Added Varmint board implementation files

boards/varmint/STM32H753VIHX_FLASH.ld

@@ -0,0 +1,198 @@
+/*
+******************************************************************************
+**
+**  File        : LinkerScript.ld
+**
+**  Author      : STM32CubeIDE
+**
+**  Abstract    : Linker script for STM32H7 series
+**                2048Kbytes FLASH and 1056Kbytes RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Distribution: The file is distributed as is, without any warranty
+**                of any kind.
+**
+*****************************************************************************
+** @attention
+**
+** Copyright (c) 2023 STMicroelectronics.
+** All rights reserved.
+**
+** This software is licensed under terms that can be found in the LICENSE file
+** in the root directory of this software component.
+** If no LICENSE file comes with this software, it is provided AS-IS.
+**
+****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM_D1) + LENGTH(RAM_D1);    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x2000;      /* required amount of heap  */
+_Min_Stack_Size = 0x2000; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+  FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 1024K /* Program Flash */
+  FLASH2 (rw)    : ORIGIN = 0x08100000, LENGTH = 1024K /* Parameter Flash */
+  DTCMRAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 128K
+  RAM_D1 (xrw)   : ORIGIN = 0x24000000, LENGTH = 512K /* Domain 1 AXI SRAM */
+  SRAM1 (xrw)    : ORIGIN = 0x30000000, LENGTH = 128K /* Domain 2 SRAM1 - Not used */
+  SRAM2 (xrw)    : ORIGIN = 0x30020000, LENGTH = 128K /* Domain 2 SRAM2 - Not used */
+  SRAM3 (rw)     : ORIGIN = 0x30040000, LENGTH =  32K /* Domain 2 SRAM3 - Use for "my_dma_buffers" */
+  SRAM4 (rw)     : ORIGIN = 0x38000000, LENGTH =  64K /*  Domain 3 SRAM4 - Use for "my_bdma_buffers" */
+  ITCMRAM (xrw)  : ORIGIN = 0x00000000, LENGTH =  64K /* Allocated for "my_buffers" */
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+    *(.RamFunc)        /* .RamFunc sections */
+    *(.RamFunc*)       /* .RamFunc* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM_D1 AT> FLASH
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss section */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM_D1
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM_D1
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  my_dma_buffers :
+  {
+    . = ALIGN(32);
+
+  } >SRAM3
+
+  my_bdma_buffers :
+  {
+    . = ALIGN(32);
+
+  } >SRAM4
+
+  my_buffers :
+  {
+    . = ALIGN(32);
+
+  } >DTCMRAM
+
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
+
+

boards/varmint/include/Varmint.h

@@ -0,0 +1,187 @@
+/**
+ ******************************************************************************
+ * File     : varmint.h
+ * Date     : Sep 27, 2023
+ ******************************************************************************
+ *
+ * Copyright (c) 2023, AeroVironment, Inc.
+ * 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 of the copyright holder 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 HOLDER 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.
+ *
+ ******************************************************************************
+ **/
+
+#ifndef VARMINT_H_
+#define VARMINT_H_
+
+#include <Adis165xx.h>
+#include <Bmi088.h>
+#include <DlhrL20G.h>
+#include <Dps310.h>
+#include <Iis2mdc.h>
+#include <Sbus.h>
+#include <Ubx.h>
+#include <Adc.h>
+#include <Telem.h>
+#include <Vcp.h>
+#include <Pwm.h>
+#include <Sd.h>
+
+#include <board.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int varmint_main(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+/*
+ *
+ */
+class Varmint : public rosflight_firmware::Board
+{
+	/**
+	 * \brief 
+	 *
+	 *
+	 */
+private:
+	uint32_t serial_device_;
+public:
+	Varmint() {};
+
+	Adis165xx imu0_;
+	Bmi088		imu1_;
+	DlhrL20G	pitot_;
+	Dps310		baro_;
+	Iis2mdc   mag_;
+	Sbus			rc_;
+	Ubx				gps_;
+	Adc				adc_;
+	Telem			telem_;
+	Vcp				vcp_;
+	Pwm				pwm_[PWM_CHANNELS];
+	Sd				sd_;
+
+	// Required ROSflight Board HAL functions:
+
+	// setup
+
+	void init_board(void) override;
+	void board_reset(bool bootloader) override;
+
+	// clock
+	uint32_t clock_millis() override;
+	uint64_t clock_micros() override;
+	void clock_delay(uint32_t milliseconds) override;
+
+	// serial
+	void serial_init(uint32_t baud_rate, uint32_t dev) override;
+	void serial_write(const uint8_t *src, size_t len) override;
+	uint16_t serial_bytes_available() override;
+	uint8_t serial_read() override;
+	void serial_flush() override;
+
+	// sensors
+	void sensors_init() override;
+	uint16_t num_sensor_errors() override;
+
+	uint8_t imu_has_new_data() override;
+	bool imu_read(float accel[3], float *temperature, float gyro[3], uint64_t *time_us) override;
+	void imu_not_responding_error() override;
+
+	bool mag_present() override;
+	uint8_t mag_has_new_data() override;
+	bool mag_read(float mag[3]) override;
+
+	bool baro_present() override;
+	uint8_t baro_has_new_data() override;
+	bool baro_read(float *pressure, float *temperature) override;
+
+	bool diff_pressure_present() override;
+	uint8_t diff_pressure_has_new_data() override;
+	bool diff_pressure_read(float *diff_pressure, float *temperature) override;
+
+	bool sonar_present() override;
+	uint8_t sonar_has_new_data() override;
+	bool sonar_read( float *range) override;
+
+	//Battery
+	uint8_t battery_has_new_data() override;
+	bool battery_read(float* voltage, float* current) override;
+	bool battery_present() override;
+	void battery_voltage_set_multiplier(double multiplier) override;
+	void battery_current_set_multiplier(double multiplier) override;
+
+	// GNSS
+	bool gnss_present() override;
+	uint8_t gnss_has_new_data() override;
+	bool gnss_read( rosflight_firmware::GNSSData *gnss, rosflight_firmware::GNSSFull *gnss_full) override;
+
+	// RC
+	void rc_init(rc_type_t rc_type) override;
+	uint8_t rc_has_new_data() override;
+	bool rc_lost() override;
+//		float rc_read(uint8_t channel) override;
+	float rc_read(uint8_t chan) override;
+
+	// PWM
+	void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) override;
+	void pwm_disable() override;
+	void pwm_write(uint8_t channel, float value) override;
+	uint32_t pwm_init_timers(uint32_t servo_pwm_period_us);
+
+	// non-volatile memory
+	void memory_init() override;
+	bool memory_read(void *dest, size_t len) override;
+	bool memory_write(const void *src, size_t len) override;
+
+	// LEDs
+	void led0_on() override;
+	void led0_off() override;
+	void led0_toggle() override;
+
+	void led1_on() override;
+	void led1_off() override;
+	void led1_toggle() override;
+
+	// Backup Data
+	void backup_memory_init() override;
+	bool backup_memory_read(void *dest, size_t len) override;
+	void backup_memory_write(const void *src, size_t len) override;
+	void backup_memory_clear(size_t len) override;
+
+};
+
+
+#endif /* VARMINT_H_ */