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Support v5X build variants

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This adds support for the different implementation variants of the v5X standard.
This commit is contained in:
Lorenz Meier
2021-02-13 23:23:12 +01:00
parent 2be482c5ae
commit 4c9b2c65b5
4 changed files with 78 additions and 13 deletions
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56
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@@ -8,22 +8,52 @@ board_adc start
ina226 -X -b 1 -t 1 -k start
ina226 -X -b 2 -t 2 -k start
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
then
#SKYNODE base fmu board orientation
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 10 -s start
# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
# Internal magnetometer on I2c
bmm150 -I start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 8 -s start
# Internal magnetometer on I2c
bmm150 -I -R 6 start
else
#FMUv5Xbase board orientation
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 10 -s start
# Internal magnetometer on I2c
bmm150 -I start
fi
# Possible internal Baro
bmp388 -I -a 0x77 start
bmp388 -I start
# Baro on I2C3
ms5611 -X start
# Disable startup of internal baros if param is set to false
if param compare SENS_INT_BARO_EN 1
then
bmp388 -I -a 0x77 start
if ver hwtypecmp V5X91 V5Xa1
then
bmp388 -X -b 2 start
else
bmp388 -I start
fi
fi

8
boards/px4/fmu-v5x/nuttx-config/scripts/script.ld
View File

@@ -127,6 +127,14 @@ SECTIONS
_einit = ABSOLUTE(.);
} > FLASH_AXIM
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param*))
__param_end = ABSOLUTE(.);
} > FLASH_AXIM
.ARM.extab : {
*(.ARM.extab*)

1
boards/px4/fmu-v5x/src/board_config.h
View File

@@ -434,6 +434,7 @@
#define BOARD_NUM_IO_TIMERS 5
#define PX4_I2C_BUS_MTD 4,5
__BEGIN_DECLS

26
boards/px4/fmu-v5x/src/init.cpp
View File

@@ -286,5 +286,31 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_configure();
int hw_version = board_get_hw_version();
if (hw_version == 0x9 || hw_version == 0xa) {
static MCP23009 mcp23009{3, 0x25};
// No USB
if (hw_version == 0x9) {
// < P8
ret = mcp23009.init(0xf0, 0xf0, 0x0f);
// >= P8
//ret = mcp23009.init(0xf1, 0xf0, 0x0f);
}
if (hw_version == 0xa) {
// < P6
//ret = mcp23009.init(0xf0, 0xf0, 0x0f);
// >= P6
ret = mcp23009.init(0xf1, 0xf0, 0x0f);
}
if (ret != OK) {
led_on(LED_RED);
return ret;
}
}
return OK;
}