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px4_fmu-v5X:Added Holybro mini base board

main
David Sidrane 3 years ago committed by Daniel Agar
parent
479b52fd02
commit
9353c15e8a
5 changed files with 181 additions and 22 deletions
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  1. 17
      boards/px4/fmu-v5x/init/rc.board_sensors
  2. 9
      boards/px4/fmu-v5x/src/board_config.h
  3. 21
      boards/px4/fmu-v5x/src/can.c
  4. 48
      boards/px4/fmu-v5x/src/manifest.c
  5. 76
      boards/px4/fmu-v5x/src/spi.cpp

17
boards/px4/fmu-v5x/init/rc.board_sensors
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@ -3,6 +3,12 @@ @@ -3,6 +3,12 @@
# PX4 FMUv5X specific board sensors init
#------------------------------------------------------------------------------
set HAVE_PM2 yes
if ver hwtypecmp V5X50 V5X51 V5X52
then
set HAVE_PM2 no
fi
if param compare -s ADC_ADS1115_EN 1
then
ads1115 start -X
@ -15,21 +21,31 @@ if param compare SENS_EN_INA226 1 @@ -15,21 +21,31 @@ if param compare SENS_EN_INA226 1
then
# Start Digital power monitors
ina226 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina226 -X -b 2 -t 2 -k start
fi
fi
if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
ina228 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina228 -X -b 2 -t 2 -k start
fi
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
ina238 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina238 -X -b 2 -t 2 -k start
fi
fi
if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
@ -96,3 +112,4 @@ then @@ -96,3 +112,4 @@ then
fi
fi
unset HAVE_PM2

9
boards/px4/fmu-v5x/src/board_config.h
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2022 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
@ -185,12 +185,15 @@ @@ -185,12 +185,15 @@
#define HW_INFO_INIT {'V','5','X','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
// Base FMUM
#define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
#define V5X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V5X01 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1
#define V5X02 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2
#define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
#define V5X90 HW_VER_REV(0x9,0x0) // NO USB, Rev 0
#define V5X91 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1
#define V5X92 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2
@ -198,6 +201,8 @@ @@ -198,6 +201,8 @@
#define V5Xa1 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5Xa2 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
#define UAVCAN_NUM_IFACES_RUNTIME 1
/* HEATER
* PWM in future
*/

21
boards/px4/fmu-v5x/src/can.c
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@ -37,7 +37,26 @@ @@ -37,7 +37,26 @@
* Board-specific CAN functions.
*/
#ifdef CONFIG_CAN
#if !defined(CONFIG_CAN)
#include <stdint.h>
#include "board_config.h"
__EXPORT
uint16_t board_get_can_interfaces(void)
{
uint16_t enabled_interfaces = 0x3;
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
enabled_interfaces &= ~(1 << 1);
}
return enabled_interfaces;
}
#else
#include <errno.h>
#include <debug.h>

48
boards/px4/fmu-v5x/src/manifest.c
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@ -75,24 +75,61 @@ static const px4_hw_mft_item_t device_unsupported = {0, 0, 0}; @@ -75,24 +75,61 @@ static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
// declared in board_common.h
static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
{
// 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_v0550[] = {
{
// 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 = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
};
static const px4_hw_mft_item_t hw_mft_list_v0510[] = {
{
// 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,
@ -101,15 +138,23 @@ static const px4_hw_mft_item_t hw_mft_list_v0510[] = { @@ -101,15 +138,23 @@ static const px4_hw_mft_item_t hw_mft_list_v0510[] = {
static const px4_hw_mft_item_t hw_mft_list_v0509[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
@ -118,6 +163,9 @@ static px4_hw_mft_list_entry_t mft_lists[] = { @@ -118,6 +163,9 @@ 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
{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
{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
{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2

76
boards/px4/fmu-v5x/src/spi.cpp
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@ -36,7 +36,7 @@ @@ -36,7 +36,7 @@
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_REV(0, 0), {
initSPIHWVersion(V5X00, {
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}),
@ -60,7 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION @@ -60,7 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(HW_VER_REV(0, 1), {
initSPIHWVersion(V5X01, {
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}),
@ -84,7 +84,77 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION @@ -84,7 +84,77 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(HW_VER_REV(0, 2), {
initSPIHWVersion(V5X02, {
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_IMU_DEVTYPE_ICM20649, 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}),
}),
}),
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, {
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(V5X52, {
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}),

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