From c7a8589afc79cec37ba75e3be6263db7e0b12964 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Thu, 10 Nov 2022 12:23:25 -0700 Subject: [PATCH] Add ARK PAB Carrier 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 --- ROMFS/px4fmu_common/init.d/rcS | 2 +- boards/ark/fmu-v6x/default.px4board | 3 ++ .../fmu-v6x/extras/ark_fmu-v6x_bootloader.bin | Bin 45508 -> 45260 bytes .../ark/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 39924 bytes boards/ark/fmu-v6x/init/rc.board_defaults | 7 +++- boards/ark/fmu-v6x/src/board_config.h | 1 - boards/ark/fmu-v6x/src/bootloader_main.c | 10 ++++++ boards/ark/fmu-v6x/src/init.c | 3 +- boards/ark/fmu-v6x/src/mtd.cpp | 30 +----------------- 9 files changed, 23 insertions(+), 33 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index b748f90397..e6012a2c23 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -162,7 +162,7 @@ else param select-backup $PARAM_BACKUP_FILE fi - if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X + if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X then netman update -i eth0 fi diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 9068b52bd9..119a0fedff 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_BAROMETER_MS5611=y @@ -80,6 +81,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin index 8dbf57ba2e0a4fb3a2b5016b93b37b4315f5e75c..86de46906e356a2e16d49f439bbdf5d22421b3ee 100755 GIT binary patch delta 28755 zcmZs@eSA|z);KJqn?xvOcPn}$ZgC^0x$1o^4wFd>b6a}G+0@U)}nJ{ zksn~ofB`kwGyEX57J4sYt@ny9`K61g07`~Sslaemmu$F%wM`cXD|cMcZDV`97Y8f7 zS9IIPV@{jutLx(%>iUuz>ig0fYDzsSV4CEdTy`esv+?O!M$9t0mOb_cA20#~z&i&G zZm01-3Wtlvmjk>Z2CyZ1tuM3QfjPFmFSDT%_n10K(OePR9LGt~+)mOk#}Te!kCTQu z06!k}^;Q1S*SGGEon*&c5kvMk*)g}1?7ErWHTPCIz!2qV%Q@(!k)s<2`F0YgfiR*ETHde4}IJEIy?_MPZGV!7_M1m z#9GFVd8UKtO(#i?$r$cgWydzAgXH}CJM39C{H-?`aSf9wcPAw z4}o@jaf#fy#&&2HZYrEHPaXf8+ac80=Qe(VqO3Q zXmocHP~=Fk3n(%?FXHVRK*|dz^qG!FinI7g1Qs6Ex>Iad7}YLzKwn zcqchk-Jh-+7=*s4A=T}_3J;b>q~2>@6$DC z$^!)0i)p3L2q*>y&NBuf&RVg~Vbldv6XK zDi&83?gR4(m$Ka+3s4Asc?aRgRbo#;2hoq~AUWeYh%jym%&1^PE(hDc+F>VLwrr0D zbWUK@m8S?FktCrHj55xX4@+~fG1q&sG&MT}lG{7fFE6Xz_^f{c6M^B~mFHk|x91vLPu$zAq_RwvQZL@`3@D0X#F> z{tn>3eGFQ3Evbn2GnQn3c5A1RUk9*2fS_wjUdK7JT+!fg-e|IF-Hjk^N4fI(&O`nr zGh-E!0dGwPJl_IwGzJBLuf(9hw*Y)GhFi8B`clK9;x2eQOJFw4n|xYcwD3{)*MU&5 zrnI<4vk;i>AzTXYh4`ZZSY*nN1lleZ+W<~E0(__50Xz_DN`Zk#5Z`r_!&iK;4B|aU zfiEeQ0X3z{mBn{K5ttS)EUc*vA6~!6sp@~Lw!WpZ(tyn94%a4Ej_W?x0_VSZxo zv@IyCfq3S?_m==<@oR&eD7r)mS{8jTNbP{d2L^#yTv2&L*)##^T!NG)?Y7T9D@wpL z!j&OSDs#W$$#nx<5);cH?u+RShBAo196TWHlUUdIGJqGy4oJ|L^|;xY<6*_Z8V%k{ zCOK2Q0B?#-bf$PAekE#hrg$~DV@OQof1^PBQH&F{WrZ~WFNvvf8v(eLs6_hhBmjR# zAig*_7!;)yZt!k!9x1FzlVEQLgoSSquKj}`uK}hVDqu?00Fzz=O!*pMD$)RxNdrto z4NTIzfS)n~@C_s<0)bWWn?V1(2?TtfjRbt_yK?i0Nzfpl9wDmt zXaRqRMrKA%9eKyiPSTF-(aLv@%$iwffMrT#LHzi;fLA$nEjd!Y7vh;QUF-Snu<(36 z z5&C>9$|0LqQ%-yB8v@hL`f2VPQ96-r7x4?gcQpg>ls%?gid1r_0eyD~i1I(zj&`3T zwwD%Gwh|x!!~YP_1gD=P);H3d&kz9W>?6AAo35X?22==`oq-$8&-bM@tivhb&K{U| zhJZy!e9#EzjIvz>DZO8$t{^iOfhmQ7zY}1)(L7svj{remvc>ae9jyoUJvh)1dX-oO zRuEUheT*BkjN!?um5tk1KADR|+`(ozxKIhxSP$@*Q31XEB*b4tmB?S?6Uzm};yFW{ z*!ZLpX^Wc?OUL#{I2{(GH@_P^lNf?3#HCi=P&VHUc=Qbc0?mENuIs)R0pT23)_#@% z9X}oR1|DzfU8zm(b}vILo;EPYwK+JS6o7nE&;tuD1SuG_PLFa|;Hm`*g8sK^SZt4%p%;j2 z9*bwhQO^8h`G_eheiW&Dw?c^X2h^zY@>U+09e&WuC+`pO{2|26X(!}j{Hy>FDhQYQC0V_4m=?C{P=60G0bmaJSSIrfWlW2<{P3QV1roxMyfVNg%im-wV1ZV}ldHv+n|4ZqL!XA-)nFRt9u!#VtB# zjwB#}|0~u>RvVyTyAIRtCW6)3+PM9pY8JCBW8nj7Xn!fdsRUXZ?AHQNAVG*IORgCt zLAn?@1dM#kg=W@iKza$_|BeX=;y(~trfcEQGOtGxya2yJUUy3@zB?+Qwu?F&ix;-i zPN-02`1u+ZKM>_mvA0NI@$%^FE_17Zlt_<4`>*POMqps^{ewXGz*XGV6ipTCB_L#Z zpz+?v>0Y)~QlTPm)zi?zorbfk9tYw9S8*F1+Cxz;Bmgyjc!=`ZL-)rh+7{)PAnln) z60B-`&(Ls(0RH&czjG`8m3!bA5Y-jxvatvjzGM0P5`avIXGlPaoNNU?Dh#P?tZCuU zqC-v5RL~>;He(FZI>DrD3C?D1Bg$0Ld{XEF66ozDoxk7&O+YMyY6=q(puhlzTF4w(dazkv4<$ z=vw1t$Xp8=rK`bpcocW#rohxYtu5oE=bDtrk-@cVsTkQmc)`Kh*j=VpCGyFj?8?+L zZ^YzhGL6Zv4npBvqMrOt=6J(>)f>IWr?=VF0XCEgt*ty_@jnK*9s!x8P>{uER?gI9w9-#>_h#Vs5Hq0|J_V*}>a%pyvf>H&Q#g{zg1jT*~yF=*DH%>gR! 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z_l^5+F)Bxq)sCae)Ckx^$A6a1xN+$5do-o}J+M`t&&kk~w)d!rpz%JM$vT$+`+Gfm z?yn|{ZqI5u`w}QHnHuXIUVvczD&uAT3kOQFVp7zDuiS%ZGwd z`PbDBrwX6ndTF)hWEk0W_3ZAj@^x5R*giIg)&S82-*C*?P9x4eu~) zOvwdq+Zf<}7!BOtM*}w~{bx%-)rK74d?UZ!T;S4je*=*NTp$OydvbugV+@U94FBDi z1KcnD_Fefz7Ru}8foqxw+awV_6v)FD_y)V z@rTz@;rsUjH*+m;SFQ!FYAtZ{)&f_*7Pu*Eft$W|-`}2mj$^j^q}#VmOv}{`4+u~R z`=zJ0jp1IPUt9q2Qq{AgrN3<}L8=tmCZw(Z4Pb?2-9Cm}wgb2)F9BY^eL-68$YO?Z xQ4orYM #include #include "arm_internal.h" +#include #include 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(); } diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c index 9032b1531e..0bd1295978 100644 --- a/boards/ark/fmu-v6x/src/init.c +++ b/boards/ark/fmu-v6x/src/init.c @@ -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); diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp index bc4aa33c80..3ece10aeca 100644 --- a/boards/ark/fmu-v6x/src/mtd.cpp +++ b/boards/ark/fmu-v6x/src/mtd.cpp @@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2 .bus_type = px4_mft_device_t::I2C, .devid = PX4_MK_I2C_DEVID(3, 0x51) }; -static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256 - .bus_type = px4_mft_device_t::I2C, - .devid = PX4_MK_I2C_DEVID(4, 0x50) -}; - static const px4_mtd_entry_t fmum_fram = { .device = &spi5, @@ -84,34 +79,11 @@ static const px4_mtd_entry_t base_eeprom = { }, }; -static const px4_mtd_entry_t imu_eeprom = { - .device = &i2c4, - .npart = 3, - .partd = { - { - .type = MTD_CALDATA, - .path = "/fs/mtd_caldata", - .nblocks = 240 - }, - { - .type = MTD_MFT_REV, - .path = "/fs/mtd_mft_rev", - .nblocks = 8 - }, - { - .type = MTD_ID, - .path = "/fs/mtd_id", - .nblocks = 8 // 256 = 32 * 8 - } - }, -}; - static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 3, + .nconfigs = 2, .entries = { &fmum_fram, &base_eeprom, - &imu_eeprom } };