Tropic: revC update

Also various fixes in flash and configuration

boards/nxp/tropic/default.px4board

@@ -5,16 +5,22 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -27,12 +33,15 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_UWB=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
@@ -61,10 +70,13 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y

boards/nxp/tropic/init/rc.board_defaults

@@ -16,15 +16,16 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 0
 
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
+param set-default BAT1_V_DIV 18.000000000
+param set-default BAT1_A_PER_V 38.462030303
 
 if [ -f "/fs/microsd/ipcfg-eth0" ]
 then
 else
  netman update -i eth0
 fi
 
+rgbled_pwm start
 safety_button start
 
 if param greater -s UAVCAN_ENABLE 0

boards/nxp/tropic/init/rc.board_sensors

@@ -1,21 +1,20 @@
 #!/bin/sh
 #
-# PX4 FMUv5 specific board sensors init
+# PX4 board sensors init
 #------------------------------------------------------------------------------
 #
-# UART mapping on PX4 FMU-V6XRT:
+# UART mapping on Tropic:
 #
-# LPUART1 /dev/ttyS0 CONSOLE
+# LPUART5 /dev/ttyS0 CONSOLE
 # LPUART3 /dev/ttyS1 GPS
-# LPUART4 /dev/ttyS2 TELEM1
-# LPUART5 /dev/ttyS4 GPS2
-# LPUART6 /dev/ttyS5 PX4IO
-# LPUART8 /dev/ttyS6 TELEM2
-# LPUART10 /dev/ttyS7 TELEM3
-# LPUART11 /dev/ttyS8 EXT2
+# LPUART2 /dev/ttyS2 TELEM1
+# LPUART4 /dev/ttyS3 TELEM2
+# LPUART8 /dev/ttyS4 RC
 #
 #------------------------------------------------------------------------------
 
+set INA_CONFIGURED no
+
 if param compare -s ADC_ADS1115_EN 1
 then
  ads1115 start -X
@@ -28,18 +27,27 @@ if param compare SENS_EN_INA226 1
 then
  # Start Digital power monitors
  ina226 -X -b 1 -t 1 -k start
+ set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA228 1
 then
  # Start Digital power monitors
  ina228 -X -b 1 -t 1 -k start
+ set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA238 1
 then
  # Start Digital power monitors
  ina238 -X -b 1 -t 1 -k start
+ set INA_CONFIGURED yes
+fi
+
+if [ $INA_CONFIGURED = no ]
+then
+ # INA226, INA228, INA238 auto-start
+ i2c_launcher start -b 1
 fi
 
 # Internal SPI bus ICM42688p
@@ -60,5 +68,7 @@ ist8310 -X -b 1 -R 10 start
 # Disable startup of internal baros if param is set to false
 if param compare SENS_INT_BARO_EN 1
 then
- dps310 -I -b 4 start
+ bmp388 -I -b 4 start
 fi
+
+unset INA_CONFIGURED

boards/nxp/tropic/nuttx-config/include/board.h

@@ -188,7 +188,7 @@
  */
 
 #define GPIO_ENET_INT (IOMUX_ENET_INT_DEFAULT | \
-  GPIO_PORT2 | GPIO_PIN15) /* B0_15 */
+  GPIO_PORT2 | GPIO_PIN15) /* B0_15 */
 #define GPIO_ENET_IRQ IMXRT_IRQ_GPIO2_15
 
 /* Ethernet Reset: GPIO_B0_14
@@ -198,22 +198,22 @@
  */
 
 #define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
-  GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
+  GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
 
 #define GPIO_ENET_TX_DATA00 (GPIO_ENET_TX_DATA00_1| \
-  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_07 */
+  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_07 */
 #define GPIO_ENET_TX_DATA01 (GPIO_ENET_TX_DATA01_1| \
-  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_08 */
+  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_08 */
 #define GPIO_ENET_RX_DATA00 (GPIO_ENET_RX_DATA00_1| \
-  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_04 */
+  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_04 */
 #define GPIO_ENET_RX_DATA01 (GPIO_ENET_RX_DATA01_1| \
-  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_05 */
+  IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_05 */
 #define GPIO_ENET_MDIO (GPIO_ENET_MDIO_1|IOMUX_ENET_MDIO_DEFAULT) /* GPIO_B1_15 */
 #define GPIO_ENET_MDC (GPIO_ENET_MDC_1|IOMUX_ENET_MDC_DEFAULT) /* GPIO_B1_14 */
 #define GPIO_ENET_RX_EN (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_06 */
 #define GPIO_ENET_RX_ER (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */
 #define GPIO_ENET_TX_CLK (GPIO_ENET_REF_CLK_2|\
-  IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_B1_10 */
+  IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_B1_10 */
 #define GPIO_ENET_TX_EN (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_09 */
 
 /* LED definitions ******************************************************************/

boards/nxp/tropic/nuttx-config/nsh/defconfig

@@ -27,6 +27,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_LOOPSPERMSEC=114325
@@ -40,7 +41,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3643
 CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
@@ -131,7 +135,6 @@ CONFIG_LPUART5_SERIAL_CONSOLE=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
@@ -163,9 +166,7 @@ CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_NACTIVESOCKETS=20
 CONFIG_NET_SOLINGER=y
-CONFIG_NET_STATISTICS=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
@@ -204,7 +205,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=2032
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -225,6 +226,7 @@ CONFIG_SYSTEM_CLE=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y

boards/nxp/tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -1,112 +1,3 @@
-/* Static */
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text.arm_svcall)
-*(.text.arm_switchcontext)
-*(.text.board_autoled_on)
-*(.text.clock_timer)
-*(.text.exception_common)
-*(.text.hrt_absolute_time)
-*(.text.hrt_tim_isr)
-*(.text.imxrt_configwaitints)
-*(.text.imxrt_dma_callback)
-*(.text.imxrt_dmach_interrupt)
-*(.text.imxrt_dmaterminate)
-*(.text.imxrt_edma_interrupt)
-*(.text.imxrt_endwait)
-*(.text.imxrt_gpio3_16_31_interrupt)
-*(.text.imxrt_interrupt)
-*(.text.imxrt_lpi2c_isr)
-*(.text.imxrt_recvdma)
-*(.text.imxrt_tcd_free)
-*(.text.imxrt_timerisr)
-*(.text.imxrt_usbinterrupt)
-*(.text.irq_dispatch)
-*(.text.memcpy)
-*(.text.nxsched_add_blocked)
-*(.text.nxsched_add_prioritized)
-*(.text.nxsched_add_readytorun)
-*(.text.nxsched_get_files)
-*(.text.nxsched_get_tcb)
-*(.text.nxsched_merge_pending)
-*(.text.nxsched_process_timer)
-*(.text.nxsched_remove_blocked)
-*(.text.nxsched_remove_readytorun)
-*(.text.nxsched_resume_scheduler)
-*(.text.nxsched_suspend_scheduler)
-*(.text.nxsem_add_holder)
-*(.text.nxsem_add_holder_tcb)
-*(.text.nxsem_clockwait)
-*(.text.nxsem_foreachholder)
-*(.text.nxsem_freecount0holder)
-*(.text.nxsem_freeholder)
-*(.text.nxsem_post)
-*(.text.nxsem_release_holder)
-*(.text.nxsem_restore_baseprio)
-*(.text.nxsem_tickwait)
-*(.text.nxsem_timeout)
-*(.text.nxsem_trywait)
-*(.text.nxsem_wait)
-*(.text.nxsem_wait_uninterruptible)
-*(.text.nxsig_timedwait)
-*(.text.sched_lock)
-*(.text.sched_note_resume)
-*(.text.sched_note_suspend)
-*(.text.sched_unlock)
-*(.text.sq_addafter)
-*(.text.sq_addlast)
-*(.text.sq_rem)
-*(.text.sq_remafter)
-*(.text.sq_remfirst)
-*(.text.uart_connected)
-*(.text.wd_timer)
-/* Tropic tune */
-*(.text.imxrt_enet_interrupt)
-*(.text.imxrt_enet_interrupt_work)
-*(.text.imxrt_txdone)
-*(.text.imxrt_txtimeout_work)
-*(.text.imxrt_txtimeout_expiry)
-*(.text.imxrt_txavail_work)
-*(.text.imxrt_txavail)
-*(.text.devif_poll)
-*(.text.devif_poll_tcp_connections)
-*(.text.tcp_poll)
-*(.text.devif_poll_udp_connections)
-*(.text.udp_nextconn)
-*(.text.udp_poll)
-*(.text.udp_ipv4_select)
-*(.text.udp_callback)
-*(.text.udp_datahandler)
-*(.text.udp_send)
-*(.text.udp_active)
-*(.text.udp_ipv4_active)
-*(.text.psock_udp_sendto)
-*(.text.sendto_eventhandler)
-*(.text.net_dataevent)
-*(.text.devif_conn_event)
-*(.text.devif_event_trigger)
-*(.text.devif_poll_icmp)
-*(.text.icmp_poll)
-*(.text.devif_packet_conversion)
-*(.text.imxrt_txpoll)
-*(.text.imxrt_txringfull)
-*(.text.arp_out)
-*(.text.arp_find)
-*(.text.arp_format)
-*(.text.net_ipv4addr_hdrcmp)
-*(.text.net_ipv4addr_copy)
-*(.text.net_ipv4addr_broadcast)
-*(.text.imxrt_transmit)
-*(.text.wd_start)
-*(.text.imxrt_dispatch)
-*(.text.arp_arpin)
-*(.text.ipv4_input)
-*(.text.flexio_irq_handler)
-
-
-*(.text.work_thread)
-*(.text.work_queue)
-
 /* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
@@ -117,27 +8,22 @@
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
 *(.text._ZN7Mavlink9task_mainEiPPc)
 *(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
-*(.text.memset)
 *(.text._ZN4uORB12Subscription9subscribeEv.part.0)
 *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
 *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
-*(.text.strcmp)
 *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
 *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
 *(.text._Z12get_orb_meta6ORB_ID)
 *(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN3px49WorkQueue3RunEv)
 *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN4EKF23RunEv)
-*(.text.imxrt_lpspi_exchange)
-*(.text.imxrt_dmach_xfrsetup)
 *(.text._ZN7sensors10VehicleIMU7PublishEv)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
 *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
 *(.text._ZN9ICM42688P8FIFOReadERKyh)
 *(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
 *(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
-*(.text.up_block_task)
 *(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
 *(.text._ZN4uORB12Subscription10advertisedEv)
 *(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
@@ -146,7 +32,6 @@
 *(.text._ZN4uORB12Subscription6updateEPv)
 *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
 *(.text._ZN7sensors10VehicleIMU3RunEv)
-*(.text.up_unblock_task)
 *(.text.__aeabi_l2f)
 *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
 *(.text.pthread_mutex_timedlock)
@@ -168,16 +53,12 @@
 *(.text._ZN9ICM42688P7RunImplEv)
 *(.text._ZN4uORB12Subscription9subscribeEv)
 *(.text.param_get)
-*(.text._do_memcpy)
 *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
-*(.text.wd_start)
-*(.text.hrt_call_enter)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
 *(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
-*(.text.ioctl)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
 *(.text._ZN27MavlinkStreamDistanceSensor4sendEv)