mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-25 03:38:22 +08:00
3f6fe0e40c
* refactor(uavcan): base the libuavcan clock on HRT instead of a dedicated timer The stm32, stm32h7 and kinetis drivers each ran a 16-bit hardware timer with a software overflow extension, a second copy of what HRT provides, and slewed UTC by patching that accumulator from the timer interrupt. Every CAN board paid a general-purpose timer for it, and the bus time base led HRT by the timer phase at seeding even when the FC is the sync master. Monotonic time is now hrt_absolute_time() and UTC is HRT plus an offset that time sync moves. Each adjustment is applied directly; the rate PID and its lock accessors had no callers, and at the sub-100 us errors sync produces after convergence a 1 Hz offset correction bounds the error to crystal drift over one second. The timer number plumbing and the BOARD_UAVCAN_TIMER_OVERRIDE option go with it. * refactor(uavcan): drop the vestigial clock::init and the timer enables it left behind With the hardware timer gone, init() only set a flag, so the flag is set where the singleton is constructed. The three boards that enabled their override timer in defconfig alongside the override no longer need it.
103 lines
3.1 KiB
Plaintext
103 lines
3.1 KiB
Plaintext
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
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CONFIG_DRIVERS_ADC_ADS1115=y
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
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CONFIG_DRIVERS_BAROMETER_MS5611=y
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CONFIG_DRIVERS_BATT_SMBUS=y
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CONFIG_DRIVERS_CAMERA_CAPTURE=y
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CONFIG_DRIVERS_CAMERA_TRIGGER=y
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CONFIG_DRIVERS_CDCACM_AUTOSTART=y
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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
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CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
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CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
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CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
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CONFIG_DRIVERS_IRLOCK=y
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CONFIG_COMMON_LIGHT=y
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CONFIG_COMMON_MAGNETOMETER=y
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CONFIG_COMMON_OSD=y
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CONFIG_DRIVERS_POWER_MONITOR_INA226=y
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CONFIG_DRIVERS_POWER_MONITOR_INA228=y
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CONFIG_DRIVERS_POWER_MONITOR_INA238=y
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CONFIG_DRIVERS_PWM_INPUT=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_PX4IO=y
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CONFIG_COMMON_RC=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
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CONFIG_COMMON_TELEMETRY=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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CONFIG_MODULES_EVENTS=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_FW_ATT_CONTROL=y
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_FW_RATE_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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CONFIG_MODULES_LOAD_MON=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
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CONFIG_MODULES_PAYLOAD_DELIVERER=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_DUMPFILE=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_USB_CONNECTED=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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CONFIG_ARCH_CHIP_STM32F7=y
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