KakuteF7 board support #12440

bkueng · 2019-07-09T08:46:13Z

This brings support for the Holybro KakuteF7 board.

Validated:

ACM0/USB
SPI: ICM20689, OSD chip and SD card.
PWM1-6, oneshot and PWM400 (also checked the reboot behavior)
I2C (with internal baro BMP280)
RC (SBUS)
onboard LED
all UART's with MAVLink (except uart7, which is for ESC telemetry)
Buzzer
voltage and current readout

Not working:

Frksky telemetry (don't know why yet)
Current readout with the Tekko 4-in-1 ESC (this is a hardware-problem. betaflight uses ESC telemetry to get the current measurement).

Not tested:

external LED pin

Flash space: we're really tight, I needed to disable ekf2, which would overflow by 91KB.

Other changes

Buzzer

The buzzer works a bit differently on the KakuteF7: it is only binary. The startup sound sounds more like something is wrong on that, so I added an option to disable it.
I also reduced the missing SD card tone from infinitely to 2 repetitions.

RC Port

The board RC port is simplified by using NuttX ioctl's. This removes the need for RC_UXART_BASE, and allows for runtime-configurable RC port (disabled by default, a board needs to define an RC serial port for it to become configurable).
A board can still configure its default RC port with one or more of the following options:

#define RC_SERIAL_SWAP_RXTX
#define RC_SERIAL_SINGLEWIRE
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)

Goes together with PX4/PX4-Bootloader#138.

Important: the last commit (13f97e5) disables double fp for the m7 toolchain, since not all m7 boards have the hw-support (such as the STM32F745 used here). This needs to be resolved before merging this PR.

I'll do a follow-up with a Kopis 2 airframe config.

dagar · 2019-07-09T13:31:46Z

Important: the last commit (13f97e5) disables double fp for the m7 toolchain, since not all m7 boards have the hw-support (such as the STM32F745 used here). This needs to be resolved before merging this PR.

The timing could be awkward (the toolchain is needed early), but we might be able to use NuttX CONFIG_ARCH_DPFPU.

bkueng · 2019-07-09T16:49:26Z

The timing could be awkward (the toolchain is needed early), but we might be able to use NuttX CONFIG_ARCH_DPFPU.

That works indeed but I'm not sure if it's good to depend on NuttX config at this place.

dagar · 2019-07-09T17:24:33Z

Yes that's what I meant by awkward, but I think in this case we can get away with it. We already reconstitute the full defconfig and parse the config flags at cmake configure time to allow using NuttX variables in the build system.

The other idea is splitting the m7 platform toolchain (https://github.com/PX4/Firmware/blob/master/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake). It's simply using whatever is set in the board which then sets CMAKE_SYSTEM_PROCESSOR. https://github.com/PX4/Firmware/blob/fdcb0f06d6faca68bc08cbce2eb1eb88d10852e1/cmake/px4_add_board.cmake#L187

dagar · 2019-07-09T23:47:42Z

Can you add to Jenkins "Compile All Boards"? https://github.com/PX4/Firmware/blob/321c2c03925fad9f4286b895fbcef8155705dc06/.ci/Jenkinsfile-compile#L41

bkueng · 2019-07-10T05:35:31Z

Yes that's what I meant by awkward, but I think in this case we can get away with it. We already reconstitute the full defconfig and parse the config flags at cmake configure time to allow using NuttX variables in the build system.

Ok let's try this then.

Can you add to Jenkins "Compile All Boards"?

Done.

dagar · 2019-07-10T13:26:09Z

@PX4/testflights could you test this PR on a pixhawk 4 mini? A quick test flight should be sufficient. Mainly checking the RC changes.

davids5

@bkueng - See inline comments.

boards/holybro/kakutef7/nuttx-config/scripts/script.ld

boards/holybro/kakutef7/src/board_config.h

boards/holybro/kakutef7/src/led.c

boards/holybro/kakutef7/src/spi.cpp

boards/holybro/kakutef7/src/led.c

boards/holybro/kakutef7/src/timer_config.c

boards/holybro/kakutef7/src/board_config.h

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

davids5 · 2019-07-10T16:08:39Z

@PX4/testflights -
Testing
Bench test with RC: PPM, SBUS, DSM - Go no go testing with QGC radio calibration

davids5

@bkueng - thank you for the changes.

On the LED stuff you may save some code space with removing the table

g_ledmap[led] - > GPIO_nLED_BLUE and dump xlat and CONFIG_ARCH_LEDS

#ifdef CONFIG_ARCH_LEDS
static bool nuttx_owns_leds = true;
//                                B  R  S  G
//                                0  1  2  3
static const uint8_t xlatpx4[] = {1, 2, 4, 0};
#  define xlat(p) xlatpx4[(p)]
static uint32_t g_ledmap[] = {
	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
};

#else
...

Junkim3DR · 2019-07-10T19:50:21Z

Tested on Pixhawk 4 mini v5

Modes Tested

Position mode: Good.
Altitude mode: Good.
Stabilized mode: Good.
Mission Plan mode (Automated): Good.
RTL (Return To Land): Good.

Test
Arm and Takeoff in position mode, once in the air, test mode switched and vehicle behavior.

Notes
No issue noted, good flight in general.

Log
https://review.px4.io/plot_app?log=c651ccff-fe65-4ef0-b4f8-ff3ef2566ba8

dannyfpv · 2019-07-10T22:44:08Z

Tested on Pixhawk 4 v5

Bench test with RC taranis qx7:
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

Tested on Pixhawk 4 mini v5
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

Tested on CUAV:Nano mini v5
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

Tested on CUAV:v5+
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

Tested on RDDRONEK66
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

Tested on pixhawk1 v2
PPM d4r receiver calibration test: Successful no issues
SBUS x4r receiver calibration test: Successful no issues

Tested on pixracer v4
PPM d4r receiver calibration test: Successful no issues
SBUS xsr receiver calibration test: Successful no issues

@davids5 I will do the remainder FC tomorrow morning. Let us know if you need any additional information.

…ERIPH_5V_OC

On all of these boards '$USE_IO = no' will hold.

A board only needs to define: #define RC_SERIAL_PORT "/dev/ttyS4" Then it can optionally define one or more of the following: #define RC_SERIAL_SWAP_RXTX #define RC_SERIAL_SINGLEWIRE #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)

The parameter will only be available if the board defines an 'RC' serial port in SERIAL_PORTS (in default.cmake).

The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because STARTUP_TUNE is already set in that case.

…essly

…config Not all m7 boards support double, as for example the STM32F745.

The combination of 'if mycmd' and a logical expression is not supported in NuttX.

bkueng · 2019-07-11T08:26:43Z

Thanks for the reviews and testing.
I rebased and accounted for the dcache changes (#12435).

davids5 · 2019-07-11T08:34:23Z

@bkueng - did you test the tunes case for params on SD card and a mount fail?

bkueng · 2019-07-11T08:38:55Z

@bkueng - did you test the tunes case for params on SD card and a mount fail?

I tested the mount failure with the different settings for CBRK_BUZZER. If the params are on SD, CBRK_BUZZER will be the default, and therefore trigger the error beep.

davids5 · 2019-07-11T08:42:59Z

Why the comment about the beeper not being PWM? it is on TIM4_CH4 TONE_ALARM_TIMER=4

bkueng · 2019-07-15T08:18:42Z

@dannyfpv did you have a chance to test the remaining boards already?

Why the comment about the beeper not being PWM? it is on TIM4_CH4 TONE_ALARM_TIMER=4

@davids5 as discussed, the beeper HW is different and does not support frequencies.

Tony3dr · 2019-07-15T23:06:55Z

@dannyfpv did you have a chance to test the remaining boards already?
@bkueng all the boards were tested on PPM d4r receiver & SBUS xsr receiver. All the RC calibrations were successful.

bys1123 · 2019-09-11T06:34:16Z

Do you have any idea make this support local_position_estimator? Thanks!

bkueng · 2019-09-16T12:15:27Z

Do you have any idea make this support local_position_estimator? Thanks!

LPE is deprecated, you can use EKF2 if you add a mag.

bkueng force-pushed the kakutef7 branch 2 times, most recently from f249337 to ad645b7 Compare July 9, 2019 16:47

bkueng force-pushed the kakutef7 branch 2 times, most recently from e9f2e8e to db73833 Compare July 10, 2019 07:04

dagar requested review from dagar and davids5 July 10, 2019 13:23

dagar added the Admin: Enhancement (improvement) 💡 label Jul 10, 2019

dagar requested a review from a team July 10, 2019 13:26

davids5 requested changes Jul 10, 2019

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davids5 previously approved these changes Jul 10, 2019

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bkueng dismissed davids5’s stale review via f57745c July 11, 2019 08:24

bkueng force-pushed the kakutef7 branch from 3f923a8 to f57745c Compare July 11, 2019 08:24

bkueng added 7 commits July 11, 2019 10:25

bmp280: fix device_id initialization

96a7307

adc: allow board to not define BOARD_ADC_HIPOWER_5V_OC or BOARD_ADC_P…

1c3b9f4

…ERIPH_5V_OC

atxxxx: fix comment

6c2eeaf

fmu-v5 init.c: remove unused include

0e59fd7

board_defaults: remove unnecessary 'set MIXER_AUX none'

8f7d08d

On all of these boards '$USE_IO = no' will hold.

fix ToneAlarmInterface: correct TOME_ALARM_CLOCK for timer 13 and 14

06deabc

bkueng added 9 commits July 11, 2019 10:25

rc_input: add RC_PORT_CONFIG param to configure RC port

2372a93

The parameter will only be available if the board defines an 'RC' serial port in SERIAL_PORTS (in default.cmake).

fix atxxxx osd driver: use correct device id

1b55a0a

CBRK_BUZZER: allow to disable startup sound

55e16d0

The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because STARTUP_TUNE is already set in that case.

ToneAlarmInterface: add support for non-pwm-based buzzers

4ea17d7

missing SD card error tune: play only twice instead of repeating endl…

5a35a6a

…essly

boards: add Holybro KakuteF7

af59f49

Generic-arm-none-eabi-gcc-cortex-m7: use SP float depending on NuttX …

a73af2a

…config Not all m7 boards support double, as for example the STM32F745.

shellcheck: disable SC2181

6bcfb36

The combination of 'if mycmd' and a logical expression is not supported in NuttX.

Jenkinsfile-compile: add kakutef7 to nuttx build targets

9614f16

bkueng force-pushed the kakutef7 branch from f57745c to 9614f16 Compare July 11, 2019 08:25

weekly-digest bot mentioned this pull request Jul 14, 2019

Weekly Digest (7 July, 2019 - 14 July, 2019) #12474

Closed

davids5 self-requested a review July 16, 2019 04:54

davids5 approved these changes Jul 16, 2019

View reviewed changes

bkueng merged commit f613581 into master Jul 16, 2019

bkueng deleted the kakutef7 branch July 16, 2019 06:09

bkueng mentioned this pull request Jul 16, 2019

Firmware update: add KakuteF7 support mavlink/qgroundcontrol#7582

Merged

weekly-digest bot mentioned this pull request Jul 21, 2019

Weekly Digest (14 July, 2019 - 21 July, 2019) #12528

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mrpollo mentioned this pull request Nov 4, 2019

v1.10.0 Release Notes + Changelog #13366

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KakuteF7 board support #12440

KakuteF7 board support #12440

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KakuteF7 board support #12440

KakuteF7 board support #12440

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Other changes

Buzzer

RC Port

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Junkim3DR commented Jul 10, 2019

Tested on Pixhawk 4 mini v5

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