Support for STM32F469 FMUv4pro in Pixhawk Pro

Images/px4fmu-v4pro.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Makefile

@@ -134,6 +134,9 @@ px4fmu-v2_default:
 px4fmu-v4_default:
 	$(call cmake-build,nuttx_px4fmu-v4_default)
 
+px4fmu-v4pro_default:
+	$(call cmake-build,nuttx_px4fmu-v4pro_default)
+
 px4-stm32f4discovery_default:
 	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
 
@@ -203,7 +206,7 @@ uavcan_firmware:
 check_format:
 	@./Tools/check_code_style.sh
 
-check: px4fmu-v1_default px4fmu-v2_default px4fmu-v4_default px4-stm32f4discovery_default check_format tests
+check: px4fmu-v1_default px4fmu-v2_default px4fmu-v4_default px4fmu-v4pro_default px4-stm32f4discovery_default check_format tests
 
 unittest: posix_sitl_default
 	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest)

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -112,6 +112,31 @@ then
 	fi
 fi
 
+if ver hwcmp PX4FMU_V4PRO
+then
+
+	# Internal SPI bus ICM-20608-G
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus mpu9250
+	if mpu9250 -R 2 start
+	then
+	fi
+
+	# Internal SPI bus
+	#if lis3mdl -R 0 start
+	#then
+	#fi
+
+	# Possible external compasses
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+fi
+
 if ver hwcmp PX4FMU_V1
 then
 	# FMUv1

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -0,0 +1,193 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v4pro
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	#drivers/lsm303d
+	#drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+	drivers/bst
+	drivers/snapdragon_rc_pwm
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/tests
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+	modules/ekf2
+
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

makefiles/nuttx/board_px4fmu-v4pro.mk

@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the PX4FMUv4PRO
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = PX4FMU_V4PRO
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk