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rover interface: use vehicle thrust and torque setpoint instead of ac… #504

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rover interface: use vehicle thrust and torque setpoint instead of ac… #504

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cf52ba9
Add initial ssrc target for Pixhawk 5 and Pixhawk 5x
jlaitine Dec 14, 2021
6de6c0c
px4-sitl: change microxrce port values
jnippula Dec 12, 2022
3200295
Do not handle hil_state_quaternion
jnippula Dec 15, 2022
9fab676
platforms/nuttx/src/*/microchip: Add bootloader version passing from …
jlaitine Oct 3, 2023
c3464bb
rover interface:use vehicle thrust and torque setpoint instead of act…
haitomatic Oct 4, 2023
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23 changes: 4 additions & 19 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -265,12 +265,9 @@ manual_control start
sensors start
commander start

if [ "$VEHICLE_TYPE" != "rover" ]
if ! pwm_out_sim start -m sim
then
if ! pwm_out_sim start -m sim
then
tune_control play error
fi
tune_control play error
fi

#
Expand Down Expand Up @@ -299,26 +296,14 @@ then
else
param set UXRCE_DDS_DOM_ID 0
fi
uxrce_dds_port=2020
uxrce_dds_port=8888
if [ -n "$PX4_UXRCE_DDS_PORT" ]
then
# Override port if environment variable is defined
uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
fi
uxrce_dds_local_port=2019
if [ -n "$PX4_UXRCE_DDS_LOCAL_PORT" ]
then
# Override port if environment variable is defined
uxrce_dds_local_port="$PX4_UXRCE_DDS_LOCAL_PORT"
fi
uxrce_dds_ip="127.0.0.1"
if [ -n "$PX4_UXRCE_DDS_IP" ]
then
# Override port if environment variable is defined
uxrce_dds_ip="$PX4_UXRCE_DDS_IP"
fi

uxrce_dds_client start -t udp -h $uxrce_dds_ip -r $uxrce_dds_local_port -p $uxrce_dds_port $uxrce_dds_ns
microdds_client start -t udp -h 127.0.0.1 -r 2019 -p 2020 $microdds_ns

if param greater -s MNT_MODE_IN -1
then
Expand Down
6 changes: 3 additions & 3 deletions boards/px4/fmu-v5/nuttx-config/scripts/script.ld
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Original file line number Diff line number Diff line change
Expand Up @@ -104,20 +104,20 @@ SECTIONS
PROVIDE(_boot_signature = 0);

/* Make a hole for the ToC and signature */
.toc (NOLOAD) : {
toc (NOLOAD) : {
*(.main_toc)
*(.main_toc_sig)
FILL(0xff);
. = ALIGN(0x1000);
. = ALIGN(8);
} > FLASH_AXIM

.vectors : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
} > FLASH_AXIM

.text : {
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
Expand Down
6 changes: 2 additions & 4 deletions boards/px4/fmu-v5/nuttx-config/scripts/toc.ld
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,7 @@

MEMORY
{
/* -64 <- Leave room for the signature */
progmem (r) : ORIGIN = 0x08008000, LENGTH = 2016K - 64
progmem (r) : ORIGIN = 0x08008000, LENGTH = 2016K
}

OUTPUT_ARCH("arm")
Expand All @@ -36,7 +35,7 @@ SECTIONS
KEEP(*(.main_toc));
/* Padd the rest */
FILL(0xff);
. = 0x1000 - 64;
. = ALIGN(8);
_toc_end = ABSOLUTE(.);
} > progmem

Expand All @@ -52,7 +51,6 @@ SECTIONS
/* The application firmware payload */
_app_start = ABSOLUTE(.);
*(.firmware)
. = ALIGN(4);
_app_end = ABSOLUTE(.);
} > progmem

Expand Down
83 changes: 45 additions & 38 deletions boards/px4/fmu-v5/nuttx-config/ssrc/defconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -7,51 +7,22 @@
#
# CONFIG_DISABLE_ENVIRON is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
# CONFIG_DISABLE_PTHREAD is not set
# CONFIG_FS_ANONMAP is not set
# CONFIG_FS_PROCFS_EXCLUDE_MEMINFO is not set
# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
# CONFIG_MMCSD_MMCSUPPORT is not set
# CONFIG_MMCSD_SPI is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_CAT is not set
# CONFIG_NSH_DISABLE_CD is not set
# CONFIG_NSH_DISABLE_CP is not set
# CONFIG_NSH_DISABLE_DATE is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_ECHO is not set
# CONFIG_NSH_DISABLE_ENV is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_EXPORT is not set
# CONFIG_NSH_DISABLE_FREE is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_HELP is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_KILL is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
# CONFIG_NSH_DISABLE_LS is not set
# CONFIG_NSH_DISABLE_MKDIR is not set
# CONFIG_NSH_DISABLE_MKFATFS is not set
# CONFIG_NSH_DISABLE_MOUNT is not set
# CONFIG_NSH_DISABLE_MV is not set
# CONFIG_NSH_DISABLE_PS is not set
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
# CONFIG_NSH_DISABLE_PWD is not set
# CONFIG_NSH_DISABLE_RM is not set
# CONFIG_NSH_DISABLE_RMDIR is not set
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_DISABLE_SET is not set
# CONFIG_NSH_DISABLE_SLEEP is not set
# CONFIG_NSH_DISABLE_SOURCE is not set
# CONFIG_NSH_DISABLE_TEST is not set
# CONFIG_NSH_DISABLE_TIME is not set
# CONFIG_NSH_DISABLE_UMOUNT is not set
# CONFIG_NSH_DISABLE_UNSET is not set
# CONFIG_NSH_DISABLE_UPTIME is not set
# CONFIG_NSH_DISABLE_USLEEP is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
Expand All @@ -60,7 +31,7 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32f7"
CONFIG_ARCH_CHIP_STM32F765II=y
CONFIG_ARCH_CHIP_STM32F7=y
CONFIG_ARCH_INTERRUPTSTACK=1024
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_BASEPRI_WAR=y
CONFIG_ARMV7M_DCACHE=y
Expand All @@ -70,11 +41,11 @@ CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_ARM_MPU_EARLY_RESET=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_ASSERT_RESET_VALUE=0
CONFIG_BOARD_CRASHDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0032
Expand All @@ -92,17 +63,20 @@ CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_DISABLE_MQUEUE=y
CONFIG_EXAMPLES_CALIB_UDELAY=y
CONFIG_DISABLE_PTHREAD=n
CONFIG_FAT_DMAMEMORY=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_LFN_ALIAS_HASH=y
CONFIG_FDCLONE_STDIO=y
CONFIG_FILE_STREAM=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_MAX_TASKS=64
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_FS_ROMFS=y
Expand All @@ -114,11 +88,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIBM_TOOLCHAIN=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
Expand All @@ -129,13 +100,40 @@ CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NAME_MAX=48
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_CUSTOMROMFS=y
CONFIG_NSH_CUSTOMROMFS_HEADER="../../include/nsh_romfsimg.h"
CONFIG_NSH_DISABLE_CAT=n
CONFIG_NSH_DISABLE_CD=n
CONFIG_NSH_DISABLE_CP=n
CONFIG_NSH_DISABLE_DATE=n
CONFIG_NSH_DISABLE_ECHO=n
CONFIG_NSH_DISABLE_ENV=n
CONFIG_NSH_DISABLE_EXPORT=n
CONFIG_NSH_DISABLE_FREE=n
CONFIG_NSH_DISABLE_HELP=n
CONFIG_NSH_DISABLE_KILL=n
CONFIG_NSH_DISABLE_LS=n
CONFIG_NSH_DISABLE_MKDIR=n
CONFIG_NSH_DISABLE_MOUNT=n
CONFIG_NSH_DISABLE_MV=n
CONFIG_NSH_DISABLE_PS=n
CONFIG_NSH_DISABLE_PSSTACKUSAGE=n
CONFIG_NSH_DISABLE_PWD=n
CONFIG_NSH_DISABLE_RM=n
CONFIG_NSH_DISABLE_RMDIR=n
CONFIG_NSH_DISABLE_SET=n
CONFIG_NSH_DISABLE_SOURCE=n
CONFIG_NSH_DISABLE_SLEEP=n
CONFIG_NSH_DISABLE_TEST=n
CONFIG_NSH_DISABLE_UMOUNT=n
CONFIG_NSH_DISABLE_UNSET=n
CONFIG_NSH_DISABLE_USLEEP=n
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=15
CONFIG_NSH_NESTDEPTH=8
Expand All @@ -146,6 +144,7 @@ CONFIG_NSH_STRERROR=y
CONFIG_NSH_VARS=y
CONFIG_OTG_ID_GPIO_DISABLE=y
CONFIG_PIPES=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
Expand All @@ -156,24 +155,29 @@ CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_READLINE_TABCOMPLETION=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_INSTRUMENTATION_SWITCH=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SDMMC1_SDIO_MODE=y
CONFIG_SDMMC1_SDIO_PULLUP=y
CONFIG_SEM_PREALLOCHOLDERS=32
CONFIG_SEM_NNESTPRIO=8
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
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
Expand Down Expand Up @@ -210,6 +214,7 @@ CONFIG_STM32F7_SPI2=y
CONFIG_STM32F7_SPI4=y
CONFIG_STM32F7_SPI5=y
CONFIG_STM32F7_SPI6=y
CONFIG_STM32F7_SPI_DMA=y
CONFIG_STM32F7_SPI_DMATHRESHOLD=8
CONFIG_STM32F7_TIM10=y
CONFIG_STM32F7_TIM11=y
Expand Down Expand Up @@ -264,3 +269,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_ENTRYPOINT="nsh_main"
19 changes: 4 additions & 15 deletions boards/px4/fmu-v5/ssrc.px4board
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Original file line number Diff line number Diff line change
@@ -1,21 +1,10 @@
CONFIG_BOARD_CRYPTO=y
CONFIG_COMMON_OPTICAL_FLOW=n
CONFIG_COMMON_OSD=n
CONFIG_DRIVERS_CAMERA_CAPTURE=n
CONFIG_DRIVERS_CAMERA_TRIGGER=n
CONFIG_DRIVERS_CAMERA_FEEDBACK=n
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_DRIVERS_SW_CRYPTO=y
CONFIG_EXAMPLES_FAKE_GPS=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_SYSTEMCMDS_REFLECT=n
CONFIG_SYSTEMCMDS_SD_BENCH=n
CONFIG_SYSTEMCMDS_SD_STRESS=n
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
CONFIG_SYSTEMCMDS_I2CDETECT=n
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_MODULES_MICRORTPS_BRIDGE=y
CONFIG_DRIVERS_PROTOCOL_SPLITTER=y

# Test keys to help local building
# These can be overridden in CI with environment variables pointing to real keys
CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/key0.pub"
CONFIG_PUBLIC_KEY2="../../../Tools/test_keys/rsa2048.pub"
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
6 changes: 3 additions & 3 deletions boards/px4/fmu-v5x/nuttx-config/scripts/script.ld
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,20 +104,20 @@ SECTIONS
PROVIDE(_boot_signature = 0);

/* Make a hole for the ToC and signature */
.toc (NOLOAD) : {
toc (NOLOAD) : {
*(.main_toc)
*(.main_toc_sig)
FILL(0xff);
. = ALIGN(0x1000);
. = ALIGN(8);
} > FLASH_AXIM

.vectors : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
} > FLASH_AXIM

.text : {
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
Expand Down
6 changes: 2 additions & 4 deletions boards/px4/fmu-v5x/nuttx-config/scripts/toc.ld
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,7 @@

MEMORY
{
/* -64 <- Leave room for the signature */
progmem (r) : ORIGIN = 0x08008000, LENGTH = 2016K - 64
progmem (r) : ORIGIN = 0x08008000, LENGTH = 2016K
}

OUTPUT_ARCH("arm")
Expand All @@ -36,7 +35,7 @@ SECTIONS
KEEP(*(.main_toc));
/* Padd the rest */
FILL(0xff);
. = 0x1000 - 64;
. = ALIGN(8);
_toc_end = ABSOLUTE(.);
} > progmem

Expand All @@ -52,7 +51,6 @@ SECTIONS
/* The application firmware payload */
_app_start = ABSOLUTE(.);
*(.firmware)
. = ALIGN(4);
_app_end = ABSOLUTE(.);
} > progmem

Expand Down
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