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px4_fmu-v6xrt:Use BOARD_HAS_HW_SPLIT_VERSIONING & common PAB manifest

This commit is contained in:
David Sidrane 2024-01-16 07:51:45 -08:00 committed by Daniel Agar
parent 150a161efb
commit 4b8b30914a
7 changed files with 19 additions and 241 deletions
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2
boards/px4/fmu-v6xrt/init/rc.board_mavlink
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@ -4,7 +4,7 @@
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
# if skynode base board is detected start Mavlink on Telem2 # if skynode base board is detected start Mavlink on Telem2
if ver hwtypecmp V6XRT009000 V6XRT010000 if ver hwbasecmp 009 010
then then
mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

4
boards/px4/fmu-v6xrt/init/rc.board_sensors
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@ -1,6 +1,6 @@
#!/bin/sh #!/bin/sh
# #
# PX4 FMUv6X-RT specific board sensors init # PX4 FMUv6xrt specific board sensors init
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
# #
# UART mapping on PX4 FMU-V6XRT: # UART mapping on PX4 FMU-V6XRT:
@ -18,7 +18,7 @@
set HAVE_PM2 yes set HAVE_PM2 yes
if ver hwtypecmp V6XRT005000 if mft query -q -k MFT -s MFT_PM2 -v 0
then then
set HAVE_PM2 no set HAVE_PM2 no
fi fi

1
boards/px4/fmu-v6xrt/src/CMakeLists.txt
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@ -66,7 +66,6 @@ else()
i2c.cpp i2c.cpp
init.c init.c
led.c led.c
manifest.c
mtd.cpp mtd.cpp
sdhc.c sdhc.c
spi.cpp spi.cpp

10
boards/px4/fmu-v6xrt/src/board_config.h
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@ -288,7 +288,7 @@
/* HW Version and Revision drive signals Default to 1 to detect */ /* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING // migrate to Split #define BOARD_HAS_HW_SPLIT_VERSIONING
#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST) #define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
@ -297,11 +297,9 @@
#define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22) #define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22)
#define HW_INFO_INIT_PREFIX "V6XRT" #define HW_INFO_INIT_PREFIX "V6XRT"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0 on HB Base and T1 Base #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
// Base/FMUM #define V6XRT_0 HW_FMUM_ID(0x0) // First Release
#define V6XRT_00 HW_VER_REV(0x0,0x0) // First Release #define V6XRT_1 HW_FMUM_ID(0x1) // Next Release
#define V6XRT_30 HW_VER_REV(0x3,0x0) // T1 Base w/o PX4IO
#define V6XRT_50 HW_VER_REV(0x5,0x0) // HB Mini Rev 0
#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */ #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

208
boards/px4/fmu-v6xrt/src/manifest.c
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@ -1,208 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018, 2021, 2024 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.
*
****************************************************************************/
/**
* @file manifest.c
*
* This module supplies the interface to the manifest of hardware that is
* optional and dependent on the HW REV and HW VER IDs
*
* The manifest allows the system to know whether a hardware option
* say for example the PX4IO is an no-pop option vs it is broken.
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <inttypes.h>
#include <stdbool.h>
#include <syslog.h>
#include "systemlib/px4_macros.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
typedef struct {
uint32_t hw_ver_rev; /* the version and revision */
const px4_hw_mft_item_t *mft; /* The first entry */
uint32_t entries; /* the lenght of the list */
} px4_hw_mft_list_entry_t;
typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
// List of components on a specific board configuration
// The index of those components is given by the enum (px4_hw_mft_item_id_t)
// declared in board_common.h
static const px4_hw_mft_item_t hw_mft_list_V00[] = { // HB Base
{
// 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,
},
{
// PX4_MFT_CAN3
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_V30[] = { // NXP T1 Base
{
// 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,
},
{
// PX4_MFT_CAN3
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_V50[] = { // HB Mini
{
// 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,
},
{
// PX4_MFT_CAN3
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)}, // HB Base
{V6XRT_30, hw_mft_list_V30, arraySize(hw_mft_list_V30)}, // NXP T1 Base
{V6XRT_50, hw_mft_list_V50, arraySize(hw_mft_list_V50)}, // HB Mini
};
/************************************************************************************
* Name: board_query_manifest
*
* Description:
* Optional returns manifest item.
*
* Input Parameters:
* manifest_id - the ID for the manifest item to retrieve
*
* Returned Value:
* 0 - item is not in manifest => assume legacy operations
* pointer to a manifest item
*
************************************************************************************/
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
{
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
if (mft_lists[i].hw_ver_rev == ver_rev) {
boards_manifest = &mft_lists[i];
break;
}
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
px4_hw_mft_item rv = &device_unsupported;
if (boards_manifest != px4_hw_mft_list_uninitialized &&
id < boards_manifest->entries) {
rv = &boards_manifest->mft[id];
}
return rv;
}

12
boards/px4/fmu-v6xrt/src/mtd.cpp
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@ -31,6 +31,9 @@
* *
****************************************************************************/ ****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h> #include <px4_platform_common/px4_manifest.h>
@ -120,10 +123,15 @@ static const px4_mft_entry_s mtd_mft = {
.pmft = (void *) &board_mtd_config, .pmft = (void *) &board_mtd_config,
}; };
static const px4_mft_entry_s mft_mft = {
.type = MFT,
.pmft = (void *) system_query_manifest,
};
static const px4_mft_s mft = { static const px4_mft_s mft = {
.nmft = 1, .nmft = 2,
.mfts = { .mfts = {
&mtd_mft &mtd_mft,
&mft_mft,
} }
}; };

23
boards/px4/fmu-v6xrt/src/spi.cpp
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@ -42,7 +42,7 @@
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(V6XRT_00, { initSPIFmumID(V6XRT_0, {
initSPIBus(SPI::Bus::LPSPI1, { initSPIBus(SPI::Bus::LPSPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */ initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01 }, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01
@ -62,26 +62,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}), }),
}), }),
initSPIHWVersion(V6XRT_30, { initSPIFmumID(V6XRT_1, {
initSPIBus(SPI::Bus::LPSPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01
initSPIBus(SPI::Bus::LPSPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22 GPIO1_IO22
initSPIBus(SPI::Bus::LPSPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}), /* GPIO_EMC_B2_05 GPIO2_IO15 */
}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14 GPIO1_IO14
initSPIBusExternal(SPI::Bus::LPSPI6, {
initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/
}),
}),
initSPIHWVersion(V6XRT_50, {
initSPIBus(SPI::Bus::LPSPI1, { initSPIBus(SPI::Bus::LPSPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */ initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01 }, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01