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imxrt: tone_alarm: Add FlexPWM based Tone alarm driver
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PetervdPerk-NXP committed Jun 30, 2024
1 parent 36b85e6 commit dbee059
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Showing 16 changed files with 592 additions and 428 deletions.
16 changes: 14 additions & 2 deletions boards/nxp/tropic/default.px4board
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand Down
5 changes: 3 additions & 2 deletions boards/nxp/tropic/init/rc.board_defaults
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
29 changes: 21 additions & 8 deletions boards/nxp/tropic/init/rc.board_sensors
Original file line number Diff line number Diff line change
@@ -1,18 +1,20 @@
#!/bin/sh
#
# NXP Tropic specific board sensors init
# PX4 board sensors init
#------------------------------------------------------------------------------
#
# UART mapping on NXP Tropic
# UART mapping on Tropic:
#
# LPUART5 /dev/ttyS0 DEBUG
# LPUART3 /dev/ttyS2 TELEM
# LPUART2 /dev/ttyS1 GPS
# LPUART4 /dev/ttyS3 AUX
# LPUART8 /dev/ttyS4 RC
# LPUART5 /dev/ttyS0 CONSOLE
# LPUART3 /dev/ttyS1 GPS
# 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
Expand All @@ -25,18 +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
Expand All @@ -57,5 +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
10 changes: 6 additions & 4 deletions boards/nxp/tropic/nuttx-config/nsh/defconfig
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -40,7 +41,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x1FC9
CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down
119 changes: 0 additions & 119 deletions boards/nxp/tropic/nuttx-config/scripts/itcm_functions_includes.ld
Original file line number Diff line number Diff line change
@@ -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)
Expand All @@ -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)
Expand All @@ -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)
Expand All @@ -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)
Expand Down
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