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px4_fmu-v6x:Add Rev 4 Sensors

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This commit is contained in:
David Sidrane 2022-04-25 10:54:50 -07:00 committed by Daniel Agar
parent 9d0e57230a
commit 2bdeb36ea3
4 changed files with 38 additions and 5 deletions
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14
boards/px4/fmu-v6x/init/rc.board_sensors
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@ -25,17 +25,23 @@ then
ina238 -X -b 2 -t 2 -k start
fi
if ver hwtypecmp V6X04 V6X14
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
else
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
fi
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
if ver hwtypecmp V6X03 V6X13
if ver hwtypecmp V6X03 V6X13 V6X04 V6X14
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 14 -s start
icm42670p -R 10 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start

4
boards/px4/fmu-v6x/src/board_config.h
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@ -215,13 +215,15 @@
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0 and Rev 3,4 Sensor sets
// Base/FMUM
#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
#define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3
#define V6X04 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4
#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
/* HEATER

2
boards/px4/fmu-v6x/src/manifest.c
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@ -102,6 +102,8 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
};
/************************************************************************************

23
boards/px4/fmu-v6x/src/spi.cpp
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@ -83,6 +83,29 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(HW_VER_REV(0, 4), {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);