Writing a Custom UART Driver
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@Moderator Hi, our team is going to be writing a driver for UART control of vertiq motors for PX4 soon. Additionally I'm prototyping with a VOXL 2 Mini and have got the tool chain running. I know the voxl 2 works a bit differently than a standard px4 stm32 board. I was looking at the modalIO and I notice it is enabled in both voxl2-slpi and voxl2 default.px4board files. Is the slpi folder for the DSP half of the chip? Is it just a completely different board that I should ignore?
Thanks,
Luca
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@Moderator Hi, our team is going to be writing a driver for UART control of vertiq motors for PX4 soon. Additionally I'm prototyping with a VOXL 2 Mini and have got the tool chain running. I know the voxl 2 works a bit differently than a standard px4 stm32 board. I was looking at the modalIO and I notice it is enabled in both voxl2-slpi and voxl2 default.px4board files. Is the slpi folder for the DSP half of the chip? Is it just a completely different board that I should ignore?
Thanks,
Luca
@LucaVertiq you will need your uart driver to run in the slpi portion of the build. you should be able to find everything you need here: https://docs.modalai.com/voxl-px4/
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@LucaVertiq you will need your uart driver to run in the slpi portion of the build. you should be able to find everything you need here: https://docs.modalai.com/voxl-px4/
@Moderator Thanks, that's where I've been looking. I'll have to look harder at the slpi portion of the build to understand it better. If I have more questions I'll be back. Thanks!
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@Moderator Thanks, that's where I've been looking. I'll have to look harder at the slpi portion of the build to understand it better. If I have more questions I'll be back. Thanks!
@LucaVertiq Yes, you have a choice of where to put the driver depending on what UART port you are planning to use. If you use a UART available to the applications processor then you would use the standard voxl2 build. If you use a DSP UART then you would use the voxl2-slpi build.
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@LucaVertiq Yes, you have a choice of where to put the driver depending on what UART port you are planning to use. If you use a UART available to the applications processor then you would use the standard voxl2 build. If you use a DSP UART then you would use the voxl2-slpi build.
@Eric-Katzfey Ahh that makes sense. I see in the voxl 2 mini datasheet that it says apps or slpi proc for each uart. That's great.
So on the slpi proc how do I know what uart number to use in PX4. It looks like in the spektrum driver is selects uart 7 and the modal_io driver selects uart 2 which seems to match QUP7 and QUP2 in the datasheet:
Am I understanding that correctly so far?
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@Eric-Katzfey Ahh that makes sense. I see in the voxl 2 mini datasheet that it says apps or slpi proc for each uart. That's great.
So on the slpi proc how do I know what uart number to use in PX4. It looks like in the spektrum driver is selects uart 7 and the modal_io driver selects uart 2 which seems to match QUP7 and QUP2 in the datasheet:
Am I understanding that correctly so far?
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@LucaVertiq Yep, that is correct.
@Eric-Katzfey Thanks to you we now have our motors running right off the SLPI processor with PX4 as a UART 'bus'. Everything seems to work great. The main issue was figuring out what qshell commands to send to start it up properly.
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