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px4_fmu-v6x:Support ETM Hardware Trace

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This commit is contained in:
David Sidrane
2020-09-26 13:37:40 -07:00
committed by Daniel Agar
parent 1822a678f6
commit 529d816a39
3 changed files with 364 additions and 6 deletions
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42
boards/px4/fmu-v6x/src/board_config.h
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@@ -47,12 +47,15 @@
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
#undef TRACE_PINS
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
@@ -83,10 +86,9 @@
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
* TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8
* TRACED3 PE6 - nARMED - Trace Connector Pin 8
*/
#undef TRACE_PINS
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
@@ -100,9 +102,23 @@
# define BOARD_ARMED_STATE_LED LED_BLUE
#else
# if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3)
# error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be)
# endif
# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
# undef BOARD_HAS_CONTROL_STATUS_LEDS
# undef BOARD_OVERLOAD_LED
# undef BOARD_ARMED_STATE_LED
# define GPIO_nLED_RED GPIO_TRACED0
# define GPIO_nLED_GREEN GPIO_TRACED1
# define GPIO_nLED_BLUE GPIO_TRACED2
# define GPIO_nARMED GPIO_TRACED3
# define GPIO_nARMED_INIT GPIO_TRACED3
#endif
@@ -230,10 +246,12 @@
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
*/
#if !defined(TRACE_PINS)
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#endif
/* PWM
*/
@@ -417,7 +435,19 @@
#define BOARD_HAS_ON_RESET 1
#if defined(TRACE_PINS)
#define GPIO_TRACE \
GPIO_TRACECLK1, \
GPIO_TRACED0, \
GPIO_TRACED1, \
GPIO_TRACED2, \
GPIO_TRACED3
#else
#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#endif
#define PX4_GPIO_INIT_LIST { \
GPIO_TRACE, \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \