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AP_BoardConfig: added board detection for FMUv6

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support Holybro-6X and CUAV-6X for now, using IMU signatures
This commit is contained in:
Andrew Tridgell 2022-08-02 08:12:08 +10:00 committed by Randy Mackay
parent b09f7d1344
commit a6159604e5
2 changed files with 9 additions and 4 deletions
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3
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -96,6 +96,8 @@ public:
VRX_BOARD_CORE10 = 36,
VRX_BOARD_BRAIN54 = 38,
PX4_BOARD_FMUV6 = 39,
FMUV6_BOARD_HOLYBRO_6X = 40,
FMUV6_BOARD_CUAV_6X = 41,
PX4_BOARD_OLDDRIVERS = 100,
};
@ -249,6 +251,7 @@ private:
bool spi_check_register_inv2(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
void board_autodetect(void);
void detect_fmuv6_variant(void);
bool check_ms5611(const char* devname);
#endif // AP_FEATURE_BOARD_DETECT

10
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -134,6 +134,8 @@ void AP_BoardConfig::board_setup_drivers(void)
case PX4_BOARD_PIXHAWK_PRO:
case PX4_BOARD_PCNC1:
case PX4_BOARD_MINDPXV2:
case FMUV6_BOARD_HOLYBRO_6X:
case FMUV6_BOARD_CUAV_6X:
break;
default:
config_error("Unknown board type");
@ -400,8 +402,7 @@ void AP_BoardConfig::board_autodetect(void)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
hal.console->printf("Detected FMUv5\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
hal.console->printf("Detected FMUv6\n");
detect_fmuv6_variant();
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51)
state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
hal.console->printf("Detected VR Brain 5.1\n");
@ -522,6 +523,7 @@ void AP_BoardConfig::board_setup()
#endif
}
#ifdef HAL_CHIBIOS_ARCH_FMUV6
#define BMI088REG_CHIPID 0x00
@ -537,12 +539,12 @@ void AP_BoardConfig::detect_fmuv6_variant()
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
DEV_PRINTF("Detected Holybro 6X\n");
hal.console->printf("Detected Holybro 6X\n");
} else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
hal.console->printf("Detected CUAV 6X\n");
}
}