VOXL2 specific drivers, modules, and miscellaneous support files (#22588

)

.gitmodules

@@ -80,3 +80,6 @@
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = src/modules/muorb/apps/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

boards/modalai/fc-v1/default.px4board

@@ -5,7 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y

boards/modalai/fc-v1/init/rc.board_sensors

@@ -3,9 +3,9 @@
 # ModalAI FC-v1 specific board sensors init
 #------------------------------------------------------------------------------
 
-if param greater MODAL_IO_CONFIG 0
+if param greater VOXL_ESC_CONFIG 0
 then
-	modal_io start
+	voxl_esc start
 fi
 
 board_adc start

boards/modalai/fc-v1/src/board_config.h

@@ -264,7 +264,7 @@
 #define BOARD_NUM_IO_TIMERS 5
 
 // J4 / TELEM3 / UART2
-#define MODAL_IO_DEFAULT_PORT                      "/dev/ttyS1"
+#define VOXL_ESC_DEFAULT_PORT                      "/dev/ttyS1"
 
 __BEGIN_DECLS
 

boards/modalai/fc-v2/default.px4board

@@ -3,9 +3,10 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+# CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -14,6 +15,10 @@ 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_ICM20602=y
+#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -25,11 +30,13 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+#CONFIG_DRIVERS_UAVCAN=y
+#CONFIG_BOARD_UAVCAN_INTERFACES=1
+#CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -48,6 +55,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y

boards/modalai/fc-v2/init/rc.board_sensors

@@ -3,9 +3,9 @@
 # ModalAI FC-v2 specific board sensors init
 #------------------------------------------------------------------------------
 
-if param greater MODAL_IO_CONFIG 0
+if param greater VOXL_ESC_CONFIG 0
 then
-	modal_io start
+	voxl_esc start
 fi
 
 board_adc start

boards/modalai/fc-v2/src/board_config.h

@@ -351,7 +351,7 @@
 #define BOARD_NUM_IO_TIMERS 5
 
 // J5 USART5 TELEM2 Port next to PWM connector
-#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS4"
+#define VOXL_ESC_DEFAULT_PORT                     "/dev/ttyS4"
 
 __BEGIN_DECLS
 

boards/modalai/voxl2-io/default.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m3"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_MODULES_PX4IOFIRMWARE=y

boards/modalai/voxl2-io/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 41777,
+    "magic": "PX4FWv2",
+    "description": "Firmware for the voxl2-io board",
+    "image": "",
+    "build_time": 0,
+    "summary": "voxl2io",
+    "version": "2.0",
+    "image_size": 0,
+    "image_maxsize": 61440,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/modalai/voxl2-io/nuttx-config/include/board.h

@@ -0,0 +1,141 @@
+/************************************************************************************
+ * nuttx-configs/px4io/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+/* Use the HSE output as the system clock */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_HSE
+#define STM32_SYSCLK_FREQUENCY  STM32_BOARD_XTAL
+
+/* AHB clock (HCLK) is SYSCLK (24MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLK
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* All timers run off PCLK */
+
+
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (STM32_PCLK1_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1, 15-17 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+#define BOARD_TIM15_FREQUENCY   STM32_APB2_TIM15_CLKIN
+#define BOARD_TIM16_FREQUENCY   STM32_APB2_TIM16_CLKIN
+#define BOARD_TIM17_FREQUENCY   STM32_APB2_TIM17_CLKIN
+
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/modalai/voxl2-io/nuttx-config/nsh/defconfig

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_NULL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/voxl2-io/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F100C8=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_INIT_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
+CONFIG_MM_FILL_ALLOCATIONS=y
+CONFIG_MM_SMALL=y
+CONFIG_NAME_MAX=12
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_RAM_SIZE=8192
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=64
+CONFIG_USEC_PER_TICK=1000