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[chibios] Update chibios and add Pixhawk 6X autopilot
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| Original file line number | Diff line number | Diff line change |
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| # Hey Emacs, this is a -*- makefile -*- | ||
| # | ||
| # cube_orange.makefile | ||
| # | ||
| # This is for the main MCU (STM32F767) on the PX4 board | ||
| # See https://pixhawk.org/modules/pixhawk for details | ||
| # | ||
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| BOARD=px4fmu | ||
| BOARD_VERSION=v6x | ||
| BOARD_DIR=$(BOARD)/chibios/$(BOARD_VERSION) | ||
| BOARD_CFG=\"arch/chibios/common_board.h\" | ||
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| ARCH=chibios | ||
| $(TARGET).ARCHDIR = $(ARCH) | ||
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| RTOS=chibios | ||
| MCU=cortex-m7 | ||
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| # FPU on F7 | ||
| USE_FPU=hard | ||
| USE_FPU_OPT= -mfpu=fpv5-d16 | ||
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| #USE_LTO=yes | ||
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| $(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD | ||
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| ############################################################################## | ||
| # Architecture or project specific options | ||
| # | ||
| # Define project name here (target) | ||
| PROJECT = $(TARGET) | ||
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| # Project specific files and paths (see Makefile.chibios for details) | ||
| CHIBIOS_BOARD_PLATFORM = STM32H7xx/platform.mk | ||
| CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/ | ||
| CHIBIOS_BOARD_LINKER = STM32H743xI.ld | ||
| CHIBIOS_BOARD_STARTUP = startup_stm32h7xx.mk | ||
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| ############################################################################## | ||
| # Compiler settings | ||
| # | ||
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| # default flash mode is the PX4 bootloader | ||
| # possibilities: DFU, SWD, PX4 bootloader | ||
| FLASH_MODE ?= PX4_BOOTLOADER | ||
| PX4_TARGET = "ap" | ||
| PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu_v6x.prototype" | ||
| PX4_BL_PORT ?= "/dev/serial/by-id/*-BL_*,/dev/serial/by-id/*_BL_*" | ||
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| # | ||
| # default LED configuration | ||
| # | ||
| SDLOG_LED ?= none | ||
| RADIO_CONTROL_LED ?= none | ||
| BARO_LED ?= none | ||
| AHRS_ALIGNER_LED ?= none | ||
| GPS_LED ?= none | ||
| SYS_TIME_LED ?= 4 | ||
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| # | ||
| # default UART configuration (modem, gps, spektrum) | ||
| # The TELEM2 port | ||
| SBUS_PORT ?= UART6 | ||
| RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6 | ||
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| # The TELEM1 port (UART5 is TELEM2, UART2 is TELEM3) | ||
| MODEM_PORT ?= UART7 | ||
| MODEM_BAUD ?= B57600 | ||
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| # The GPS1 port (UART1 is GPS2) | ||
| GPS_PORT ?= UART8 | ||
| GPS_BAUD ?= B460800 | ||
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| # InterMCU port connected to the IO processor | ||
| #INTERMCU_PORT ?= UART6 | ||
| #INTERMCU_BAUD ?= B1500000 | ||
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| # | ||
| # default actuator configuration | ||
| # | ||
| # you can use different actuators by adding a configure option to your firmware section | ||
| # e.g. <configure name="ACTUATORS" value="actuators_ppm/> | ||
| # and by setting the correct "driver" attribute in servo section | ||
| # e.g. <servo driver="Ppm"> | ||
| # | ||
| ACTUATORS ?= actuators_pwm | ||
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|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| <!DOCTYPE module SYSTEM "../module.dtd"> | ||
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| <module name="pixhawk_v6x" dir="boards"> | ||
| <doc> | ||
| <description> | ||
| Specific configuration for Pixhawk V6X with ChibiOS | ||
| </description> | ||
| </doc> | ||
| <dep> | ||
| <depends>spi_master,baro_bmp3</depends> | ||
| </dep> | ||
| <makefile target="!sim|nps|fbw"> | ||
| <define name="USE_RTC_BACKUP" value="TRUE"/> | ||
| <configure name="SDLOG_USE_RTC" value="FALSE"/> | ||
| <configure name="SDLOG_SDIO" value="SDCD2"/> | ||
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| <!-- On FMU board --> | ||
| <!--configure name="BMP3_I2C_DEV" value="i2c2"/> | ||
| <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR"/--> | ||
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| <!-- On IMU board --> | ||
| <configure name="BMP3_I2C_DEV" value="i2c4"/> | ||
| <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/> | ||
| </makefile> | ||
| </module> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,76 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="imu_pixhawk6x" dir="imu" task="sensors"> | ||
| <doc> | ||
| <description> | ||
| IMU driver for the sensors inside the Pixhawk 6X autopilots | ||
| - IMU1: ICM42670 | ||
| - IMU2: ??? | ||
| - IMU3: ??? | ||
| </description> | ||
| </doc> | ||
| <dep> | ||
| <depends>spi_master,i2c,imu_common,imu_heater</depends> | ||
| <provides>imu</provides> | ||
| </dep> | ||
| <header> | ||
| <file name="imu_pixhawk6x.h"/> | ||
| </header> | ||
| <init fun="imu_pixhawk6x_init()"/> | ||
| <periodic fun="imu_pixhawk6x_periodic()"/> | ||
| <event fun="imu_pixhawk6x_event()"/> | ||
| <makefile target="!sim|nps|fbw"> | ||
| <!-- Files --> | ||
| <file name="invensense2.c" dir="peripherals"/> | ||
| <file name="invensense3.c" dir="peripherals"/> | ||
| <file name="imu_pixhawk6x.c"/> | ||
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| <!-- IMU1: ICM42670 --> | ||
| <configure name="PIXHAWK6X_IMU1_SPI_DEV" default="spi1" case="lower|upper"/> | ||
| <configure name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" default="SPI_SLAVE1"/> | ||
| <define name="PIXHAWK6X_IMU1_SPI_DEV" value="$(PIXHAWK6X_IMU1_SPI_DEV_LOWER)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU1_SPI_DEV_UPPER)"/> | ||
| <define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU1_SPI_SLAVE_IDX)"/> | ||
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| <!-- IMU2: ICM42688--> | ||
| <configure name="PIXHAWK6X_IMU2_SPI_DEV" default="spi2" case="lower|upper"/> | ||
| <configure name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/> | ||
| <define name="PIXHAWK6X_IMU2_SPI_DEV" value="$(PIXHAWK6X_IMU2_SPI_DEV_LOWER)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU2_SPI_DEV_UPPER)"/> | ||
| <define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU2_SPI_SLAVE_IDX)"/> | ||
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| <!-- IMU3: BMI088 / ICM20649 --> | ||
| <configure name="PIXHAWK6X_IMU3_SPI_DEV" default="spi3" case="lower|upper"/> | ||
| <configure name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" default="SPI_SLAVE3"/> | ||
| <define name="PIXHAWK6X_IMU3_SPI_DEV" value="$(PIXHAWK6X_IMU3_SPI_DEV_LOWER)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU3_SPI_DEV_UPPER)"/> | ||
| <define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/> | ||
| <define name="USE_$(PIXHAWK6X_IMU3_SPI_SLAVE_IDX)"/> | ||
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| <!-- Configure the heater (ICM42688) --> | ||
| <define name="IMU_HEATER_GYRO_ID" value="IMU_PIXHAWK2_ID"/> | ||
| <define name="IMU_HEATER_TARGET_TEMP" value="45.0"/> | ||
| <define name="IMU_HEATER_P_GAIN" value="50.0"/> | ||
| <define name="IMU_HEATER_I_GAIN" value="0.07"/> | ||
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| <test> | ||
| <define name="SPI_MASTER"/> | ||
| <define name="PIXHAWK6X_IMU1_SPI_DEV" value="spi1"/> | ||
| <define name="PIXHAWK6X_IMU1_SPI_SLAVE_IDX" value="1"/> | ||
| <define name="PIXHAWK6X_IMU2_SPI_DEV" value="spi2"/> | ||
| <define name="PIXHAWK6X_IMU2_SPI_SLAVE_IDX" value="2"/> | ||
| <define name="PIXHAWK6X_IMU3_SPI_DEV" value="spi3"/> | ||
| <define name="PIXHAWK6X_IMU3_SPI_SLAVE_IDX" value="3"/> | ||
| <define name="USE_SPI1"/> | ||
| <define name="USE_SPI2"/> | ||
| <define name="USE_SPI3"/> | ||
| <define name="USE_SPI_SLAVE1"/> | ||
| <define name="USE_SPI_SLAVE2"/> | ||
| <define name="USE_SPI_SLAVE3"/> | ||
| <define name="PERIODIC_FREQUENCY" value="512"/> | ||
| <define name="IMU_PIXHAWK6X_PERIODIC_FREQ" value="512"/> | ||
| </test> | ||
| </makefile> | ||
| </module> |
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