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boards: Updated ZeroOne X6

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* Starts pwm_voltage_apply
* Enable Septentrio modules
* Enable IIM42653 IMU
* Enable SCH16T IMU

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
xue
2025-07-02 09:13:01 -07:00
committed by Ramon Roche
parent 81000f4c71
commit cb71aea7fa
10 changed files with 235 additions and 112 deletions
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boards/zeroone/x6/init/rc.board_defaults
+3
View File
@@ -27,3 +27,6 @@ else
fi
safety_button start
# pwm voltage 3.3V/5V switch
pwm_voltage_apply start
boards/zeroone/x6/init/rc.board_sensors
+21 -96
View File
@@ -43,6 +43,7 @@ then
set INA_CONFIGURED yes
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
@@ -55,96 +56,35 @@ then
set INA_CONFIGURED yes
fi
#Start Auterion Power Module selector for zeroone boards
if ver hwbasecmp 009 010 011
if ver hwtypecmp ZeroOneX6000
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
# Internal SPI bus icm45686 with SPIX
icm45686 -b 2 -s -R 6 start //X6 & X6 air
bmi088 -A -R 4 -s start //X6
bmi088 -G -R 4 -s start //X6
# Internal SPI bus icm45686 with SPIX
icm45686 -b 1 -s -R 8 start //X6 & X6 air
fi
# Keep nesting shallow
if ver hwtypecmp V6X006 V6X008
if ver hwtypecmp ZeroOneX6001 //X6 PRO
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 IIM42653 with SPIX
iim42653 -b 2 -s -R 6 start
# 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
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
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
# Internal SPI bus IIM42653 with SPIX
iim42653 -b 1 -s -R 8 start
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
@@ -156,24 +96,9 @@ ist8310 start -I -a 0x0E -R 12
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