fmu-v5: add macro definitions for different version revisions

PX4 · Mar 29, 2022 · 1870b92 · 1870b92
1 parent f540335
commit 1870b92
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Showing 3 changed files with 17 additions and 10 deletions.
diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
@@ -192,6 +192,13 @@
 #define HW_INFO_INIT_VER     2
 #define HW_INFO_INIT_REV     3
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
+#define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5
+#define V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3,  Rev 0
+#define V550   HW_VER_REV(0x5,0x0) // CUAV V5+,                 Rev 0
+#define V552   HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P,       Rev 2
+#define V560   HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2,   Rev 0
+#define V562   HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P,    Rev 2
 
 /* CAN Silence
  *

diff --git a/boards/px4/fmu-v5/src/manifest.c b/boards/px4/fmu-v5/src/manifest.c
@@ -157,13 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0105, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
-	{0x0500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
-	{0x0502, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:2 V:5 ICM42688P
-	{0x0602, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5nano R:2 V:6 ICM42688P
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
-	{0x0600, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{V515, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
+	{V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{V550, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
+	{V552, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:2 V:5 ICM42688P
+	{V560, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V562, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5nano R:2 V:6 ICM42688P
 };
 
 /************************************************************************************

diff --git a/boards/px4/fmu-v5/src/spi.cpp b/boards/px4/fmu-v5/src/spi.cpp
@@ -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(V500, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@@ -61,7 +61,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(HW_VER_REV(5, 2), {
+	initSPIHWVersion(V552, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@@ -86,7 +86,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(HW_VER_REV(6, 2), {
+	initSPIHWVersion(V562, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),