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px4_fmu-v6xrt:Support PX4 VxX Mini baseboard

This commit is contained in:
David Sidrane 2024-01-02 07:50:51 -08:00 committed by David Sidrane
parent 959cb41e3a
commit 5d7cb99204
3 changed files with 31 additions and 6 deletions
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2
boards/px4/fmu-v6xrt/init/rc.board_sensors
View File

@ -18,7 +18,7 @@
set HAVE_PM2 yes
if ver hwtypecmp V5X005000 V5X005001 V5X005002
if ver hwtypecmp V6XRT005000
then
set HAVE_PM2 no
fi

1
boards/px4/fmu-v6xrt/src/board_config.h
View File

@ -297,6 +297,7 @@
#define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22)
#define HW_INFO_INIT_PREFIX "V6XRT"
#define V6XRT_00 HW_VER_REV(0x0,0x0) // First Release
#define V6XRT_50 HW_VER_REV(0x5,0x0) // HB Mini Rev 0
#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

34
boards/px4/fmu-v6xrt/src/manifest.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
* 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
@ -46,12 +46,14 @@
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/config.h>
#include <board_config.h>
#include <inttypes.h>
#include <stdbool.h>
#include <syslog.h>
#include "systemlib/px4_macros.h"
#include "px4_log.h"
/****************************************************************************
* Pre-Processor Definitions
@ -98,8 +100,30 @@ static const px4_hw_mft_item_t hw_mft_list_V00[] = {
},
};
static const px4_hw_mft_item_t hw_mft_list_V50[] = {
{
// 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,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
{V6XRT_50, hw_mft_list_V50, arraySize(hw_mft_list_V50)}, // HB Mini
};
/************************************************************************************
@ -122,7 +146,7 @@ __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() << 8;
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@ -133,7 +157,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}