forked from Archive/PX4-Autopilot
px4_fmu-v6xrt:Support PX4 VxX Mini baseboard
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@ -18,7 +18,7 @@
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set HAVE_PM2 yes
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if ver hwtypecmp V5X005000 V5X005001 V5X005002
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if ver hwtypecmp V6XRT005000
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then
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set HAVE_PM2 no
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fi
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@ -297,6 +297,7 @@
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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 V6XRT_00 HW_VER_REV(0x0,0x0) // First Release
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#define V6XRT_50 HW_VER_REV(0x5,0x0) // HB Mini Rev 0
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#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
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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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@ -46,12 +46,14 @@
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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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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#include "px4_log.h"
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/****************************************************************************
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* Pre-Processor Definitions
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@ -98,8 +100,30 @@ static const px4_hw_mft_item_t hw_mft_list_V00[] = {
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},
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};
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static const px4_hw_mft_item_t hw_mft_list_V50[] = {
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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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static px4_hw_mft_list_entry_t mft_lists[] = {
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{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
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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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@ -122,7 +146,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
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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() << 8;
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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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@ -133,7 +157,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
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}
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if (boards_manifest == px4_hw_mft_list_uninitialized) {
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PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
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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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