fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix ARKV6X control allocator with base boards

Browse Source
This commit is contained in:
alexklimaj 2022-09-27 19:46:23 -06:00 committed by Daniel Agar
parent 1ea4fe9b7b
commit d22d33e936
4 changed files with 67 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
boards/ark/fmu-v6x/src/board_config.h
View File

@ -218,8 +218,18 @@
#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
#define V6X40 HW_VER_REV(0x4,0x0) // FMUV6X, HB CM4 base Rev 0
#define V6X41 HW_VER_REV(0x4,0x1) // FMUV6X, BMI388 I2C2 HB CM4 base Rev 1
#define V6X43 HW_VER_REV(0x4,0x3) // FMUV6X, Sensor Set HB CM4 base Rev 3
#define V6X44 HW_VER_REV(0x4,0x4) // FMUV6X, Sensor Set HB CM4 base Rev 4
#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0
#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4
/* HEATER

56
boards/ark/fmu-v6x/src/manifest.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -75,6 +75,19 @@ static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
// declared in board_common.h
static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
@ -83,25 +96,64 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
{
// PX4_MFT_PX4IO
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_unknown,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{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
{V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // HB CM4 base
{V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 HB CM4 base
{V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
{V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini
{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini
{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{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
};
/************************************************************************************

6
boards/ark/fmu-v6x/src/mtd.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
* Copyright (C) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -42,10 +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 = {

5
boards/ark/fmu-v6x/src/spi.cpp
View File

@ -61,14 +61,13 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIHWVersion(HW_VER_REV(0, 3), {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, 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_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices