boards: cubepilot_cubeorange enable calib_udelay and run on test rack

PX4 · Oct 25, 2021 · 94885e1 · 94885e1
1 parent 8e2cb07
commit 94885e1
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Showing 6 changed files with 19 additions and 25 deletions.
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
@@ -60,6 +60,7 @@ pipeline {
                     checkStatus()
                     quickCalibrate()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
                   }
                 }
                 stage("print topics") {

diff --git a/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig b/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig
@@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=78870
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y

diff --git a/boards/cubepilot/cubeorange/nuttx-config/include/board.h b/boards/cubepilot/cubeorange/nuttx-config/include/board.h
@@ -60,7 +60,6 @@
 #define STM32_HSI_FREQUENCY     16000000ul
 #define STM32_LSI_FREQUENCY     32000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
 
 /* Main PLL Configuration.
  *
@@ -82,7 +81,6 @@
  *   PLLP2,3 = {2, 3, 4, ..., 128}
  *   CPUCLK <= 480 MHz
  */
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
 
 /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
  *
@@ -108,12 +106,12 @@
 #define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
 #define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
 #define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(30)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(4)
 #define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(5)
 #define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(1)
 
 #define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 30)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 4)
 #define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 5)
 #define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 1)
 
@@ -186,36 +184,28 @@
 /* Kernel Clock Configuration
  *  Note: look at Table 54 in ST Manual
  */
+#define STM32_RCC_D1CCIPR_SDMMCSEL   RCC_D1CCIPR_SDMMC_PLL1
+
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 
 /* SDMMC definitions ********************************************************/
 /* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#define STM32_SDMMC_INIT_CLKDIV     (125 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
+ * div = 100 / (2*25)
  */
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
+#define STM32_SDMMC_MMCXFR_CLKDIV   (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#define STM32_SDMMC_SDXFR_CLKDIV    (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 

diff --git a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
@@ -42,7 +42,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=78870
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y

diff --git a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
@@ -41,7 +41,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=78870
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
@@ -52,14 +52,14 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -82,7 +82,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

diff --git a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp
@@ -263,7 +263,11 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings &out
 	/*
 	 * Hardware configuration
 	 */
+#ifdef STM32_FDCANCLK
 	const uavcan::uint32_t pclk = STM32_FDCANCLK;
+#else
+	const uavcan::uint32_t pclk = STM32_HSE_FREQUENCY;
+#endif
 
 	static const int MaxBS1 = 16;
 	static const int MaxBS2 = 8;