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Peize-LiuPeize-Liu
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boards: new hkust nxt-fc board support (#22961)
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‎boards/hkust/nxt-dual/bootloader.px4board‎

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ROMFSROOT=""

‎boards/hkust/nxt-dual/default.px4board‎

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
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CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
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CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
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CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_COMMON_BAROMETERS=y
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CONFIG_DRIVERS_BATT_SMBUS=y
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CONFIG_DRIVERS_CAMERA_CAPTURE=y
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CONFIG_DRIVERS_CAMERA_TRIGGER=y
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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_DRIVERS_IRLOCK=y
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CONFIG_COMMON_LIGHT=y
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CONFIG_COMMON_MAGNETOMETER=y
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CONFIG_COMMON_OPTICAL_FLOW=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_COMMON_TELEMETRY=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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CONFIG_MODULES_EVENTS=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_FW_ATT_CONTROL=y
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_FW_POS_CONTROL=y
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CONFIG_MODULES_FW_RATE_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_GYRO_FFT=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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CONFIG_MODULES_LOAD_MON=y
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CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_DUMPFILE=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_USB_CONNECTED=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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CONFIG_EXAMPLES_FAKE_GPS=y

‎boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin‎

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‎boards/hkust/nxt-dual/firmware.prototype‎

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{
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"board_id": 1013,
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"magic": "PX4FWv1",
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"description": "Firmware for the MatekH743-slim board",
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"image": "",
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"build_time": 0,
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"summary": "MatekH743-mini",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 1835008,
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"git_identity": "",
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"board_revision": 0
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}

‎boards/hkust/nxt-dual/init/rc.board_defaults‎

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

‎boards/hkust/nxt-dual/init/rc.board_extras‎

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

‎boards/hkust/nxt-dual/init/rc.board_sensors‎

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#!/bin/sh
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#
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# board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# # Internal SPI bus BMI088 accel/gyro
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bmi088 -s -b 1 -A -R 2 start
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bmi088 -s -b 1 -G -R 2 start
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bmi088 -s -b 4 -A -R 2 start
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bmi088 -s -b 4 -G -R 2 start
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# internal baro
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spl06 -X -a 0x77 start

‎boards/hkust/nxt-dual/nuttx-config/Kconfig‎

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

‎boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig‎

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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_DEV_CONSOLE is not set
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
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# CONFIG_SPI_EXCHANGE is not set
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# CONFIG_STM32H7_SYSCFG is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/hkust/nxt-dual/nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="stm32h7"
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CONFIG_ARCH_CHIP_STM32H743VI=y
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CONFIG_ARCH_CHIP_STM32H7=y
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CONFIG_ARCH_INTERRUPTSTACK=768
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CONFIG_ARMV7M_BASEPRI_WAR=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_ARMV7M_MEMCPY=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BOARDCTL=y
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CONFIG_BOARDCTL_RESET=y
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CONFIG_BOARD_ASSERT_RESET_VALUE=0
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CONFIG_BOARD_INITTHREAD_PRIORITY=254
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CONFIG_BOARD_LATE_INITIALIZE=y
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CONFIG_BOARD_LOOPSPERMSEC=95150
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_C99_BOOL8=y
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CONFIG_CDCACM=y
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CONFIG_CDCACM_IFLOWCONTROL=y
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CONFIG_CDCACM_PRODUCTID=0x004b
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CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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#TODO：ally for VENDOR ID in the future
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CONFIG_CDCACM_VENDORID=0x3162
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CONFIG_CDCACM_VENDORSTR="Matek"
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEBUG_TCBINFO=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FDCLONE_DISABLE=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=750
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CONFIG_INIT_ENTRYPOINT="bootloader_main"
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CONFIG_INIT_STACKSIZE=3194
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_STRERROR=y
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CONFIG_MEMSET_64BIT=y
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CONFIG_MEMSET_OPTSPEED=y
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CONFIG_PREALLOC_TIMERS=50
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAM_SIZE=245760
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_SPI=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_BUFFER_SIZE=32
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CONFIG_STM32H7_BKPSRAM=y
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CONFIG_STM32H7_DMA1=y
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CONFIG_STM32H7_OTGFS=y
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CONFIG_STM32H7_PROGMEM=y
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CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32H7_TIM1=y
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CONFIG_STM32H7_USART6=y #debug port, can be modified to UART8
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CONFIG_USART6_RXBUFSIZE=600
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CONFIG_USART6_TXBUFSIZE=300
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CONFIG_SYSTEMTICK_HOOK=y
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CONFIG_SYSTEM_CDCACM=y
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CONFIG_TASK_NAME_SIZE=24
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CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGINT_CHAR=0x03
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CONFIG_TTY_SIGTSTP=y
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CONFIG_USBDEV=y
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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CONFIG_USEC_PER_TICK=1000

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