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fmu-v5: add macro definitions for different version revisions

This commit is contained in:
CUAVmengxiao 2022-03-29 13:55:57 +08:00 committed by Daniel Agar
parent f540335998
commit 1870b9245b
3 changed files with 17 additions and 10 deletions
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7
boards/px4/fmu-v5/src/board_config.h
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@ -192,6 +192,13 @@
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V515 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
#define V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0
#define V550 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0
#define V552 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2
#define V560 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0
#define V562 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2
/* CAN Silence
*

14
boards/px4/fmu-v5/src/manifest.c
View File

@ -157,13 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x0105, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1
{0x0500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5
{0x0502, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P
{0x0602, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P
{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{0x0600, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2
{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V515, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1
{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{V550, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5
{V552, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P
{V560, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2
{V562, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P
};
/************************************************************************************

6
boards/px4/fmu-v5/src/spi.cpp
View File

@ -36,7 +36,7 @@
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_REV(0, 0), {
initSPIHWVersion(V500, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@ -61,7 +61,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(HW_VER_REV(5, 2), {
initSPIHWVersion(V552, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@ -86,7 +86,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(HW_VER_REV(6, 2), {
initSPIHWVersion(V562, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),