boards: add new board X-MAV AP-H743v2

.ci/Jenkinsfile-compile

@@ -134,6 +134,7 @@ pipeline {
                      "zeroone_x6_bootloader",
                      "zeroone_x6_default",
                      "zeroone_x6_rover",
+                     "x-mav_ap-h743v2_default",
             ],
             image: docker_images.nuttx,
             archive: true

.vscode/cmake-variants.yaml

@@ -361,3 +361,13 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: zeroone_x6_bootloader
+    x-mav_ap-h743v2_bootloader:
+      short: x-mav_ap-h743v2-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_bootloader
+    x-mav_ap-h743v2_default:
+      short: x-mav_ap-h743v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_default

boards/x-mav/ap-h743v2/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/x-mav/ap-h743v2/default.px4board

@@ -0,0 +1,91 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+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_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=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_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
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/x-mav/ap-h743v2/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1200,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AP-H743v2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AP-H743v2",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/x-mav/ap-h743v2/init/rc.board_defaults

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+param set-default BAT1_A_PER_V 17
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_CHARGED 4.2
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_V_EMPTY 3.2
+
+param set-default SYS_HAS_MAG 0
+param set-default PWM_MAIN_TIM0 -4
+param set-default RC_INPUT_PROTO -1
+
+param set-default IMU_GYRO_RATEMAX 2000
+param set-default SYS_AUTOSTART 4001
+param set-default MC_PITCHRATE_K 0.4
+param set-default MC_ROLLRATE_K 0.35
+param set-default MC_YAWRATE_K 1.2
+param set-default MC_YAWRATE_MAX 360
+param set-default MAV_TYPE 2
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default USB_MAV_MODE 5

boards/x-mav/ap-h743v2/init/rc.board_extras

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# NxtV1 does not have OSD
+# if ! param compare OSD_ATXXXX_CFG 0
+# then
+# 	atxxxx start -s
+# fi
+
+# DShot telemetry is always on UART7
+# dshot telemetry /dev/ttyS5

boards/x-mav/ap-h743v2/init/rc.board_sensors

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# BMI088
+bmi088 -A -R 2 -s start
+bmi088 -G -R 2 -s start
+
+# 42688P
+icm42688p -s start
+
+# baro
+dps310 -I start -a 118
+
+# internal mag
+ist8310 -I -R 2 start
+
+#osd
+atxxxx -s start

boards/x-mav/ap-h743v2/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.

boards/x-mav/ap-h743v2/nuttx-config/bootloader/defconfig

@@ -0,0 +1,90 @@
+#
+# 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_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/x-mav/ap-h743v2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0036
+CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743v2 Bootloader"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x1B8C
+CONFIG_CDCACM_VENDORSTR="X-MAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART6=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000