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MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after #18733

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merged 15 commits into from
Feb 8, 2022
Merged

MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after #18733

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de7bec3
Put delay before transfer as suggested by @dagar
vvladic Nov 26, 2021
e6b5073
Make board_id compatible with ardupilot
vvladic Nov 26, 2021
1eec2f9
Update VID/PID to a generic vendor
vvladic Nov 26, 2021
177b96c
Initialize outputs for CAM1/CAM2 and Vsw pad
vvladic Nov 26, 2021
eb92518
Merge branch 'master' of https://github.com/vvladic/PX4-Autopilot
vvladic Nov 26, 2021
eac4f2a
Correct board type 1013 in bootloader to match AP
vvladic Nov 27, 2021
2503086
Merge branch 'PX4:master' into master
vvladic Nov 27, 2021
77c595b
Change usb vendor string to "Matek"
vvladic Nov 27, 2021
bad60bf
Merge branch 'master' of https://github.com/vvladic/PX4-Autopilot
vvladic Nov 27, 2021
25306e7
Merge branch 'PX4:master' into master
vvladic Nov 28, 2021
d2413c6
Change cdcacm pid to 1013
vvladic Nov 28, 2021
92460e7
Add flash based params support
vvladic Jan 30, 2022
9670c0d
Merge remote-tracking branch 'upstream/master'
vvladic Jan 30, 2022
5bada23
Comment out FLASH_BASED_PARAMS because of #15331
vvladic Feb 7, 2022
bc2daf7
Merge branch 'PX4:master' into master
vvladic Feb 7, 2022
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6 changes: 3 additions & 3 deletions boards/matek/h743-slim/firmware.prototype
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Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
{
"board_id": 139,
"board_id": 1013,
"magic": "PX4FWv1",
"description": "Firmware for the MatekH743-slim board",
"description": "Firmware for the MatekH743 board",
"image": "",
"build_time": 0,
"summary": "MatekH743-slim",
"summary": "MatekH743",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1966080,
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8 changes: 4 additions & 4 deletions boards/matek/h743-slim/nuttx-config/bootloader/defconfig
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Expand Up @@ -29,12 +29,12 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_PRODUCTID=0x004b
CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
CONFIG_CDCACM_PRODUCTID=0x1003
CONFIG_CDCACM_PRODUCTSTR="MatekH743"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x3162
CONFIG_CDCACM_VENDORSTR="Matek"
CONFIG_CDCACM_VENDORID=0x1209
CONFIG_CDCACM_VENDORSTR="PX4"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
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6 changes: 3 additions & 3 deletions boards/matek/h743-slim/nuttx-config/nsh/defconfig
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Expand Up @@ -44,11 +44,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=y
CONFIG_CDCACM_PRODUCTID=0x0036
CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
CONFIG_CDCACM_PRODUCTID=0x1003
CONFIG_CDCACM_PRODUCTSTR="MatekH743"
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x1B8C
CONFIG_CDCACM_VENDORID=0x1209
CONFIG_CDCACM_VENDORSTR="PX4"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
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8 changes: 5 additions & 3 deletions boards/matek/h743-slim/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -128,9 +128,9 @@

/* Spare GPIO */

// #define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
// #define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
#define GPIO_VIDEO_PWR /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10)
#define GPIO_VIDEO_CAM /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11)
// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)


/* Tone alarm output */
Expand Down Expand Up @@ -183,6 +183,8 @@
GPIO_nLED_BLUE, \
GPIO_nLED_GREEN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_VIDEO_PWR, \
GPIO_VIDEO_CAM, \
}

#define BOARD_ENABLE_CONSOLE_BUFFER
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2 changes: 1 addition & 1 deletion boards/matek/h743-slim/src/hw_config.h
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Expand Up @@ -96,7 +96,7 @@
#define INTERFACE_USART 1
#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600"
#define BOOT_DELAY_ADDRESS 0x000001a0
#define BOARD_TYPE 139
#define BOARD_TYPE 1013
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
#define BOARD_FLASH_SECTORS (15)
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
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4 changes: 2 additions & 2 deletions src/drivers/imu/invensense/mpu6000/MPU6000.cpp
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Expand Up @@ -436,17 +436,17 @@ uint8_t MPU6000::RegisterRead(Register reg)
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}

void MPU6000::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
px4_udelay(10);
transfer(cmd, cmd, sizeof(cmd));
}

void MPU6000::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
Expand Down