forked from Archive/PX4-Autopilot
px4_fmu-v6xrt:Use BOARD_HAS_HW_SPLIT_VERSIONING & common PAB manifest
This commit is contained in:
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150a161efb
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4b8b30914a
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@ -4,7 +4,7 @@
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#------------------------------------------------------------------------------
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# if skynode base board is detected start Mavlink on Telem2
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if ver hwtypecmp V6XRT009000 V6XRT010000
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if ver hwbasecmp 009 010
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then
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mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
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@ -1,6 +1,6 @@
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#!/bin/sh
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#
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# PX4 FMUv6X-RT specific board sensors init
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# PX4 FMUv6xrt specific board sensors init
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#------------------------------------------------------------------------------
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#
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# UART mapping on PX4 FMU-V6XRT:
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@ -18,7 +18,7 @@
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set HAVE_PM2 yes
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if ver hwtypecmp V6XRT005000
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if mft query -q -k MFT -s MFT_PM2 -v 0
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then
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set HAVE_PM2 no
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fi
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@ -66,7 +66,6 @@ else()
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i2c.cpp
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init.c
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led.c
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manifest.c
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mtd.cpp
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sdhc.c
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spi.cpp
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@ -288,7 +288,7 @@
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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_VERSIONING // migrate to Split
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#define BOARD_HAS_HW_SPLIT_VERSIONING
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#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
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@ -297,11 +297,9 @@
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#define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22)
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#define HW_INFO_INIT_PREFIX "V6XRT"
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#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0 on HB Base and T1 Base
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// Base/FMUM
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#define V6XRT_00 HW_VER_REV(0x0,0x0) // First Release
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#define V6XRT_30 HW_VER_REV(0x3,0x0) // T1 Base w/o PX4IO
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#define V6XRT_50 HW_VER_REV(0x5,0x0) // HB Mini Rev 0
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#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
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#define V6XRT_0 HW_FMUM_ID(0x0) // First Release
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#define V6XRT_1 HW_FMUM_ID(0x1) // Next Release
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#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
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@ -1,208 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018, 2021, 2024 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file manifest.c
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*
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* This module supplies the interface to the manifest of hardware that is
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* optional and dependent on the HW REV and HW VER IDs
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*
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* The manifest allows the system to know whether a hardware option
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* say for example the PX4IO is an no-pop option vs it is broken.
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*
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <board_config.h>
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#include <inttypes.h>
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#include <stdbool.h>
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#include <syslog.h>
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#include "systemlib/px4_macros.h"
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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typedef struct {
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uint32_t hw_ver_rev; /* the version and revision */
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const px4_hw_mft_item_t *mft; /* The first entry */
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uint32_t entries; /* the lenght of the list */
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} px4_hw_mft_list_entry_t;
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typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
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#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
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static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
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// List of components on a specific board configuration
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// The index of those components is given by the enum (px4_hw_mft_item_id_t)
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// declared in board_common.h
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static const px4_hw_mft_item_t hw_mft_list_V00[] = { // HB Base
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{
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// PX4_MFT_PX4IO
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN3
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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};
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static const px4_hw_mft_item_t hw_mft_list_V30[] = { // NXP T1 Base
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{
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// PX4_MFT_PX4IO
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN3
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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};
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static const px4_hw_mft_item_t hw_mft_list_V50[] = { // HB Mini
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{
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// PX4_MFT_PX4IO
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_unknown,
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},
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{
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// PX4_MFT_USB
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.present = 1,
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.mandatory = 1,
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.connection = px4_hw_con_onboard,
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},
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{
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// PX4_MFT_CAN2
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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{
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// PX4_MFT_CAN3
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.present = 0,
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.mandatory = 0,
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.connection = px4_hw_con_unknown,
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},
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};
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static px4_hw_mft_list_entry_t mft_lists[] = {
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{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)}, // HB Base
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{V6XRT_30, hw_mft_list_V30, arraySize(hw_mft_list_V30)}, // NXP T1 Base
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{V6XRT_50, hw_mft_list_V50, arraySize(hw_mft_list_V50)}, // HB Mini
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};
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/************************************************************************************
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* Name: board_query_manifest
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*
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* Description:
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* Optional returns manifest item.
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*
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* Input Parameters:
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* manifest_id - the ID for the manifest item to retrieve
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*
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* Returned Value:
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* 0 - item is not in manifest => assume legacy operations
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* pointer to a manifest item
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*
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************************************************************************************/
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__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
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{
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static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
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if (boards_manifest == px4_hw_mft_list_uninitialized) {
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uint32_t ver_rev = board_get_hw_version() << 16;
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ver_rev |= board_get_hw_revision();
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for (unsigned i = 0; i < arraySize(mft_lists); i++) {
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if (mft_lists[i].hw_ver_rev == ver_rev) {
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boards_manifest = &mft_lists[i];
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break;
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}
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}
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if (boards_manifest == px4_hw_mft_list_uninitialized) {
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syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
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}
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}
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px4_hw_mft_item rv = &device_unsupported;
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if (boards_manifest != px4_hw_mft_list_uninitialized &&
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id < boards_manifest->entries) {
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rv = &boards_manifest->mft[id];
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}
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return rv;
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}
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@ -31,6 +31,9 @@
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*
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****************************************************************************/
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#include <nuttx/config.h>
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#include <board_config.h>
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#include <nuttx/spi/spi.h>
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#include <px4_platform_common/px4_manifest.h>
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.pmft = (void *) &board_mtd_config,
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};
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static const px4_mft_entry_s mft_mft = {
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.type = MFT,
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.pmft = (void *) system_query_manifest,
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};
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static const px4_mft_s mft = {
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.nmft = 1,
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.nmft = 2,
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.mfts = {
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&mtd_mft
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&mtd_mft,
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&mft_mft,
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}
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};
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#include <nuttx/spi/spi.h>
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constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
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initSPIHWVersion(V6XRT_00, {
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initSPIFmumID(V6XRT_0, {
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initSPIBus(SPI::Bus::LPSPI1, {
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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 */
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}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01
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}),
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}),
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initSPIHWVersion(V6XRT_30, {
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initSPIBus(SPI::Bus::LPSPI1, {
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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 */
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}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01
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initSPIBus(SPI::Bus::LPSPI2, {
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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 */
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}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22 GPIO1_IO22
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initSPIBus(SPI::Bus::LPSPI3, {
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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 */
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initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}), /* GPIO_EMC_B2_05 GPIO2_IO15 */
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}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14 GPIO1_IO14
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initSPIBusExternal(SPI::Bus::LPSPI6, {
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initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
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initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/
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}),
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}),
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initSPIHWVersion(V6XRT_50, {
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initSPIFmumID(V6XRT_1, {
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initSPIBus(SPI::Bus::LPSPI1, {
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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 */
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}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01
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