From f05fccebb73c3e9d9c522970efe00bd0457833e2 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 7 Sep 2022 18:27:39 +1200
Subject: [PATCH] fmu-v5x: disable rev0 for HB Mini and CM4 base

As I understand it, only Rev 1 and Rev 2 were shipped by HB, and likely
to be used for the Mini and CM4.
---
 boards/px4/fmu-v5x/src/board_config.h |  2 +-
 boards/px4/fmu-v5x/src/manifest.c     |  4 +--
 boards/px4/fmu-v5x/src/spi.cpp        | 49 ++++++++++++++-------------
 3 files changed, 28 insertions(+), 27 deletions(-)

diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
index a7e2e40197..28abf341b9 100644
--- a/boards/px4/fmu-v5x/src/board_config.h
+++ b/boards/px4/fmu-v5x/src/board_config.h
@@ -185,7 +185,7 @@
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
 #define HW_INFO_INIT_PREFIX           "V5X"
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
 // Base                   FMUM
 #define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
 #define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,                       Rev 0
diff --git a/boards/px4/fmu-v5x/src/manifest.c b/boards/px4/fmu-v5x/src/manifest.c
index 9a83c2f496..5c86630220 100644
--- a/boards/px4/fmu-v5x/src/manifest.c
+++ b/boards/px4/fmu-v5x/src/manifest.c
@@ -184,10 +184,10 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 1
 	{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 2
 	{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO,               Rev 0
-	{V5X40, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 0
+	//{V5X40, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 0, never shipped
 	{V5X41, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 1
 	{V5X42, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X,  HB CM4 base    Rev 2
-	{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 0
+	//{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 0, never shipped
 	{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 1
 	{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 2
 	{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB,                 Rev 0
diff --git a/boards/px4/fmu-v5x/src/spi.cpp b/boards/px4/fmu-v5x/src/spi.cpp
index b64cfa0218..2b654e9709 100644
--- a/boards/px4/fmu-v5x/src/spi.cpp
+++ b/boards/px4/fmu-v5x/src/spi.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2019-2022 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
@@ -154,29 +154,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X50, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 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::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {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}),
-		}),
-	}),
+	// never shipped
+	//initSPIHWVersion(V5X50, {
+	//	initSPIBus(SPI::Bus::SPI1, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 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::PortH, GPIO::Pin12}),
+	//	}, {GPIO::PortD, GPIO::Pin15}),
+	//	initSPIBus(SPI::Bus::SPI3, {
+	//		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+	//		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
+	//	}, {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(V5X51, {
 		initSPIBus(SPI::Bus::SPI1, {