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1 change: 1 addition & 0 deletions .ci/Jenkinsfile-compile
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
10 changes: 10 additions & 0 deletions .vscode/cmake-variants.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
3 changes: 3 additions & 0 deletions boards/x-mav/ap-h743v2/bootloader.px4board
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ROMFSROOT=""
91 changes: 91 additions & 0 deletions boards/x-mav/ap-h743v2/default.px4board
Original file line number Diff line number Diff line change
@@ -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
13 changes: 13 additions & 0 deletions boards/x-mav/ap-h743v2/firmware.prototype
Original file line number Diff line number Diff line change
@@ -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
}
26 changes: 26 additions & 0 deletions boards/x-mav/ap-h743v2/init/rc.board_defaults
Original file line number Diff line number Diff line change
@@ -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
13 changes: 13 additions & 0 deletions boards/x-mav/ap-h743v2/init/rc.board_extras
Original file line number Diff line number Diff line change
@@ -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
22 changes: 22 additions & 0 deletions boards/x-mav/ap-h743v2/init/rc.board_sensors
Original file line number Diff line number Diff line change
@@ -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
17 changes: 17 additions & 0 deletions boards/x-mav/ap-h743v2/nuttx-config/Kconfig
Original file line number Diff line number Diff line change
@@ -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.
90 changes: 90 additions & 0 deletions boards/x-mav/ap-h743v2/nuttx-config/bootloader/defconfig
Original file line number Diff line number Diff line change
@@ -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
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