Add Tropic VMU board support (Baseboard for Teensy 4.1)

.vscode/cmake-variants.yaml

@@ -356,6 +356,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
+    nxp_tropic-community_default:
+      short: nxp_tropic-community_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_tropic-community_default
     raspberrypi_pico_default:
       short: raspberrypi_pico
       buildType: MinSizeRel

Tools/teensy_uploader.py

@@ -0,0 +1,181 @@
+#!/usr/bin/env python3
+############################################################################
+#
+#   Copyright (c) 2024 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 PX4 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.
+#
+############################################################################
+
+#
+# Serial firmware uploader for the Teensy
+
+import sys
+import argparse
+import time
+import sys
+import usb.core
+import subprocess
+
+from sys import platform as _platform
+from pymavlink import mavutil
+
+try:
+    import serial
+except ImportError as e:
+    print("Failed to import serial: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyserial")
+    print("")
+    sys.exit(1)
+
+# Define time to use time.time() by default
+def _time():
+    return time.time()
+
+class uploader(object):
+
+    def __init__(self, portname):
+        self.mavlink = mavutil.mavlink_connection(portname)
+
+    def send_reboot(self):
+        try:
+            self.mavlink.wait_heartbeat()
+            self.mavlink.reboot_autopilot(True)
+        except:
+            pass
+        return True
+
+TEENSY_BL_VENDORID = 0x16c0
+TEENSY_BL_PRODUCTID = 0x0478
+
+def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
+    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
+    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid')
+    parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid')
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
+    args = parser.parse_args()
+
+    found_bootloader = False
+
+    # find USB devices
+    dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
+    # loop through devices, printing vendor and product ids in decimal and hex
+    if dev is not None:
+        print("Found teensy bootloader")
+        found_bootloader = True
+    else:
+        dev = usb.core.find(idVendor=args.vendor_id, idProduct=args.product_id)
+        if dev is None:
+            print("No PX4 Device found try to press the button program push button")
+        print("Attempting to reboot into Teensy bootloader...", end="", flush=True)
+
+    try:
+        while True:
+            portlist = []
+            patterns = args.port.split(",")
+            # on unix-like platforms use glob to support wildcard ports. This allows
+            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
+            # causing modem hangups etc
+            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
+                import glob
+                for pattern in patterns:
+                    portlist += glob.glob(pattern)
+            else:
+                portlist = patterns
+
+            for port in portlist:
+                try:
+                    if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                        if "COM" not in port and "tty.usb" not in port:
+                            up = uploader(port)
+                    elif "darwin" in _platform:
+                        # OS X, don't open Windows and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port)
+                    elif "cygwin" in _platform:
+                        # Cygwin, don't open native Windows COM and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port)
+                    elif "win" in _platform:
+                        # Windows, don't open POSIX ports
+                        if "/" not in port:
+                            up = uploader(port)
+                except Exception:
+                    # open failed, rate-limit our attempts
+                    time.sleep(0.05)
+
+                    # and loop to the next port
+                    continue
+
+                while True:
+                    up.send_reboot()
+
+                    # wait for the reboot, without we might run into Serial I/O Error 5
+                    time.sleep(0.25)
+
+                    # wait for the close, without we might run into Serial I/O Error 6
+                    time.sleep(0.3)
+
+                    dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
+                    # loop through devices, printing vendor and product ids in decimal and hex
+                    if dev is not None:
+                        print("")
+                        print("Found teensy bootloader")
+                        found_bootloader = True
+                        break
+
+                    print('.', end="", flush=True)
+
+                    if not found_bootloader:
+                        # Go to the next port
+                        continue
+
+            if(found_bootloader):
+                while True:
+                    result = subprocess.Popen("teensy_loader_cli -v --mcu=TEENSY41 " + args.firmware[0], shell=True)
+                    text = result.communicate()[0]
+                    if(result.returncode == 0):
+                        sys.exit(0)
+
+            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
+            time.sleep(0.05)
+
+    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
+    except KeyboardInterrupt:
+        print("\n Upload aborted by user.")
+        sys.exit(0)
+
+if __name__ == '__main__':
+    main()

boards/nxp/tropic-community/cmake/upload.cmake

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2024 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 PX4 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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
+
+add_custom_target(upload_teensy
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "uploading px4"
+	VERBATIM
+	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+)

boards/nxp/tropic-community/default.px4board

@@ -0,0 +1,99 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+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_DRIVERS_ADC_BOARD_ADC=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_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
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+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
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+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
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+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
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/nxp/tropic-community/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 36,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the TROPIC Community board",
+    "image": "",
+    "build_time": 0,
+    "summary": "TROPIC Community",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/nxp/tropic-community/init/rc.board_defaults

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
+
+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 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
+then
+	ifup can0
+fi

boards/nxp/tropic-community/init/rc.board_mavlink

@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# Tropic Community specific board MAVLink startup script.
+#------------------------------------------------------------------------------