MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after (#18733)

* Make board_id compatible with ardupilot
 * Initialize outputs for CAM1/CAM2 and Vsw pad
 * Correct board type 1013 in bootloader to match AP
 * Change usb vendor string to "Matek"
 * Change cdcacm pid to 1013
 * Comment out FLASH_BASED_PARAMS because of #15331

boards/matek/h743-slim/firmware.prototype

@@ -1,10 +1,10 @@
 {
-    "board_id": 139,
+    "board_id": 1013,
     "magic": "PX4FWv1",
-    "description": "Firmware for the MatekH743-slim board",
+    "description": "Firmware for the MatekH743 board",
     "image": "",
     "build_time": 0,
-    "summary": "MatekH743-slim",
+    "summary": "MatekH743",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 1966080,

boards/matek/h743-slim/nuttx-config/bootloader/defconfig

@@ -30,11 +30,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTID=0x1013
-CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
+CONFIG_CDCACM_PRODUCTSTR="MatekH743"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORID=0x1209
 CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y

boards/matek/h743-slim/nuttx-config/nsh/defconfig

@@ -46,12 +46,12 @@ CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0036
+CONFIG_CDCACM_PRODUCTID=0x1013
-CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
+CONFIG_CDCACM_PRODUCTSTR="MatekH743"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
+CONFIG_CDCACM_VENDORID=0x1209
-CONFIG_CDCACM_VENDORSTR="PX4"
+CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y

boards/matek/h743-slim/src/board_config.h

@@ -119,9 +119,9 @@
 
 /* Spare GPIO */
 
-// #define GPIO_PG6                        /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
+#define GPIO_VIDEO_PWR          /* PD10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10)
-// #define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_VIDEO_CAM          /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11)
-// #define GPIO_PG15                       /* PG15 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
+// #define GPIO_PG15               /* PG15 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
 
 
 /* Tone alarm output */
@@ -174,6 +174,8 @@
 		GPIO_nLED_BLUE, \
 		GPIO_nLED_GREEN, \
 		GPIO_TONE_ALARM_IDLE, \
+		GPIO_VIDEO_PWR, \
+		GPIO_VIDEO_CAM, \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/matek/h743-slim/src/hw_config.h

@@ -96,7 +96,7 @@
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     139
+#define BOARD_TYPE                     1013
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)
 #define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)

boards/matek/h743-slim/src/init.c

@@ -60,6 +60,10 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+// # if defined(FLASH_BASED_PARAMS)
+// #  include <parameters/flashparams/flashfs.h>
+// #endif
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -174,6 +178,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+
+// #if defined(FLASH_BASED_PARAMS)
+// 	static sector_descriptor_t params_sector_map[] = {
+// 		{6, 128 * 1024, 0x081C0000},
+// 		{7, 128 * 1024, 0x081E0000},
+// 		{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_BLUE);
+// 		return -ENODEV;
+// 	}
+
+// #endif
+
 	/* Configure the HW based on the manifest */
 	px4_platform_configure();
 

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -436,8 +436,8 @@ uint8_t MPU6000::RegisterRead(Register reg)
 	uint8_t cmd[2] {};
 	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
 	set_frequency(SPI_SPEED); // low speed for regular registers
-	transfer(cmd, cmd, sizeof(cmd));
 	px4_udelay(10);
+	transfer(cmd, cmd, sizeof(cmd));
 	return cmd[1];
 }
 
@@ -445,8 +445,8 @@ void MPU6000::RegisterWrite(Register reg, uint8_t value)
 {
 	uint8_t cmd[2] { (uint8_t)reg, value };
 	set_frequency(SPI_SPEED); // low speed for regular registers
-	transfer(cmd, cmd, sizeof(cmd));
 	px4_udelay(10);
+	transfer(cmd, cmd, sizeof(cmd));
 }
 
 void MPU6000::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)