From c07edd1d9aae4ef7586ecb61b959ca8bf4b64e26 Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 31 Jan 2024 06:01:05 -0800
Subject: [PATCH] px4_fmu-v6x:Add Sensor set 8

---
 boards/px4/fmu-v6x/init/rc.board_sensors | 21 +++++++++++++++------
 boards/px4/fmu-v6x/src/board_config.h    |  2 +-
 boards/px4/fmu-v6x/src/spi.cpp           | 23 +++++++++++++++++++++++
 3 files changed, 39 insertions(+), 7 deletions(-)

diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 854fe7e07f..78e6d4b2b9 100644
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -70,12 +70,21 @@ else
 	fi
 fi
 
-if ver hwtypecmp V6X006
+# Keep nesting shallow
+if ver hwtypecmp V6X006 V6X008
 then
-	# Internal SPI bus ICM45686
-	icm45686 -s -R 10 start
-	iim42652 -s -R 6 start
-	adis16470 -s -R 0 start
+	if ver hwtypecmp V6X006
+	then
+		# Internal SPI bus ICM45686
+		icm45686 -s -R 10 start
+		iim42652 -s -R 6 start
+		adis16470 -s -R 0 start
+	else
+		# Internal SPI bus 3x ICM45686
+		icm45686 -b 3 -s -R 0 start
+		icm45686 -b 2 -s -R 0 start
+		icm45686 -b 1 -s -R 10 start
+	fi
 else
 	if ver hwtypecmp V6X004
 	then
@@ -142,7 +151,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 if param compare SENS_INT_BARO_EN 1
 then
-	if ver hwtypecmp V6X001 V6X006
+	if ver hwtypecmp V6X001 V6X006 V6X008
 	then
 		icp201xx -I -a 0x64 start
 	else
diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h
index 6d79c1b151..7cad5497ed 100644
--- a/boards/px4/fmu-v6x/src/board_config.h
+++ b/boards/px4/fmu-v6x/src/board_config.h
@@ -215,7 +215,7 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "V6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
 //                 Base/FMUM
 #define V6X_0     HW_FMUM_ID(0x0)   // FMUV6X, Auterion,HB  Sensor Set Rev 0
 #define V6X_1     HW_FMUM_ID(0x1)   // FMUV6X, CUAV Sensor Set Rev 1
diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp
index c015072083..8c633dd78f 100644
--- a/boards/px4/fmu-v6x/src/spi.cpp
+++ b/boards/px4/fmu-v6x/src/spi.cpp
@@ -154,6 +154,29 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
+	initSPIFmumID(V6X_8, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
 
 	initSPIFmumID(V6X_16, {
 		initSPIBus(SPI::Bus::SPI1, {