Merge branch 'main' into dev/bidirectional_dshot_single_timer

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -5,6 +5,15 @@
 # @type Standard VTOL
 # @class VTOL
 #
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Aileron
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
 # @maintainer Roman Bapst <[email protected]>
 #
 # @board px4_fmu-v2 exclude

ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil

@@ -0,0 +1,101 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL QuadPlane
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Aileron
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set HIL_ACT_REV 32
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()
 

boards/nxp/tropic-community/default.px4board

@@ -4,7 +4,7 @@ CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_PARAM_FILE="/fs/microsd/mtd_params"
+CONFIG_BOARD_PARAM_FILE="/fs/nor/mtd_params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y

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

@@ -60,6 +60,8 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=2
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
@@ -80,6 +82,8 @@ CONFIG_IMXRT_ENET_NTXBUFFERS=8
 CONFIG_IMXRT_ENET_PHYINIT=y
 CONFIG_IMXRT_FLEXCAN3=y
 CONFIG_IMXRT_FLEXCAN_TXMB=1
+CONFIG_IMXRT_FLEXSPI1=y
+CONFIG_IMXRT_FLEXSPI1_XIP=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
 CONFIG_IMXRT_GPIO1_16_31_IRQ=y
 CONFIG_IMXRT_GPIO2_0_15_IRQ=y
@@ -116,7 +120,7 @@ CONFIG_INTELHEX_BINARY=y
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
-CONFIG_IPCFG_PATH="/fs/microsd"
+CONFIG_IPCFG_PATH="/fs/nor"
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C1_DMA=y

boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld

@@ -117,3 +117,19 @@
 *(.text.ipv4_input)
 *(.text.work_thread)
 *(.text.work_queue)
+
+/* Flash Storage */
+*(.text.imxrt_flexspi_transfer_blocking)
+*(.text.imxrt_flexspi_transfer_blocking_private)
+*(.text.imxrt_flexspi_write_blocking)
+*(.text.imxrt_flexspi_read_blocking)
+*(.text.imxrt_flexspi_check_and_clear_error)
+*(.text.imxrt_flexspi_get_bus_idle_status)
+*(.text.imxrt_flexspi_configure_prefetch)
+*(.text.imxrt_flexspi_configure_prefetch_private)
+*(.text.imxrt_flexspi_storage_write_enable)
+*(.text.imxrt_flexspi_storage_wait_bus_busy)
+*(.text.imxrt_flexspi_storage_read_status)
+*(.text.imxrt_flexspi_storage_erase)
+*(.text.imxrt_flexspi_storage_bwrite)
+*(.text.imxrt_flexspi_storage_page_program)

boards/nxp/tropic-community/nuttx-config/scripts/script.ld

@@ -22,7 +22,7 @@
 
 MEMORY
 {
-  flash (rx)  : ORIGIN = 0x60000000, LENGTH = 7936K
+  flash (rx)  : ORIGIN = 0x60000000, LENGTH = 7936K - 128K
   sram  (rwx) : ORIGIN = 0x20200000, LENGTH = 512K
   itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 384K
   dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K

boards/nxp/tropic-community/src/CMakeLists.txt

@@ -41,6 +41,7 @@ px4_add_library(drivers_board
 	usb.c
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
+	imxrt_flexspi_storage.c
 )
 
 

boards/nxp/tropic-community/src/board_config.h

@@ -326,6 +326,8 @@ extern void fmurt1062_timer_initialize(void);
 
 #include <px4_platform_common/board_common.h>
 
+int imxrt_flexspi_storage_initialize(void);
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS