diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults index 87451b0c52..52d098101d 100644 --- a/boards/ark/fmu-v6x/init/rc.board_defaults +++ b/boards/ark/fmu-v6x/init/rc.board_defaults @@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0 #param set-default SENS_IMU_TEMP_I 0.025 #param set-default SENS_IMU_TEMP_P 1.0 -if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000 +if ver hwtypecmp ARKV6X000 then param set-default SENS_TEMP_ID 2818058 fi -if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001 +if ver hwtypecmp ARKV6X001 then param set-default SENS_TEMP_ID 3014666 fi diff --git a/boards/ark/fmu-v6x/init/rc.board_sensors b/boards/ark/fmu-v6x/init/rc.board_sensors index 20f0c228d5..a3e32486df 100644 --- a/boards/ark/fmu-v6x/init/rc.board_sensors +++ b/boards/ark/fmu-v6x/init/rc.board_sensors @@ -5,7 +5,7 @@ set HAVE_PM2 yes set HAVE_PM3 yes -if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004 +if mft query -q -k MFT -s MFT_PM2 -v 0 then set HAVE_PM2 no set HAVE_PM3 no @@ -66,7 +66,7 @@ then fi fi -if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000 +if ver hwtypecmp ARKV6X000 then # Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz iim42652 -R 3 -s -b 1 -C 32051 start @@ -78,7 +78,7 @@ then icm42688p -R 6 -s -b 3 -C 32051 start fi -if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001 +if ver hwtypecmp ARKV6X001 then # Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz #iim42653 -R 3 -s -b 1 -C 32051 start diff --git a/boards/ark/fmu-v6x/src/CMakeLists.txt b/boards/ark/fmu-v6x/src/CMakeLists.txt index 3135751c66..78b8222f19 100644 --- a/boards/ark/fmu-v6x/src/CMakeLists.txt +++ b/boards/ark/fmu-v6x/src/CMakeLists.txt @@ -55,7 +55,6 @@ else() init.c led.c mtd.cpp - manifest.c sdio.c spi.cpp spix_sync.c diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h index 9d940d59d9..04b84631c7 100644 --- a/boards/ark/fmu-v6x/src/board_config.h +++ b/boards/ark/fmu-v6x/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2016-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2016-2024 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 @@ -204,25 +204,17 @@ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* HW Version and Revision drive signals Default to 1 to detect */ -#define BOARD_HAS_HW_VERSIONING // migrate to Split +#define BOARD_HAS_HW_SPLIT_VERSIONING #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define HW_INFO_INIT_PREFIX "ARKV6X" -#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1 +#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Base/FMUM -#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Sensor Set Rev 0 -#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, Sensor Set Rev 1 -//#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3 -//#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4 -#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Sensor Set Rev 0 -#define ARKV6X11 HW_VER_REV(0x1,0x1) // NO PX4IO, Sensor Set Rev 1 -#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3 -#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4 -#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5 -#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped +#define ARKV6X_0 HW_FMUM_ID(0x0) // ARKV6X, Sensor Set Rev 0 +#define ARKV6X_1 HW_FMUM_ID(0x1) // ARKV6X, Sensor Set Rev 1 #define UAVCAN_NUM_IFACES_RUNTIME 1 diff --git a/boards/ark/fmu-v6x/src/manifest.c b/boards/ark/fmu-v6x/src/manifest.c deleted file mode 100644 index f4e012bfb0..0000000000 --- a/boards/ark/fmu-v6x/src/manifest.c +++ /dev/null @@ -1,216 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2022 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 - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file manifest.c - * - * This module supplies the interface to the manifest of hardware that is - * optional and dependent on the HW REV and HW VER IDs - * - * The manifest allows the system to know whether a hardware option - * say for example the PX4IO is an no-pop option vs it is broken. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include - -#include "systemlib/px4_macros.h" - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -typedef struct { - uint32_t hw_ver_rev; /* the version and revision */ - const px4_hw_mft_item_t *mft; /* The first entry */ - uint32_t entries; /* the lenght of the list */ -} px4_hw_mft_list_entry_t; - -typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry; -#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1 - -static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; - -// List of components on a specific board configuration -// The index of those components is given by the enum (px4_hw_mft_item_id_t) -// declared in board_common.h -static const px4_hw_mft_item_t hw_mft_list_v0600[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0610[] = { - { - // PX4_MFT_PX4IO - .present = 0, - .mandatory = 0, - .connection = px4_hw_con_unknown, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0640[] = { - { - // PX4_MFT_PX4IO - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_USB - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, - { - // PX4_MFT_CAN2 - .present = 1, - .mandatory = 1, - .connection = px4_hw_con_onboard, - }, -}; - -static const px4_hw_mft_item_t hw_mft_list_v0650[] = { - { - // 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[] = { -// ver_rev - {ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 0 - {ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 1 - {ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 0 - {ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 1 - {ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3 - {ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4 - {ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5 - {ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped -}; - -/************************************************************************************ - * Name: board_query_manifest - * - * Description: - * Optional returns manifest item. - * - * Input Parameters: - * manifest_id - the ID for the manifest item to retrieve - * - * Returned Value: - * 0 - item is not in manifest => assume legacy operations - * pointer to a manifest item - * - ************************************************************************************/ - -__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() << 16; - ver_rev |= board_get_hw_revision(); - - for (unsigned i = 0; i < arraySize(mft_lists); i++) { - if (mft_lists[i].hw_ver_rev == ver_rev) { - boards_manifest = &mft_lists[i]; - break; - } - } - - if (boards_manifest == px4_hw_mft_list_uninitialized) { - syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev); - } - } - - px4_hw_mft_item rv = &device_unsupported; - - if (boards_manifest != px4_hw_mft_list_uninitialized && - id < boards_manifest->entries) { - rv = &boards_manifest->mft[id]; - } - - return rv; -} diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp index 80d41e0b78..6e6004ad30 100644 --- a/boards/ark/fmu-v6x/src/mtd.cpp +++ b/boards/ark/fmu-v6x/src/mtd.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * Copyright (C) 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 @@ -31,6 +31,9 @@ * ****************************************************************************/ +#include +#include + #include #include // KiB BS nB @@ -86,10 +89,16 @@ static const px4_mft_entry_s mtd_mft = { .pmft = (void *) &board_mtd_config, }; +static const px4_mft_entry_s mft_mft = { + .type = MFT, + .pmft = (void *) system_query_manifest, +}; + static const px4_mft_s mft = { - .nmft = 1, + .nmft = 2, .mfts = { - &mtd_mft + &mtd_mft, + &mft_mft, } }; diff --git a/boards/ark/fmu-v6x/src/spi.cpp b/boards/ark/fmu-v6x/src/spi.cpp index f83a5a91cd..fc60153efe 100644 --- a/boards/ark/fmu-v6x/src/spi.cpp +++ b/boards/ark/fmu-v6x/src/spi.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * Copyright (C) 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 @@ -36,7 +36,7 @@ #include constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { - initSPIHWVersion(ARKV6X00, { + initSPIFmumID(ARKV6X_0, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), @@ -59,145 +59,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION }), }), - initSPIHWVersion(ARKV6X01, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X10, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X11, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X40, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X41, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X50, { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), - }, {GPIO::PortI, GPIO::Pin11}), - initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), - }, {GPIO::PortF, GPIO::Pin4}), - initSPIBus(SPI::Bus::SPI3, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}), - }, {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}), - }), - }), - - initSPIHWVersion(ARKV6X51, { + initSPIFmumID(ARKV6X_1, { initSPIBus(SPI::Bus::SPI1, { initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}),