Update boards/ssrc/icicle after re-base

Keep this target building still

Signed-off-by: Jukka Laitinen <[email protected]>

boards/ssrc/icicle/default.px4board

@@ -31,9 +31,7 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -43,10 +41,10 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -60,12 +58,12 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/ssrc/icicle/include/board_type.h

@@ -13,4 +13,5 @@
 #define TOC_VERIFICATION_KEY 0
 #define BOOT_VERIFICATION_KEY 0
 
+#define ARB_COUNT 0
 #endif

boards/ssrc/icicle/nuttx-config/bootloader/defconfig

@@ -33,30 +33,26 @@ CONFIG_COMPOSITE_VENDORID=0x16c0
 CONFIG_COMPOSITE_VENDORSTR="SSRC"
 CONFIG_DEBUG_FEATURES=y
 CONFIG_DEFAULT_SMALL=y
-CONFIG_FAT_DIRECT_RETRY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
 CONFIG_FS_FAT=y
 CONFIG_FS_LARGEFILE=y
 CONFIG_GPT_PARTITION=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
 CONFIG_INIT_STACKSIZE=8096
 CONFIG_INTELHEX_BINARY=y
-CONFIG_MBR_PARTITION=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MPFS_BOOTLOADER=y
 CONFIG_MPFS_DDR_INIT=y
-#CONFIG_MPFS_DDR_TYPE_LPDDR4=y
 CONFIG_MPFS_EMMCSD=y
 CONFIG_MPFS_EMMCSD_MUX_EMMC=y
-CONFIG_MPFS_HART1_ENTRYPOINT=0x80200000
+CONFIG_MPFS_HART1_ENTRYPOINT=0x80000000
 CONFIG_MPFS_HART1_SBI=y
-CONFIG_MPFS_HART2_ENTRYPOINT=0xACA00000
-CONFIG_MPFS_HART3_ENTRYPOINT=0x80200000
+CONFIG_MPFS_HART2_ENTRYPOINT=0xA0000000
+CONFIG_MPFS_HART2_SBI=y
+CONFIG_MPFS_HART3_ENTRYPOINT=0x80000000
 CONFIG_MPFS_HART3_SBI=y
-CONFIG_MPFS_HART4_ENTRYPOINT=0x80200000
+CONFIG_MPFS_HART4_ENTRYPOINT=0x80000000
 CONFIG_MPFS_HART4_SBI=y
 CONFIG_MPFS_IHC_NUTTX_ON_HART1=0
 CONFIG_MPFS_IHC_NUTTX_ON_HART2=1
@@ -71,7 +67,6 @@ CONFIG_MPFS_OPENSBI=y
 CONFIG_MPFS_UART0=y
 CONFIG_OPENSBI=y
 CONFIG_OPENSBI_DOMAINS=y
-CONFIG_PTABLE_PARTITION=y
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x08000000
 CONFIG_RAW_BINARY=y

boards/ssrc/icicle/nuttx-config/include/board_liberodefs.h

@@ -37,8 +37,8 @@
 #define LIBERO_SETTING_MSS_FMETER_DATAW      0x00000000
 #define LIBERO_SETTING_MSS_FMETER_DATAR      0x00000000
 #define LIBERO_SETTING_MSS_PLL_REF_FB        0x00000500
-#define LIBERO_SETTING_MSS_PLL_CTRL          0x01000037
-#define LIBERO_SETTING_MSS_PLL_DIV_0_1       0x01000200
+#define LIBERO_SETTING_MSS_PLL_CTRL          0x0100003f
+#define LIBERO_SETTING_MSS_PLL_DIV_0_1       0x06000200
 #define LIBERO_SETTING_MSS_PLL_DIV_2_3       0x0f000600
 #define LIBERO_SETTING_MSS_SSCG_REG_0        0x00000000
 #define LIBERO_SETTING_MSS_SSCG_REG_1        0x00000000

boards/ssrc/icicle/nuttx-config/nsh/defconfig

@@ -43,7 +43,6 @@ CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_EE24XX_FREQUENCY=400000
 CONFIG_EEPROM=y
-CONFIG_FAT_DIRECT_RETRY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FDCLONE_STDIO=y
@@ -74,10 +73,8 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MPFS_COREPWM0=y
-CONFIG_MPFS_COREPWM0_PWMCLK=62500000
 CONFIG_MPFS_COREPWM1=y
 CONFIG_MPFS_COREPWM1_NCHANNELS=1
-CONFIG_MPFS_COREPWM1_PWMCLK=62500000
 CONFIG_MPFS_EMMCSD=y
 CONFIG_MPFS_ENABLE_DPFPU=y
 CONFIG_MPFS_ETHMAC_0=y
@@ -98,7 +95,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_M25P=y
 CONFIG_MTD_PARTITION=y
-CONFIG_NAME_MAX=40
+CONFIG_NAME_MAX=48
 CONFIG_NET=y
 CONFIG_NETDEV_IFINDEX=y
 CONFIG_NETDEV_PHY_IOCTL=y
@@ -137,9 +134,9 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTABLE_PARTITION=y
 CONFIG_PTHREAD_STACK_MIN=1024
 CONFIG_PWM=y
-CONFIG_PWM_NCHANNELS=8
+CONFIG_PWM_NCHANNELS=10
 CONFIG_RAM_SIZE=2097152
-CONFIG_RAM_START=0xAD000000
+CONFIG_RAM_START=0xA0600000
 CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
@@ -151,6 +148,7 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=4096
+CONFIG_SCHED_LPNTHREADS=2
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_NPOLLWAITERS=2

boards/ssrc/icicle/nuttx-config/scripts/bootloader_script.ld

@@ -74,9 +74,16 @@
 
 MEMORY
 {
-    envm (rx)     : ORIGIN = 0x20220100, LENGTH = 128K - 256  /* 256 reserved for hss headers */
-    l2lim  (rwx)  : ORIGIN = 0x08000000, LENGTH = 1024k
-    l2zerodevice (rwx) : ORIGIN = 0x0A000000, LENGTH = 512k
+    envm (rx)           : ORIGIN = 0x20220100, LENGTH = 110K - 256 /* 256 reserved for hss headers */
+    envm_sbi (rx)       : ORIGIN = 0x2023B800, LENGTH = 18K
+    l2lim  (rwx)        : ORIGIN = 0x08000000, LENGTH = 128k
+    l2lim_sec (rw)      : ORIGIN = 0x08020000, LENGTH = 32k
+    l2lim_info(rw)      : ORIGIN = 0x08028000, LENGTH = 4k
+    l2lim_free (!rwx)   : ORIGIN = 0x08029000, LENGTH = 348k
+    l2lim_rsvd (!rwx)   : ORIGIN = 0x08080000, LENGTH = 512K /* Cache ways for L2 ZeroDevice */
+    l2_cache (!rwx)     : ORIGIN = 0x08100000, LENGTH = 1024K
+    l2zerodevice (!rwx) : ORIGIN = 0x0A000000, LENGTH = 24k
+    opensbi (rwx)       : ORIGIN = 0x0A006000, LENGTH = 488k
 }
 
 OUTPUT_ARCH("riscv")
@@ -87,6 +94,9 @@ EXTERN(__start)
 
 SECTIONS
 {
+    PROVIDE(__l2lim_start = ORIGIN(l2lim));
+    PROVIDE(__l2lim_end   = ORIGIN(l2lim) + LENGTH(l2lim) + LENGTH(l2lim_sec) + LENGTH(l2lim_rsvd));
+
     .l2_scratchpad : ALIGN(0x10)
     {
         __l2_scratchpad_load = LOADADDR(.l2_scratchpad);
@@ -101,6 +111,41 @@ SECTIONS
 
     PROVIDE(__mpfs_nuttx_start = ORIGIN(l2lim));
 
+    /* Stabs debugging sections. */
+
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+    .debug_loc 0 : { *(.debug_loc) }
+    .debug_ranges 0 : { *(.debug_ranges) }
+    .debug_str 0 : { *(.debug_str) }
+    .debug_frame 0 : { *(.debug_frame) }
+
+    .text.sbi : ALIGN(4) {
+        _ssbi_zerodev = ABSOLUTE(.);
+        _sbi_zerodev_loadaddr = LOADADDR(.text.sbi);
+        sbi*(.text* .rodata*)
+        riscv_atomic*          /* In purpose everything */
+        riscv_locks*(.text.* .rodata*)
+        riscv_asm*(.text.*)
+        mpfs_opensbi_trap*     /* In purpose everything */
+        mpfs_opensbi*(.text.* .rodata*)
+        mpfs_ihc_sbi*(.text.* .rodata*)
+        aclint_mtimer*(.text.* .rodata*)
+        aclint_mswi*(.text.* .rodata*)
+        plic.*(.text.* .rodata*)
+        _esbi_zerodev = ABSOLUTE(.);
+    } > opensbi AT > envm_sbi
+
     .text : {
         _stext = ABSOLUTE(.);
         *(.start .start.*)
@@ -151,18 +196,6 @@ SECTIONS
 
     PROVIDE(__mpfs_nuttx_end = .);
 
-    /* Stabs debugging sections. */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
+    .secmem (NOLOAD) : ALIGN(4) {
+    } > l2lim_sec
 }

boards/ssrc/icicle/nuttx-config/scripts/script.ld

@@ -20,8 +20,10 @@
 
 MEMORY
 {
-  progmem (rx) : ORIGIN = 0xACA00000, LENGTH = 6M  /* w/ cache */
-  sram   (rwx) : ORIGIN = 0xAD000000, LENGTH = 4M  /* w/ cache */
+  l2lim_sec (rw)  : ORIGIN = 0x08020000, LENGTH = 32k
+  l2lim_info (r)  : ORIGIN = 0x08028000, LENGTH = 4k
+  progmem (rx)    : ORIGIN = 0xA0000000, LENGTH = 6M  /* w/ cache */
+  sram   (rwx)    : ORIGIN = 0xA0600000, LENGTH = 4M  /* w/ cache */
 }
 
 OUTPUT_ARCH("riscv")
@@ -108,6 +110,12 @@ SECTIONS
         _ebss = ABSOLUTE(.);
     } > sram
 
+    .secmem (NOLOAD) : ALIGN(4) {
+    } > l2lim_sec
+
+    .deviceinfo (NOLOAD) : ALIGN(4) {
+    } > l2lim_info
+
     /* Stabs debugging sections. */
 
     .stab 0 : { *(.stab) }

boards/ssrc/icicle/nuttx-config/scripts/toc.ld

@@ -20,7 +20,8 @@
 
 MEMORY
 {
-  progmem (r) : ORIGIN = 0xACA00000, LENGTH = 6M - 64
+  /* -64 <- Leave room for the signature */
+  progmem (r) : ORIGIN = 0xA0000000, LENGTH = 128M - 64
 }
 
 OUTPUT_ARCH("riscv")

boards/ssrc/icicle/src/CMakeLists.txt

@@ -41,6 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
 	target_link_libraries(drivers_board
 		PRIVATE
 			nuttx_arch
+			nuttx_apps
 			nuttx_drivers
 			bootloader
 	)
@@ -70,32 +71,31 @@ else()
 		spi_drv.cpp
 	)
 	add_dependencies(drivers_board nuttx_context)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+	)
+
 	if (CONFIG_OPENAMP)
-		target_link_libraries(drivers_board
-			PRIVATE
-				drivers__led # drv_led_start
-				nuttx_arch
-				nuttx_drivers
-				nuttx_openamp)
-	else()
-		target_link_libraries(drivers_board
-			PRIVATE
-				drivers__led # drv_led_start
-				nuttx_arch
-				nuttx_drivers)
+		target_link_libraries(drivers_board PRIVATE nuttx_openamp)
 	endif()
 
 	if (NOT DEFINED CONFIG_BUILD_FLAT)
-		target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
+		target_link_libraries(drivers_board PRIVATE px4_kernel_layer board_bus_info)
 		target_compile_options(drivers_board PRIVATE -D__KERNEL__)
 	else()
 		target_link_libraries(drivers_board PRIVATE px4_layer board_bus_info)
 	endif()
 
-	add_library(drivers_userspace
-		init_entrypt.c
-		mpfs_userspace.c
-	)
-	add_dependencies(drivers_userspace nuttx_context)
+	if (CONFIG_BUILD_PROTECTED)
+		add_library(drivers_userspace
+			init_entrypt.c
+			mpfs_userspace.c
+		)
+		add_dependencies(drivers_userspace nuttx_context)
+	endif()
 
 endif()

boards/ssrc/icicle/src/board_config.h

@@ -143,6 +143,7 @@ __BEGIN_DECLS
 extern void board_peripheral_reset(int ms);
 extern int mpfs_board_emmcsd_init(void);
 extern int mpfs_board_register_partition(unsigned partition);
+extern int mpfs_board_ihc_init(void);
 extern int mpfs_board_spinor_init(struct spi_dev_s *spinor);
 extern int mpfs_pwm_setup(void);
 extern void board_spidev_initialize(void);
@@ -153,8 +154,19 @@ extern int board_domains_init(void);
 extern void mpfs_usbinitialize(void);
 #endif
 
+#ifdef CONFIG_NET_RPMSG_DRV
+extern int net_rpmsg_drv_init(const char *cpuname, const char *devname, enum net_lltype_e lltype);
+#endif
+
+#if defined(CONFIG_FAT_DMAMEMORY) && defined(CONFIG_GRAN)
+int mpfs_dma_alloc_init(void);
+#endif
+
 #include <px4_platform_common/board_common.h>
 
+const char *board_bl_version_string(void);
+#define PX4_BL_VERSION board_bl_version_string()
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

boards/ssrc/icicle/src/bootloader_main.c

@@ -48,6 +48,7 @@
 #include <debug.h>
 #include "riscv_internal.h"
 
+extern int mpfs_dma_alloc_init(void);
 extern int sercon_main(int c, char **argv);
 __EXPORT void board_on_reset(int status) {}
 
@@ -129,6 +130,15 @@ __EXPORT void mpfs_boardinitialize(void)
 
 void board_late_initialize(void)
 {
+
+#if defined(CONFIG_FAT_DMAMEMORY) && defined(CONFIG_GRAN)
+	/* configure the DMA allocator */
+
+	if (mpfs_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#endif
 }
 
 int board_app_initialize(uintptr_t arg)