Add support for ModalAI FC1

.ci/Jenkinsfile-compile

@@ -37,7 +37,8 @@ pipeline {
                      "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5x_default",
                      "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default", "uvify_core_default"],
+                     "holybro_kakutef7", "modalai_fc-v1_default", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default",
+                     "uvify_core_default"],
             image: docker_images.nuttx,
             archive: true
           ]

.vscode/cmake-variants.yaml

@@ -51,6 +51,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: intel_aerofc-v1_default
+    modalai_fc1_default:
+      short: modalai_fc1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc1_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7_default
       buildType: MinSizeRel

boards/modalai/fc-v1/default.cmake

@@ -0,0 +1,120 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR modalai
+	MODEL fc-v1
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 1
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0 # UART1  / J10
+		TEL1:/dev/ttyS6 # UART7  / J5
+		TEL2:/dev/ttyS4 # UART5  / J1
+		TEL3:/dev/ttyS1 # USART2 / J4
+
+	DRIVERS
+		adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/bmi088
+# TODO		imu/icm42688
+		imu/mpu6000
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		#md25
+		mkblctrl
+		#optical_flow # all available optical flow drivers
+		pca9685
+		power_monitor/ina226
+		power_monitor/voxlpm
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		px4fmu
+		#px4io
+		rc_input
+		roboclaw
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		#tone_alarm
+		uavcan
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		rover_pos_control
+		sensors
+		sih
+		vmount
+		vtol_att_control
+		airspeed_selector
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+	)

boards/modalai/fc-v1/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 41775,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ModalAI Flight Core v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "modalaifcv1",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/modalai/fc-v1/init/rc.board_defaults

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# ModalAI FC-v1 specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+	# Disable safety switch by default
+	param set CBRK_IO_SAFETY 22027
+
+	#
+	# TELEM2 /dev/ttyS4
+	#
+	# In the VOXL-FMU, this port is connect to the VOXL internally
+	# In the FMU, this J1 port can connect to the VOXL J12
+	# By default, we use this UART connection with MAVLink at 921.6kHz
+	#
+	param set MAV_1_CONFIG 102 # TELEM2
+	param set MAV_1_MODE 0	# normal
+	param set SER_TEL2_BAUD 921600
+fi
+
+set LOGGER_BUF 64
+
+safety_button start

boards/modalai/fc-v1/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# ModalAI FC-v1 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/modalai/fc-v1/init/rc.board_sensors

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# ModalAI FC-v1 specific board sensors init
+#------------------------------------------------------------------------------
+
+# Start Digital power monitors
+voxlpm -R start
+
+# Internal SPI bus ICM-20602
+mpu6000 -R 2 -s -T 20602 start
+
+# Internal SPI bus ICM-42688
+# TODO
+
+# Internal SPI bus BMI088 accel
+bmi088 -A start
+
+# Internal SPI bus BMI088 gyro
+bmi088 -G start
+
+# Possible external compasses
+ist8310 -C -b 1 start
+ist8310 -C -b 2 start
+hmc5883 -C -T -X start
+qmc5883 -X start
+
+# Internal I2C Baro
+bmp388 -I start

boards/modalai/fc-v1/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-8, CAP1 as PROBE_1-9 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-8, CAP1 as PROBE_1-9"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.