK1 */
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* Timers driven from APB2 will be twice PCLK2 */
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8-11 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* SDIO dividers. Note that slower clocking is required when DMA is disabled
* in order to avoid RX overrun/TX underrun errors due to delayed responses
* to service FIFOs in interrupt driven mode. These values have not been
* tuned!!!
*
* SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
*/
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* LED definitions ******************************************************************/
/* 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 LEDs.
*/
/* LED index values for use with stm32_setled() */
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_NLEDS 2
#define BOARD_LED_BLUE BOARD_LED1
#define BOARD_LED_GREEN BOARD_LED2
/* LED bits for use with stm32_setleds() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
* The following definitions describe how NuttX controls the LEDs:
*/
#define LED_STARTED 0 /* LED1 */
#define LED_HEAPALLOCATE 1 /* LED2 */
#define LED_IRQSENABLED 2 /* LED1 */
#define LED_STACKCREATED 3 /* LED1 + LED2 */
#define LED_INIRQ 4 /* LED1 */
#define LED_SIGNAL 5 /* LED2 */
#define LED_ASSERTION 6 /* LED1 + LED2 */
#define LED_PANIC 7 /* LED1 + LED2 */
/* Alternate function pin selections ************************************************/
/* UART1:
*
* PA10 (RX) and PA9 (TX) are broken out on J5
*/
#define GPIO_USART1_RX GPIO_USART1_RX_1
#define GPIO_USART1_TX GPIO_USART1_TX_1
/* UART2:
*
* PA10 (RX) and PA9 (TX) are broken out on J5
*/
//#define GPIO_USART2_RX GPIO_USART2_RX_1
//#define GPIO_USART2_TX GPIO_USART2_TX_1
/* USART3:
*
* PC10 (TX) and PC11 (RX) are broken out on J4
*
*
* The Silkscreen pin labeled SCL is TX
* MISO is RX
*/
#define GPIO_USART3_RX GPIO_USART3_RX_2
#define GPIO_USART3_TX GPIO_USART3_TX_2
/* UART4:
*
* PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
* on the pro version. It's on a 2.54mm header on other versions
* PA1 (RX) -- Motor 5 out
*/
#define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1
/* UART5:
*
* PC6 (TX) and PC7 (RX) are broken out on J10
*/
//#define GPIO_UART5_RX GPIO_UART5_RX_1
//#define GPIO_UART5_TX GPIO_UART5_TX_1
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
/* SPI1:
* CS: PA4 -- configured in board_config.h
* CLK: PA5
* MISO: PA6
* MOSI: PA7
*/
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
/* SPI2:
* SD Card
* CS: PB12 -- configured in board_config.h
* CLK: PB13
* MISO: PB14
* MOSI: PB15
*/
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
/* SPI3:
* CS: PB3 -- configured in board_config.h
* CLK: PC10
* MISO: PC11
* MOSI: PC12
*/
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_2
/*
* I2C (external)
*
* SCL: PB10
* SDA: PB11
*
* TODO:
* 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_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#endif /* __CONFIG_M9NF4_INCLUDE_BOARD_H */

79
boards/matek/gnss-m9n-f4/nuttx-config/include/board_dma_map.h
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@ -0,0 +1,79 @@ @@ -0,0 +1,79 @@
/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
#pragma once
/*
| DMA1 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 |
|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
| Channel 0 | SPI3_RX_1 | - | SPI3_RX_2 | SPI2_RX | SPI2_TX | SPI3_TX_1 | - | SPI3_TX_2 |
| Channel 1 | I2C1_RX | - | TIM7_UP_1 | - | TIM7_UP_2 | I2C1_RX_1 | I2C1_TX | I2C1_TX_1 |
| Channel 2 | TIM4_CH1 | - | I2C4_RX | TIM4_CH2 | - | I2C4_RX | TIM4_UP | TIM4_CH3 |
| Channel 3 | - | TIM2_UP_1 | I2C3_RX_1 | I2C2_EXT_RX | I2C3_TX | TIM2_CH1 | TIM2_CH2 | TIM2_UP_2 |
| | | TIM2_CH3 | | | | | TIM2_CH4_1 | TIM2_CH4_2 |
| Channel 4 | UART5_RX | USART3_RX | UART4_RX | USART3_TX_1 | UART4_TX | USART2_RX | USART2_TX | UART5_TX |
| Channel 5 | UART8_TX | UART7_TX | TIM3_CH4 | UART7_RX | TIM3_CH1 | TIM3_CH2 | UART8_RX | TIM3_CH3 |
| | | | TIM3_UP | | TIM3_TRIG | | | |
| Channel 6 | TIM5_CH3 | TIM5_CH4_1 | TIM5_CH1 | TIM5_CH4_2 | TIM5_CH2 | - | TIM5_UP_2 | - |
| | TIM5_UP_1 | TIM5_TRIG_1 | | TIM5_TRIG_2 | | | | |
| Channel 7 | - | TIM6_UP | I2C2_RX | I2C2_RX_1 | USART3_TX_2 | DAC1 | DAC2 | I2C2_TX |
| | | | | | | | | |
| Usage | | TIM2_UP_1 | TIM3_UP | SPI2_RX | SPI2_TX | | | |
| DMA2 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 |
|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
| Channel 0 | ADC1_1 | SAI1_A | TIM8_CH1_1 | SAI1_A_1 | ADC1_2 | SAI1_B_1 | TIM1_CH1_1 | - |
| | | | TIM8_CH2_1 | | | | TIM1_CH2_1 | |
| | | | TIM8_CH3_1 | | | | TIM1_CH3_1 | |
| Channel 1 | - | DCMI_1 | ADC2_1 | ADC2_2 | SAI1_B | SPI6_TX | SPI6_RX | DCMI_2 |
| Channel 2 | ADC3_1 | ADC3_2 | - | SPI5_RX_1 | SPI5_TX_1 | CRYP_OUT | CRYP_IN | HASH_IN |
| Channel 3 | SPI1_RX_1 | - | SPI1_RX_2 | SPI1_TX_1 | - | SPI1_TX_2 | - | QUADSPI |
| Channel 4 | SPI4_RX_1 | SPI4_TX_1 | USART1_RX_1 | SDIO | - | USART1_RX_2 | SDIO | USART1_TX |
| Channel 5 | - | USART6_RX_1 | USART6_RX_2 | SPI4_RX_2 | SPI4_TX_2 | - | USART6_TX_1 | USART6_TX_2 |
| Channel 6 | TIM1_TRIG_1 | TIM1_CH1_2 | TIM1_CH2_2 | TIM1_CH1 | TIM1_CH4 | TIM1_UP | TIM1_CH3_2 | - |
| | | | | | TIM1_TRIG_2 | | | |
| | | | | | TIM1_COM | | | |
| Channel 7 | - | TIM8_UP | TIM8_CH1_2 | TIM8_CH2_2 | TIM8_CH3_2 | SPI5_RX_2 | SPI5_TX_2 | TIM8_CH4 |
| | | | | | | | | TIM8_TRIG |
| | | | | | | | | TIM8_COM |
| | | | | | | | | |
| Usage | SPI1_RX_1 | USART6_RX_1 | USART1_RX_1 | SPI1_TX_1 | | | SDIO | |
*/
// DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3 (SPI1 RX)
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3 (SPI1 TX)
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0 (SPI2 RX)
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0 (SPI2 TX)

186
boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig
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#
# 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_DISABLE_OS_API is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
# CONFIG_MMCSD_MMCSUPPORT is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_CMP is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
# CONFIG_NSH_DISABLE_MKFATFS is not set
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_DISABLE_TIME is not set
# CONFIG_SPI_CALLBACK is not set
# CONFIG_STM32_CCMEXCLUDE is not set
# CONFIG_STM32_DMACAPABLE is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F405RG=y
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_CUSTOM_LEDS=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_PRODUCTID=0x1004
CONFIG_CDCACM_PRODUCTSTR="Matekgnssm9nf4"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=2000
CONFIG_CDCACM_VENDORID=0x120A
CONFIG_CDCACM_VENDORSTR="PX4"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_FAT_DMAMEMORY=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FDCLONE_STDIO=y
CONFIG_FS_BINFS=y
CONFIG_FS_CROMFS=y
CONFIG_FS_FAT=y
CONFIG_FS_FATTIME=y
CONFIG_FS_PROCFS=y
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_FS_ROMFS=y
CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MM_REGIONS=2
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NAME_MAX=40
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_CMDPARMS=y
CONFIG_NSH_CROMFSETC=y
CONFIG_NSH_DISABLE_IFCONFIG=y
CONFIG_NSH_DISABLE_IFUPDOWN=y
CONFIG_NSH_DISABLE_TELNETD=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=15
CONFIG_NSH_MMCSDSPIPORTNO=2
CONFIG_NSH_NESTDEPTH=8
CONFIG_NSH_QUOTE=y
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_STRERROR=y
CONFIG_NSH_VARS=y
CONFIG_PIPES=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=131072
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_RTC_DATETIME=y
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=249
CONFIG_SCHED_HPWORKSTACKSIZE=1280
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SEM_NNESTPRIO=8
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SERIAL_TERMIOS=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_SIG_SIGWORK=4
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STM32_ADC1=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FLASH_PREFETCH=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_I2C2=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_OTGFS=y
CONFIG_STM32_OTGHS=y
CONFIG_STM32_PWR=y
CONFIG_STM32_RTC=y
CONFIG_STM32_RTC_HSECLOCK=y
CONFIG_STM32_RTC_MAGIC=0xfacefeee
CONFIG_STM32_RTC_MAGIC_REG=1
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI1_DMA_BUFFER=1024
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_SPI_DMATHRESHOLD=1024
CONFIG_STM32_TIM5=y
CONFIG_STM32_UART4=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART3=y
CONFIG_STM32_USART_BREAKS=y
CONFIG_STM32_WWDG=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_UART4_BAUD=38400
CONFIG_UART4_RXBUFSIZE=300
CONFIG_UART4_TXBUFSIZE=300
CONFIG_USART1_RXBUFSIZE=300
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_TXBUFSIZE=300
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_DUALSPEED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

138
boards/matek/gnss-m9n-f4/nuttx-config/scripts/canbootloader_script.ld
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/****************************************************************************
* configs/gnss-m9n-f4/scripts/ld.canbootloader
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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.
*
****************************************************************************/
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
* 192Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000
* 2) 16Kb of SRAM beginning at address 0x2001:c000
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
*
* 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.
*
* The first 32 KiB of flash is reserved for the bootloader.
* Paramater storage will use the next 32KiB Sector.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* 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)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = 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) }
}

148
boards/matek/gnss-m9n-f4/nuttx-config/scripts/script.ld
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/****************************************************************************
* configs/gnss-m9n-f4/scripts/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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.
*
****************************************************************************/
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
* 192Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000
* 2) 16Kb of SRAM beginning at address 0x2001:c000
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
*
* 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.
*
* The first 32 KiB of flash is reserved for the bootloader.
* Paramater storage will use the next 32KiB Sector.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08010000, LENGTH = 960K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* 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(8);
/*
* This section positions the app_descriptor_t used
* by the make_can_boot_descriptor.py tool to set
* the application image's descriptor so that the
* uavcan bootloader has the ability to validate the
* image crc, size etc
*/
KEEP(*(.app_descriptor))
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = 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) }
}

72
boards/matek/gnss-m9n-f4/src/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2018-2021 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.
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
add_library(drivers_board
boot_config.h
boot.c
led.c
led.h
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
canbootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
else()
add_library(drivers_board
i2c.cpp
init.c
spi.cpp
autoled.cpp
led.c
timer_config.cpp
usb.c
can.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
px4_layer
arch_spi
arch_io_pins
drivers__led
)
endif()

63
boards/matek/gnss-m9n-f4/src/autoled.cpp
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/****************************************************************************
*
* Copyright (c) 2021 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
*
****************************************************************************/
/**
* @file led.cpp
*
* LED auto on/off functions
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include "led.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
__EXPORT void board_autoled_on(int led)
{
if (led == 1) {
stm32_gpiowrite(GPIO_LED1, false);
}
}
__EXPORT void board_autoled_off(int led)
{
if (led == 1) {
stm32_gpiowrite(GPIO_LED1, true);
}
}

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/****************************************************************************
*
* Copyright (c) 2014, 2021 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 board_config.h
*
* M9nf4 can internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* Matek M9nf4can GPIOs ***********************************************************************************/
/* LEDs */
// LED1 - PA14 - blue
// LED2 - PA13 - green
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN14)
#define GPIO_LED_BLUE GPIO_LED1
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
#define GPIO_LED_GREEN GPIO_LED2
/* Boot config */
#define GPIO_BOOT_CONFIG /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7|GPIO_EXTI)
#define FLASH_BASED_PARAMS
#define GPIO_CAN1_SILENT_S0 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
#define GPIO_I2C1_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_I2C1_SDA_RESET /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
#define GPIO_USART1_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN10)
#define GPIO_USART1_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN9)
//#define GPIO_USART2_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11)
//#define GPIO_USART2_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN10)
#define GPIO_USART3_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTC|GPIO_PIN11)
#define GPIO_USART3_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTC|GPIO_PIN10)
#define GPIO_UART4_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN1)
#define GPIO_UART4_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN0)
//#define GPIO_UART5_RX_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTD|GPIO_PIN2)
//#define GPIO_UART5_TX_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTC|GPIO_PIN12)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 as HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
GPIO_I2C1_SCL_RESET, \
GPIO_I2C1_SDA_RESET, \
GPIO_BOOT_CONFIG, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_OTGFS_VBUS \
}
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
extern void stm32_usbinitialize(void);
//extern void board_peripheral_reset(int ms);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS

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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include "boot_config.h"
#include "board.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include "led.h"
#include <nuttx/board.h>
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN1_SILENT_S0);
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
//led_init();
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
#endif
}
/************************************************************************************
* Name: board_deinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
void board_deinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information. The function
* will first initialize the the callers struct to all zeros.
*
* Input Parameters:
* hw_version - A pointer to a uavcan_hardwareversion_t.
*
* Returned Value:
* Length of the unique_id
*
****************************************************************************/
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
{
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
hw_version->major = HW_VERSION_MAJOR;
hw_version->minor = HW_VERSION_MINOR;
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
typedef begin_packed_struct struct led_t {
uint8_t red;
uint8_t green;
uint8_t blue;
uint8_t hz;
} end_packed_struct led_t;
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 128, 128, 128, 30),
led(2, autobaud_start, 0, 128, 0, 1),
led(3, autobaud_end, 0, 128, 0, 2),
led(4, allocation_start, 0, 0, 64, 2),
led(5, allocation_end, 0, 128, 64, 3),
led(6, fw_update_start, 32, 128, 64, 3),
led(7, fw_update_erase_fail, 32, 128, 32, 3),
led(8, fw_update_invalid_response, 64, 0, 0, 1),
led(9, fw_update_timeout, 64, 0, 0, 2),
led(a, fw_update_invalid_crc, 64, 0, 0, 4),
led(b, jump_to_app, 0, 128, 0, 10),
};
void board_indicate(uiindication_t indication)
{
rgb_led(i2l[indication].red,
i2l[indication].green,
i2l[indication].blue,
i2l[indication].hz);
}

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/****************************************************************************
*
* Copyright (c) 2021 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 boot_config.h
*
* bootloader definitions that configures the behavior and options
* of the Boot loader
* This file is relies on the parent folder's boot_config.h file and defines
* different usages of the hardware for bootloading
*/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
/* Bring in the board_config.h definitions
* todo:make this be pulled in from a targed's build
* files in nuttx*/
#include "board_config.h"
#include "uavcan.h"
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_flash.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
/*
* This Option set is set to 1 ensure a provider of firmware has an
* opportunity update the node's firmware.
* This Option is the default policy and can be overridden by
* a jumper
* When this Policy is set, the node will ignore tboot and
* wait indefinitely for a GetNodeInfo request before booting.
*
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
* the polarity of the jumper to be True Active
*
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
* Jumper
* yes 1 0 x
* yes 1 1 Active
* no 1 1 Not Active
* no 0 0 X
* yes 0 1 Active
* no 0 1 Not Active
*
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_ENABLE_WD 1
#define OPT_RESTART_TIMEOUT_MS 20000
/* Reserved for the Booloader */
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
/* Reserved for the application out of the total
* system flash minus the BOOTLOADER_SIZE_IN_K
*/
#define OPT_APPLICATION_RESERVER_IN_K 0
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
#define FLASH_BASE STM32_FLASH_BASE
#define FLASH_SIZE STM32_FLASH_SIZE
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
//* If this board uses big flash that have large sectors */
#define OPT_USE_YIELD
/* Bootloader Option*****************************************************************
*
*/
#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

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/****************************************************************************
*
* Copyright (C) 2021 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 can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "arm_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "board_config.h"
#ifdef CONFIG_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
int can_devinit(void);
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
canerr("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif

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/****************************************************************************
*
* Copyright (C) 2020-2021 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.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2),
};

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/****************************************************************************
*
* Copyright (c) 2012-2021 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 init.c
*
* Matek M9NF4 CAN -specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <syslog.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio.h>
# if defined(FLASH_BASED_PARAMS)
# include <parameters/flashparams/flashfs.h>
#endif
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/*
* Ideally we'd be able to get these from arm_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
UNUSED(ms);
}
/************************************************************************************
* Name: board_on_reset
*
* Description:
* Optionally provided function called on entry to board_system_reset
* It should perform any house keeping prior to the rest.
*
* status - 1 if resetting to boot loader
* 0 if just resetting
*
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
/* configure the GPIO pins to outputs and keep them low */
/*for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}*/
/* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.
*/
if (status >= 0) {
up_mdelay(400);
}
}
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void
stm32_boardinitialize(void)
{
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
/* configure SPI all interfaces GPIO */
stm32_spiinitialize();
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi2;
static struct spi_dev_s *spi3;
__EXPORT int board_app_initialize(uintptr_t arg)
{
px4_platform_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
#if defined(SERIAL_HAVE_RXDMA)
/* set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. */
static struct hrt_call serial_dma_call;
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif
/* initial LED state */
drv_led_start();
led_off(LED_BLUE);
/*if (board_hardfault_init(2, true) != 0) {
led_on(LED_BLUE);
}*/
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(1);
if (!spi1) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
led_on(LED_BLUE);
return -ENODEV;
}
/* SPI1: ICM20602 IMU */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
up_udelay(20);
/* SPI2: RM3100 Magnetometer */
spi2 = stm32_spibus_initialize(2);
if (!spi2) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
led_on(LED_BLUE);
return -ENODEV;
}
up_udelay(20);
/* SPI3: SD card */
spi3 = stm32_spibus_initialize(3);
if (!spi3) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
led_on(LED_BLUE);
return -ENODEV;
}
SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
up_udelay(20);
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t params_sector_map[] = {
{1, 16 * 1024, 0x08008000},
{2, 16 * 1024, 0x0800C000},
{0, 0, 0},
};
/* Initialize the flashfs layer to use heap allocated memory */
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
if (result != OK) {
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
led_on(LED_AMBER);
return -ENODEV;
}
#endif
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}

172
boards/matek/gnss-m9n-f4/src/led.c
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/****************************************************************************
*
* Copyright (c) 2021 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 led.c
*
* LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.h>
#include "led.h"
#define TMR_BASE STM32_TIM1_BASE
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
#define TMR_REG(o) (TMR_BASE+(o))
static uint32_t g_ledmap[] = {
GPIO_LED_BLUE,
};
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = TMR_FREQUENCY;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
uint16_t val;
static bool once = 0;
if (!once) {
once = 1;
/* Enabel Clock to Block */
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
/* Reload */
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
val |= ATIM_EGR_UG;
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
/* Set Prescaler STM32_TIM_SETCLOCK */
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
/* Enable STM32_TIM_SETMODE*/
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
ATIM_CCER_CC2E | ATIM_CCER_CC2P |
ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
stm32_configgpio(GPIO_TIM1_CH1N_1);
stm32_configgpio(GPIO_TIM1_CH2N_1);
stm32_configgpio(GPIO_TIM1_CH3N_1);
/* master output enable = on */
putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
}
long p = freqs == 0 ? p1s : p1s / freqs;
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
if (freqs == 0) {
val &= ~ATIM_CR1_CEN;
} else {
val |= ATIM_CR1_CEN;
}
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
}
__EXPORT void led_init(void)
{
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
stm32_configgpio(g_ledmap[l]);
}
}
static void phy_set_led(int led, bool state)
{
if (led == 0) {
stm32_gpiowrite(g_ledmap[led], !state);
}
}
/*
__EXPORT void board_autoled_on(int led) {
if (led == 1) {
stm32_gpiowrite(GPIO_LED1, false);
}
}
__EXPORT void board_autoled_off(int led) {
if (led == 1) {
stm32_gpiowrite(GPIO_LED1, true);
}
}*/
__EXPORT void led_on(int led)
{
phy_set_led(led, true);
}
__EXPORT void led_off(int led)
{
phy_set_led(led, false);
}
__EXPORT void led_toggle(int led)
{
if (led == 0) {
phy_set_led(led, !stm32_gpioread(g_ledmap[led]));
}
}

41
boards/matek/gnss-m9n-f4/src/led.h
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/****************************************************************************
*
* Copyright (C) 2015-2021 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
__BEGIN_DECLS
void rgb_led(int r, int g, int b, int freqs);
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS

47
boards/matek/gnss-m9n-f4/src/spi.cpp
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/****************************************************************************
*
* Copyright (C) 2018-2021 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.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12})
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

49
boards/matek/gnss-m9n-f4/src/timer_config.cpp
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/****************************************************************************
*
* Copyright (C) 2018-2021 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.
*
****************************************************************************/
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
};
//constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
// initIOTimerChannelMapping(io_timers, timer_io_channels);

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boards/matek/gnss-m9n-f4/src/usb.c
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/****************************************************************************
*
* Copyright (C) 2018-2021 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 usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <arm_arch.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the omnibusf4sd board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);
}

17
boards/matek/gnss-m9n-f4/uavcan_board_identity
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# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 0)
set(uavcanblid_hw_version_minor 140)
set(uavcanblid_name "\"org.matek.gnss-m9n-f4\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
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