boards: new board support ZeroOne x6

boards/zeroone/x6/init/rc.board_defaults

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+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
+if ver hwbasecmp 009 010 011
+then
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
+	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
+else
+	# Mavlink ethernet (CFG 1000)
+	param set-default MAV_2_CONFIG 1000
+	param set-default MAV_2_BROADCAST 1
+	param set-default MAV_2_MODE 0
+	param set-default MAV_2_RADIO_CTL 0
+	param set-default MAV_2_RATE 100000
+	param set-default MAV_2_REMOTE_PRT 14550
+	param set-default MAV_2_UDP_PRT 14550
+fi
+
+safety_button start

boards/zeroone/x6/init/rc.board_mavlink

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+#!/bin/sh
+#
+# PX4 FMUv6X specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# if skynode base board is detected start Mavlink on Telem2
+if ver hwbasecmp 009 010 011
+then
+	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
+
+	# Ensure nothing else starts on TEL2 (ttyS4)
+	set PRT_TEL2_ 1
+fi

boards/zeroone/x6/init/rc.board_sensors

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+#!/bin/sh
+#
+# ZeroOne X6 specific board sensors init
+#------------------------------------------------------------------------------
+set HAVE_PM2 yes
+set INA_CONFIGURED no
+
+if mft query -q -k MFT -s MFT_PM2 -v 0
+then
+	set HAVE_PM2 no
+fi
+if param compare -s ADC_ADS1115_EN 1
+then
+	ads1115 start -X
+	board_adc start -n
+else
+	board_adc start
+fi
+
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina226 -X -b 2 -t 2 -k start
+	fi
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina228 -X -b 2 -t 2 -k start
+	fi
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina238 -X -b 2 -t 2 -k start
+	fi
+
+	set INA_CONFIGURED yes
+fi
+
+#Start Auterion Power Module selector for zeroone boards
+if ver hwbasecmp 009 010 011
+then
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
+fi
+
+# Keep nesting shallow
+if ver hwtypecmp V6X006 V6X008
+then
+	if ver hwtypecmp V6X006
+	then
+		# Internal SPI bus ICM45686
+		adis16470 -s -R 0 start
+		iim42652 -s -R 6 start
+		icm45686 -s -R 10 start
+	else
+		# Internal SPI bus 3x ICM45686
+		icm45686 -b 3 -s -R 0 start
+		icm45686 -b 2 -s -R 0 start
+		icm45686 -b 1 -s -R 10 start
+	fi
+else
+	if ver hwtypecmp V6X004
+	then
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	else
+		# Internal SPI BMI088
+		if ver hwbasecmp 009 010 011
+		then
+			bmi088 -A -R 6 -s start
+			bmi088 -G -R 6 -s start
+		else
+			if ver hwtypecmp V6X010
+			then
+				bmi088 -A -R 0 -s start
+				bmi088 -G -R 0 -s start
+			else
+				bmi088 -A -R 4 -s start
+				bmi088 -G -R 4 -s start
+			fi
+		fi
+	fi
+
+	# Internal SPI bus ICM42688p
+	if ver hwbasecmp 009 010 011
+	then
+		icm42688p -R 12 -s start
+	else
+		if ver hwtypecmp V6X010
+		then
+			icm42688p -R 14 -s start
+		else
+			icm45686 -b 1 -s -R 8 start        //ZeroOne
+		fi
+	fi
+
+	if ver hwtypecmp V6X003 V6X004
+	then
+		# Internal SPI bus ICM-42670-P (hard-mounted)
+		icm42670p -R 10 -s start
+	else
+		if ver hwbasecmp 009 010 011
+		then
+			icm20602 -R 6 -s start
+		else
+			# Internal SPI bus ICM-20649 (hard-mounted)
+			icm45686 -b 2 -s -R 6 start        //ZeroOne
+		fi
+	fi
+fi
+rm3100 -I -b 4 start
+# Internal magnetometer on I2c
+# if ver hwtypecmp V6X001
+# then
+# 	rm3100 -I -b 4 start
+# else
+# 	# Internal magnetometer on I2C
+# 	bmm150 -I -R 0 start
+# fi
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+# Possible internal Baro
+if param compare SENS_INT_BARO_EN 1
+then
+	icp201xx -I -a 0x64 start
+	# if ver hwtypecmp V6X001 V6X006 V6X008
+	# then
+	# 	icp201xx -I -a 0x64 start
+	# else
+	# 	bmp388 -I -a 0x77 start
+	# fi
+fi
+icp201xx -X start
+#external baro
+# if ver hwtypecmp V6X001
+# then
+# 	icp201xx -X start
+# else
+# 	bmp388 -X start
+# fi
+
+# Baro on I2C3
+ms5611 -X start
+
+unset INA_CONFIGURED
+unset HAVE_PM2