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Add ARK PAB Carrier

Browse Source 
Add ARK_FMU_V6X to RCS netman

Remove arkv6x rc single wire

Fix arkv6x mtd

arkv6x bootloader init all pins to prevent power cycling peripherals on boot

arkv6x don't power cycle sd card on boot

arkv6x add UART4 Telem 4
This commit is contained in:
alexklimaj 2022-11-10 12:23:25 -07:00 committed by Daniel Agar
parent 6af8e34596
commit 486674a652
7 changed files with 22 additions and 4 deletions
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2
ROMFS/px4fmu_common/init.d/rcS
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@ -171,7 +171,7 @@ else
param select-backup /fs/microsd/parameters_backup.bson
fi
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
then
netman update -i eth0
fi

2
boards/ark/fmu-v6x/default.px4board
View File

@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
@ -85,6 +86,7 @@ CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

7
boards/ark/fmu-v6x/init/rc.board_defaults
View File

@ -16,4 +16,11 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 1
if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
then
param set-default SYS_USE_IO 0
else
param set-default SYS_USE_IO 1
fi
safety_button start

1
boards/ark/fmu-v6x/src/board_config.h
View File

@ -326,7 +326,6 @@
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 1

10
boards/ark/fmu-v6x/src/bootloader_main.c
View File

@ -46,6 +46,7 @@
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "arm_internal.h"
#include <px4_platform/gpio.h>
#include <px4_platform_common/init.h>
extern int sercon_main(int c, char **argv);
@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {}
__EXPORT void stm32_boardinitialize(void)
{
/* configure pins */
const uint32_t list[] = PX4_GPIO_INIT_LIST;
for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
if (list[gpio] != 0) {
px4_arch_configgpio(list[gpio]);
}
}
/* configure USB interfaces */
stm32_usbinitialize();
}

3
boards/ark/fmu-v6x/src/init.c
View File

@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
VDD_5V_HIPOWER_EN(false);
VDD_5V_PERIPH_EN(false);
board_control_spi_sensors_power(false, 0xffff);
VDD_3V3_SENSORS4_EN(false);
@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
VDD_3V3_SPEKTRUM_POWER_EN(last);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SENSORS4_EN(true);
VDD_5V_HIPOWER_EN(true);
VDD_5V_PERIPH_EN(true);
}
@ -209,7 +211,6 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
VDD_3V3_SENSORS4_EN(true);

1
boards/ark/fmu-v6x/src/mtd.cpp
View File

@ -43,7 +43,6 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2
.devid = PX4_MK_I2C_DEVID(3, 0x51)
};
static const px4_mtd_entry_t fmum_fram = {
.device = &spi5,
.npart = 2,