Initial support for px4_fmu-v6xrt an i.MXRT1170 based FMUM #22263

davids5 · 2023-10-25T17:35:24Z

Replaced #21321

To do's

USB VID and String Set
Fix CI issues

Bugs

reboot -b not staying in bootloader
[Bug] FMUv6XRT hardfault #22160

davids5 · 2023-10-26T05:03:04Z

@dk7xe VID updated - Please replace Bootloader. Also I removed some comment out code - that should not have been in the check for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. But there is still a bug that the signature in the RTC that keeps the bootloader active is not working (Again)

davids5 · 2023-10-26T09:11:16Z

reboot -b fixed

davids5 · 2023-10-26T13:36:13Z

CI Builds clean! - There 1 commit on NuttX 8e8f80b79cd6cc30a0cc87d6c8b5f8332b0b66ea that I need to round trip after @PetervdPerk-NXP test it.
Then we need to do the NuttX merge with [PENDIG] on the Second commit. 47b20669a081edb972215105643b27ee940471b9 before merging.

dk7xe · 2023-10-30T13:00:52Z

@davids5, @dk7xe there is at least one issue on the telemetry unit that does not allow the flight.

@dmdobrea This is due to the handed out baseboard is no longer supported by this branch. We will keep u informed.

davids5 · 2023-10-30T14:58:28Z

For bug reports please include the output from ver all and the hardfault log file. Not Pictures; Also removed all OLD logged hard fault logs from the FMU's SD card.

dk7xe · 2023-10-31T22:01:40Z

Precompiled firmware images with ASSERTION=n - https://github.com/NXPHoverGames/NXP-FMUMRT/tree/main/firmware

davids5 · 2023-11-01T09:40:59Z

@dk7xe Please update your built files.

@dagar Please review the NuttX PR PX4/NuttX#223 and merge it first, then I will repoint this.

PetervdPerk-NXP · 2023-11-02T10:56:44Z

But Airframe config just got lost. ;(

Let's assume that happened because of HW name change.

Maybe it's also a good idea to fully reset param and config start a new due to incompatibility with previous name

@dk7xe can you try QGC with a single link and see if that's stable or unstable.

davids5 · 2023-11-03T09:32:42Z

The continous interrupt of USB communication happens on Windows as well. It starts always when trying to change a vehicle parameter.
Bad vibes due to "hardmount" of FMU on frame.

The communication interrupt issue

This is most likely that the ECO 712500-001 PX4 FMUVxX-BASE-T PINREF nARMED to VBUS_SENSE change was not done on base.

It sounds to me like you may have a bad FRAM. Use the commands shared in chat today to debug.

Log reboot on debug console, mtd status and `mtd erase' then reboot. Test with QGC on IP or do the ECO before setting parameters

dk7xe · 2023-11-11T22:06:37Z

@dmdobrea have u enabled the driver before building the code? most propably it's not enabled by default

dk7xe · 2023-11-11T23:28:10Z

@dk7xe @dmdobrea I worked with @PetervdPerk-NXP who has the same radios as use. We could the cause with booting from power brick. We believe that bug is now slayed.

@dagar - Let's bring it in. And we can continue with new PRS. !!!!!!!!!!!!!!!!!! Agree

tested on Vehicle ID20 - Pixhawk 6X-RT with Microhard on ETH and Holybro Telemetry V3
Both bootloader and FW were updated with 'make px4_fmu-v6xrt_ ... upload'

NO SDcard whipe done
NO parameter reset to default done

NuttShell (NSH) NuttX-11.0.0
nsh> ver all
HW arch: PX4_FMU_V6XRT
HW type: V6XRT000000
HW version: 0x000
HW revision: 0x000
PX4 git-hash: f2227e8e0ab4a7e2b19230d8a1d427c408e9aad9
PX4 version: 1.15.0 40 (17760320)
PX4 git-branch: pr-px4_fmu-v6xrt
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: ed4814f6239097dde5eecf2b4fbd58661db84dda
Build datetime: Nov 11 2023 23:39:40
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 00090000000000000000829297441d1a180e
MCU: i.MX RT1170 rB0, rev. 0
nsh>

Results

No hardfaults at all
No errors showing up
Mavlink connection via Microhard radio connected to ETH working ok from boot
Holybro 433MHz telemetry radio on TELEM1 - working ok, no issues
Holybro 433MHz telemetry radio on TELEM2 - LED's blinking but no connection to QGC. Same observation than @dmdobrea
Holybro 433MHz telemetry radio on TELEM3 - working ok, no issues

@davids5 @dagar i agree merging to main.
The TELEM2 needs some more investigation but should not block the merge!

davids5 · 2023-11-13T13:54:54Z

Rebased on current main and brings in px4_firmware_nuttx-10.3.0+ with "NXP Do not wait on TXDMA semaphore"

imxrt:117x Reuse all but io_timer_hw_description and imxrt_pinirq.c imxrt:ADC & LPADC bifurcation and restructuring imxrt:hrt support Up to GPT6 nxp/rt117x:adc Corrected

nxp/rt117x:Fix Pin IRQ nxp/rt117x:Support 4 i2c busses nxp/rt117x:Add px4io_serial support nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4 px4_fmu-6xrt:Using imxrt_flexspi_nor_octal px4_fmu-6xrt:Entry is start px4_fmu-6xrt:Add Proper MTD px4_fmu-6xrt:Set I2C Buses px4_fmu-6xrt:Proper SPI usage px4_fmu-6xrt:Adjust memory Map to use the 2 MB px4_fmu-6xrt:Bring in ROMAPI px4_fmu-6xrt:Push FLASH to 200Mhz px4_fmu-6xrt:Use BOARD_I2C_LATEINIT px4_fmu-6xrt:Clock Config remove unused devices px4_fmu-6xrt:Remove EVK SDRAM IO px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI px4_fmu-6xrt:Manifest px4_fmu-6xrt:Restore board_peripheral_reset px4_fmu-6xrt:Set I2C buss Interna/Externa and startup nxp/rt117x:Set 6 I2C busses px4_fmu-6xrt:Correct Clock Sources and Freqency Settings px4_fmu-6xrt:Correct ADC Settings px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata Current config 1KB Prefetch .rodata 3KB Prefetch .text px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable px4_fmu-6xrt:Octal spi boot/debug problem bypass px4_fmu-6xrt:Add PWM test px4_fmu-6xrt:Fix clockconfig and USB vbus sense px4_fmu-6xrt: Use TCM px4_fmu-6xrt: Ethernet bringup imxrt: use unique_id register for board_identity px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0 px4_fmu-6xrt:correct rotation icm42688p onboard imu rt117x: Add SSARC HP RAM driver for memory dumps px4_fmu-6xrt: Enable hardfault_log px4_fmu-6xrt: Enable DMA pool px4_fmu-6xrt: fix uart mapping px4_fmu-6xrt: enable SocketCAN & DroneCAN px4_fmu-6xrt:Command line history TAB completion px4_fmu-6xrt:Fix pinning duplication px4_fmu-6xrt:Support conditional PHY address based on selected PHY px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max px4_fmu-6xrt::Set TELEM Buffers add HW HS px4_fmu-6xrt:Turn off DMA poll px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2! px4_fmu-6xrt: bootloader (#22228) * imxrt:Add bootloader support * bootloader:imxrt clear BOOT_RTC_SIGNATURE * px4_fmu-6xrt:Add bootloader * px4_fmu-6xrt:bootloader removed ADC * px4_fmu-6xrt:bootloader base bootloader script off of script.ld * px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000 * px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes px4_fmu-6xrt:Default to use LAN8742A PHY px4_fmu-v6xrt:VID Set to Drone Code board_reset:Enable ability to write RTC GP regs px4_fmu-6xrt:Fix CMP0079 error rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders fmu-v6xrt: increase 5v down time fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600, Bootloder updated. imxrt:board_hw_rev_ver Rework for 3.893V Ref px4_fmu-v6xrt:Move ADC to Port3

davids5 · 2023-11-14T18:25:05Z

Rebased on current main and brings in px4_firmware_nuttx-10.3.0+ with [PENDING] imxrt:gpio disable imxrt_gpio_select for the 1170

dk7xe · 2023-11-14T20:18:20Z

Precompiled image based on 84766c4 is available on https://github.com/NXPHoverGames/NXP-FMUMRT/blob/main/firmware/README.md

mrpollo · 2023-11-15T16:11:09Z

Thanks @davids5 @dk7xe 🎉

DronecodeBot · 2023-11-15T17:08:35Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-november-15-2023/35198/1

dk7xe · 2023-11-15T20:23:41Z

Thank you @davids5 @PetervdPerk-NXP for the great work done as well as @dagar for pushing the merge button finally!
Thank you also to you @mrpollo for the support on the QGC side and with organizational topics!

As mentioned in the community call earlier today. Several flights have been executed still today with 84766c4c

After tuning stable flights while still high vibrations caused by the folding props.

farhangnaderi · 2023-11-25T22:10:22Z

Finally, I got my gear ready. The first issue I noticed is no Global Position was received and besides, MAG1 estimation failure warning while calibrating. Any steps I might be doing wrong?

These logs might be helpful. By the way I have RC disabled since am using ELRS Radio.

https://review.px4.io/plot_app?log=06f22fb2-6e4e-47e4-ab24-624040edbbed
https://review.px4.io/plot_app?log=9f3fa474-a7f7-442c-8728-[3b7964d7acfa
https://review.px4.io/plot_app?log=324f021f-e9e0-4535-a61a-6b915daa24fb

davids5 · 2023-11-26T08:08:10Z

@farhangnaderi There is an issue with serial that is a WIP and fixed in #22386 but you will have to drop 7c406c9 and possibly others. You could just use that version of nuttx with main

davids5 mentioned this pull request Oct 25, 2023

Initial support for IMXRT FMUM (1062 & 1170) & nxp_imxrt1170-evk #21321

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davids5 requested review from PetervdPerk-NXP, igalloway and mrpollo October 25, 2023 17:36

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davids5 force-pushed the pr-px4_fmu-v6xrt branch from 50e808b to cfe129c Compare October 26, 2023 04:55

davids5 force-pushed the pr-px4_fmu-v6xrt branch from cfe129c to 3f49644 Compare October 26, 2023 09:10

davids5 force-pushed the pr-px4_fmu-v6xrt branch 3 times, most recently from 4d1113e to a98fc60 Compare October 26, 2023 12:36

davids5 marked this pull request as draft October 26, 2023 13:36

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davids5 force-pushed the pr-px4_fmu-v6xrt branch 2 times, most recently from 2fbec9a to 3f42a0f Compare October 30, 2023 11:01

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davids5 force-pushed the pr-px4_fmu-v6xrt branch from 3f42a0f to d745fe2 Compare November 1, 2023 09:35

davids5 marked this pull request as ready for review November 1, 2023 09:41

davids5 mentioned this pull request Nov 1, 2023

[Bug] FMUv6XRT hardfault #22160

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davids5 mentioned this pull request Nov 13, 2023

stm32h7: Prevent UART from waiting on TXDMA semaphore #22302

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davids5 force-pushed the pr-px4_fmu-v6xrt branch 2 times, most recently from 37ebb67 to c0f8d53 Compare November 13, 2023 13:53

davids5 and others added 8 commits November 14, 2023 10:21

NuttX with NXP TX DMA Sem fix & IOMUXC GPR fix

acbf3ac

px4/nxp/imxrt:Support VER & REV from EEPROM

16b4509

px4_platform_common: Break out I2C init if BOARD_I2C_LATEINIT is used

112d0b2

px4 mtd:Support FlexSPI attached Devices

d9b0daf

px4 allow up to 6 I2C busses

1c75774

px4 ADC Use device reference_v and dn_fullcount

c8cb396

px4 hardfault_log: Add SSARC dump backend support

ce73a8b

nxp:imxrt 1060/1170 bifurcation and restructuring

80fb8a3

imxrt:117x Reuse all but io_timer_hw_description and imxrt_pinirq.c imxrt:ADC & LPADC bifurcation and restructuring imxrt:hrt support Up to GPT6 nxp/rt117x:adc Corrected

davids5 force-pushed the pr-px4_fmu-v6xrt branch from c0f8d53 to 5ba3a6b Compare November 14, 2023 18:22

davids5 force-pushed the pr-px4_fmu-v6xrt branch from 5ba3a6b to 84766c4 Compare November 14, 2023 18:23

davids5 mentioned this pull request Nov 15, 2023

PX4 NuttX with Fat wrap fix Backport #22345

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dagar approved these changes Nov 15, 2023

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dagar merged commit e90e8ae into main Nov 15, 2023
85 of 89 checks passed

dagar deleted the pr-px4_fmu-v6xrt branch November 15, 2023 16:10

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Initial support for px4_fmu-v6xrt an i.MXRT1170 based FMUM #22263

Initial support for px4_fmu-v6xrt an i.MXRT1170 based FMUM #22263

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Initial support for px4_fmu-v6xrt an i.MXRT1170 based FMUM #22263

Initial support for px4_fmu-v6xrt an i.MXRT1170 based FMUM #22263

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To do's

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