Add ARK PAB Carrier

Add ARK_FMU_V6X to RCS netman

Remove arkv6x rc single wire

Fix arkv6x mtd

arkv6x bootloader init all pins to prevent power cycling peripherals on boot

arkv6x don't power cycle sd card on boot

arkv6x add UART4 Telem 4

ROMFS/px4fmu_common/init.d/rcS

@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
 	then
 		netman update -i eth0
 	fi

boards/ark/fmu-v6x/default.px4board

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -80,6 +81,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -16,6 +16,11 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
+if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+then
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
+fi
 
 safety_button start

boards/ark/fmu-v6x/src/board_config.h

@@ -325,7 +325,6 @@
 /* RC Serial port */
 
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1

boards/ark/fmu-v6x/src/bootloader_main.c

@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
@@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {}
 
 __EXPORT void stm32_boardinitialize(void)
 {
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
+
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }

boards/ark/fmu-v6x/src/init.c

@@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 
+	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
@@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
+	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -209,7 +211,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);

boards/ark/fmu-v6x/src/mtd.cpp

@@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.bus_type = px4_mft_device_t::I2C,
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
-	.bus_type =  px4_mft_device_t::I2C,
-	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
-};
-
 
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
@@ -84,34 +79,11 @@ static const px4_mtd_entry_t base_eeprom = {
 	},
 };
 
-static const px4_mtd_entry_t imu_eeprom = {
-	.device = &i2c4,
-	.npart = 3,
-	.partd = {
-		{
-			.type = MTD_CALDATA,
-			.path = "/fs/mtd_caldata",
-			.nblocks = 240
-		},
-		{
-			.type = MTD_MFT_REV,
-			.path = "/fs/mtd_mft_rev",
-			.nblocks = 8
-		},
-		{
-			.type = MTD_ID,
-			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
-		}
-	},
-};
-
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 3,
+	.nconfigs   = 2,
 	.entries = {
 		&fmum_fram,
 		&base_eeprom,
-		&imu_eeprom
 	}
 };