px4_fmu-v6x:Support RC03 HW

4 years ago · 455f762516
4 changed files with 12 additions and 4 deletions
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@ -23,7 +23,13 @@ bmm150 -I start
				@@ -23,7 +23,13 @@ bmm150 -I start

 # Possible internal Baro
 bmp388 -I -a 0x77 start
-bmp388 -I start
+
+if ver hwtypecmp V6X00
+then
+	bmp388 -I start
+else
+	bmp388 -X start
+fi

 # Baro on I2C3
 ms5611 -X start
--- a/boards/px4/fmu-v6x/src/board_config.h
+++ b/boards/px4/fmu-v6x/src/board_config.h
@ -135,7 +135,7 @@
				@@ -135,7 +135,7 @@
 */
 #define PX4_I2C_OBDEV_SE050         0x48

-#define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
+#define GPIO_I2C2_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)

 /*
 * ADC channels
--- a/boards/px4/fmu-v6x/src/i2c.cpp
+++ b/boards/px4/fmu-v6x/src/i2c.cpp
@ -36,6 +36,6 @@
				@@ -36,6 +36,6 @@
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
 	initI2CBusExternal(2),
-	initI2CBusInternal(3),
-	initI2CBusExternal(4),
+	initI2CBusExternal(3),
+	initI2CBusInternal(4),
 };
--- a/boards/px4/fmu-v6x/src/manifest.c
+++ b/boards/px4/fmu-v6x/src/manifest.c
@ -80,7 +80,9 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
				@@ -80,7 +80,9 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
+//  ver_rev
 	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{0x0001, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
 };

 /************************************************************************************