Support for RP2040 MCU #18083
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Support for RP2040 MCU #18083
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…y the necessary info in there to begin developing the px4 base layer
…chip subdiretory in cmake
…ining instruction on how to add support for a new chip
… a CMakeLists.txt file in there
…o that libarch.a can be compiled
…ntent from nuttx's board.h file
…mpilation error of library -larch_hrt not found
…ons to deal with non-existing uuid register
…nctions to look similar to ones in nuttx's boards/raspberrypi-pico folder
…ard_critmon folder from stm32f3 to rp2040 because rp2040 doesn't have support for it
…blem with _wq_manager_should_exit needs to be resolved.
…es pin number instead of interrupt vector number.
…io interrupt at a time.
…he linker script. Finish testing pwm implementation.
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dagar
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Oct 21, 2021
- delete unused - update copyright headers - make I2C_RESET optional - make SPI buses external (probe optional drivers)
dagar
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Nov 3, 2021
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| /** | ||
| * Fetch a never-wrapping absolute time value in microseconds from | ||
| * some arbitrary epoch shortly after system start. | ||
| */ | ||
| hrt_abstime hrt_absolute_time(void) | ||
| { | ||
| /* Taken from rp2040 datasheet pg. 558 */ | ||
| uint32_t hi = rTIMERAWH; | ||
| uint32_t lo; | ||
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| do { | ||
| lo = rTIMERAWL; | ||
| uint32_t next_hi = rTIMERAWH; | ||
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| if (hi == next_hi) { break; } | ||
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| hi = next_hi; | ||
| } while (true); | ||
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| return ((uint64_t) hi << 32) | lo; | ||
| } |
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So cool that you literally had to implement the hrt_absoluate_time function haha @vxj9800
I was going through the PR as I was watching your talk on Youtube, super cool!
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@junwoo091400 This was a great relief when I started working on this since the RP2040 has a dedicated 64-bit real-time timer. It made my life much easier.
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This is the continuation of the original pr #17966 because GitHub was not allowing to reopen the pr. The current branch is rebased to PX4/PX4-Autopilot:master as asked by the maintainers.
Describe problem solved by this pull request
Add PX4 base layer support for RP2040 MCU
Describe your solution
A good amount of base layer functions are almost ready. Timers are for buzzer, pwm in, rc in, etc. will be implemented soon.
Test data / coverage
Testing needs to be done to make current implementation bug free. Timers will be implemented after that.