[AUTv6x] Detect and reset overcurrent conditions

boards/auterion/fmu-v6x/src/CMakeLists.txt

@@ -57,6 +57,7 @@ else()
 		sdio.c
 		spi.cpp
 		timer_config.cpp
+		system.cpp
 	)
 	add_dependencies(drivers_board arch_board_hw_info)
 

boards/auterion/fmu-v6x/src/board_config.h

@@ -265,6 +265,8 @@
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
 /* MCP23009 GPIO expander */
+#define BOARD_GPIO_VDD_5V_COMP_nEN             "/dev/gpio0"
+// #define BOARD_GPIO_VDD_5V_CAN1_GPS1_nEN     "/dev/gpio1" // connected to GPIO_VDD_5V_PERIPH_nEN instead
 #define BOARD_GPIO_VDD_5V_COMP_VALID           "/dev/gpio4"
 #define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID      "/dev/gpio5"
 
@@ -503,6 +505,16 @@ __BEGIN_DECLS
 
 int stm32_sdio_initialize(void);
 
+/****************************************************************************
+ * Name: skynode_system_initialize
+ *
+ * Description:
+ *   Initialize the system for the Skynode board
+ *
+ ****************************************************************************/
+
+int skynode_system_initialize(void);
+
 /****************************************************************************************************
  * Name: stm32_spiinitialize
  *

boards/auterion/fmu-v6x/src/init.cpp

@@ -289,6 +289,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		return ret;
 	}
 
+	skynode_system_initialize();
+
 #endif /* !defined(BOOTLOADER) */
 
 	return OK;

boards/auterion/fmu-v6x/src/system.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "board_config.h"
+#include <nuttx/wqueue.h>
+#include <px4_platform_common/log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/system_power.h>
+#include <stdint.h>
+
+#define MODULE_NAME "system"
+static constexpr uint16_t SYSTEM_CHECK_INTERVAL_MS {500};
+static constexpr uint16_t OVERCURRENT_SLEEP_MS{10};
+
+static struct work_s system_work;
+uORB::Subscription _system_power_sub{ORB_ID(system_power)};
+
+static void system_check(void *arg)
+{
+	system_power_s system_power;
+
+	if (_system_power_sub.update(&system_power)) {
+		if (system_power.periph_5v_oc || !system_power.can1_gps1_5v_valid) {
+			if (system_power.periph_5v_oc) { PX4_ERR("5V Periph overcurrent"); }
+
+			if (!system_power.can1_gps1_5v_valid) { PX4_ERR("5V CAN1 GPS1 overcurrent"); }
+
+			// can1_gps1 and periph share the same efuse enable line
+			VDD_5V_PERIPH_EN(false);
+			system_usleep(OVERCURRENT_SLEEP_MS * 1000ul);
+			VDD_5V_PERIPH_EN(true);
+		}
+
+		if (system_power.hipower_5v_oc) {
+			PX4_ERR("5V HiPower overcurrent");
+			VDD_5V_HIPOWER_EN(false);
+			system_usleep(OVERCURRENT_SLEEP_MS * 1000ul);
+			VDD_5V_HIPOWER_EN(true);
+		}
+	}
+
+	work_queue(LPWORK, &system_work, system_check, NULL, USEC2TICK(SYSTEM_CHECK_INTERVAL_MS * 1000ul));
+}
+
+int skynode_system_initialize(void)
+{
+	system_check(nullptr);
+	return 0;
+}