fmu-v6: disable Rev 0, Rev 1 for HB Mini, and CM4

As I understand it, only Rev 3 and Rev 4 were shipped by HB for Mini and CM4, and are likely to be used for it. It would be nice to have all combinations but it requires quite some flash in the current implementation.
PX4 · Sep 9, 2022 · 9c154e1 · 9c154e1
1 parent d5badf6
commit 9c154e1
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Showing 3 changed files with 33 additions and 32 deletions.
diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h
@@ -215,7 +215,7 @@
 #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 8 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7 // Rev 0 and Rev 3,4 Sensor sets
 //                 Base/FMUM
 #define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
 #define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
@@ -224,12 +224,12 @@
 #define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
 #define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
 #define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0
-#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1
+//#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0 // never shipped
+//#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
 #define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
 #define V6X44   HW_VER_REV(0x4,0x4) // FMUV6X,     Sensor Set     HB CM4 base Rev 4
-#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0
-#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1
+//#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0 // never shipped
+//#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
 #define V6X53   HW_VER_REV(0x5,0x3) // FMUV6X,     Sensor Set     HB Mini Rev 3
 #define V6X54   HW_VER_REV(0x5,0x4) // FMUV6X,     Sensor Set     HB Mini Rev 4
 

diff --git a/boards/px4/fmu-v6x/src/manifest.c b/boards/px4/fmu-v6x/src/manifest.c
@@ -163,12 +163,12 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
 	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	{V6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base
-	{V6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base
+	//{V6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
+	//{V6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
 	{V6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
 	{V6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini
-	{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini
+	//{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini               // never shipped
+	//{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
 	{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
 	{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
 	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO

diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp
@@ -131,29 +131,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V6X50, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, 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::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		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}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {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(V6X50, {
+	//	initSPIBus(SPI::Bus::SPI1, {
+	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, 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::PortA, GPIO::Pin10}),
+	//	}, {GPIO::PortF, GPIO::Pin4}),
+	//	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}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+	//	}, {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(V6X04, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),