Support for RP2040 MCU

.ci/Jenkinsfile-compile

@@ -79,6 +79,7 @@ pipeline {
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",

.github/workflows/compile_nuttx.yml

@@ -48,6 +48,7 @@ jobs:
           nxp_fmurt1062-v1,
           nxp_ucans32k146,
           omnibus_f4sd,
+          raspberrypi_pico,
           px4_fmu-v2,
           px4_fmu-v3,
           px4_fmu-v4,

.vscode/cmake-variants.yaml

@@ -221,3 +221,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default

.vscode/settings.json

@@ -136,5 +136,6 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

boards/raspberrypi/pico/default.px4board

@@ -0,0 +1,52 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m0plus"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/raspberrypi/pico/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 42,
+    "magic": "RASPBERRYPIPICO",
+    "description": "Firmware for the raspberry pi Pico board",
+    "image": "",
+    "build_time": 0,
+    "summary": "RaspberrypiPico",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/raspberrypi/pico/init/rc.board_defaults

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
+# use the Q attitude estimator, it works w/o mag or GPS.
+# param set-default SYS_MC_EST_GROUP 3
+# param set-default ATT_ACC_COMP 0
+# param set-default ATT_W_ACC 0.4000
+# param set-default ATT_W_GYRO_BIAS 0.0000
+
+# param set-default SYS_HAS_MAG 0

boards/raspberrypi/pico/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/raspberrypi/pico/init/rc.board_sensors

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# try starting an mpu9250 IMU on external SPI
+mpu9250 start -S
+
+# try starting a bmp280 barometer on external SPI
+bmp280 start -S

boards/raspberrypi/pico/nuttx-config/Kconfig

@@ -0,0 +1,25 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config RP2040_FLASH_BOOT
+	bool "flash boot"
+	default y
+	---help---
+		If y, the built binary can be used for flash boot.
+		If not, the binary is for SRAM boot.
+
+config RP2040_FLASH_CHIP
+	string "flash chip name"
+	default "w25q080"
+	---help---
+		Name of NOR flash device connected to RP2040 SoC.
+		(Used to choose the secondary boot loader.)
+		Basically this option should not be changed.
+
+config RP2040_UF2_BINARY
+	bool "uf2 binary format"
+	default y
+	---help---
+		Create nuttx.uf2 binary format used on RP2040 based arch.

boards/raspberrypi/pico/nuttx-config/include/board.h

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. 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 PX4 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 OWNER 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 __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+/* Clocking *****************************************************************/
+
+#define MHZ                     1000000
+
+#define BOARD_XOSC_FREQ         (12 * MHZ)
+#define BOARD_PLL_SYS_FREQ      (125 * MHZ)
+#define BOARD_PLL_USB_FREQ      (48 * MHZ)
+
+#define BOARD_REF_FREQ          (12 * MHZ)
+#define BOARD_SYS_FREQ          (125 * MHZ)
+#define BOARD_PERI_FREQ         (125 * MHZ)
+#define BOARD_USB_FREQ          (48 * MHZ)
+#define BOARD_ADC_FREQ          (48 * MHZ)
+#define BOARD_RTC_FREQ          46875
+
+#define BOARD_UART_BASEFREQ     BOARD_PERI_FREQ
+
+#define BOARD_TICK_CLOCK        (1 * MHZ)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
+ * omnibusf4sd.  The following definitions describe how NuttX controls the LEDs:
+ */
+
+// #define LED_STARTED       0  /* LED1 */
+// #define LED_HEAPALLOCATE  1  /* LED2 */
+// #define LED_IRQSENABLED   2  /* LED1 */
+// #define LED_STACKCREATED  3  /* LED1 + LED2 */
+// #define LED_INIRQ         4  /* LED1 */
+// #define LED_SIGNAL        5  /* LED2 */
+// #define LED_ASSERTION     6  /* LED1 + LED2 */
+// #define LED_PANIC         7  /* LED1 + LED2 */
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ * UART0TX: GPIO0
+ * UART0RX: GPIO1
+ * UART1TX: GPIO8
+ * UART1RX: GPIO9
+ */
+#define CONFIG_RP2040_UART0_GPIO	0	/* TELEM */
+
+#define CONFIG_RP2040_UART1_GPIO	8	/* GPS */
+
+/*
+ * I2C (external)
+ *
+ * I2C1SCL: GPIO7
+ * I2C1SDA: GPIO6
+ *
+ * TODO:
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ */
+#define CONFIG_RP2040_I2C1_GPIO		6
+
+/* SPI0:
+ *  SPIDEV_FLASH (probably micro sd card)
+ *  CS: GPIO5 -- should be configured in sec/spi.cpp (probably)
+ *  CLK: GPIO2
+ *  MISO: GPIO4
+ *  MOSI: GPIO3
+ */
+
+#define GPIO_SPI0_SCLK  ( 2 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI0_MISO ( 4 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI0_MOSI ( 3 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+
+/* SPI1:
+ *  MPU9250 and BMP280
+ *  CS: GPIO13 for MPU9250, GPIO14 for BMP280 -- should be configured in sec/spi.cpp (probably)
+ *  CLK: GPIO10
+ *  MISO: GPIO12
+ *  MOSI: GPIO11
+ */
+
+#define GPIO_SPI1_SCLK	( 10 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI1_MISO	( 12 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+#define GPIO_SPI1_MOSI	( 11 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */