Add Holybro Pixhawk Pi CM4 Baseboard Support #20086
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@davids5 Do you see any issue with this PR? I am not sure how to get rid of the Flash overflow to test the FW. |
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FMUv5x & 6X Nuttx Auto-build are getting errors. Would you be able to assist us on getting a FW to test this? |
vincentpoont2
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julianoes
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I've rebased an force-pushed this. Hopefully now it doesn't overflow flash. |
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Summary Holybro VER (Both v5x & v6x, because the base should work on both FMUM) Holybro REV |
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@dagar I tried to disable the variants which were not shipped. I'm not entirely sure on all the variants out there though. |
| uint32_t power_enable_gpio{0}; ///< GPIO (if non-zero) to control the power of the attached devices on this bus (0 means power is off) | ||
| int8_t bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused) |
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@dagar let me know if this looks sane.
I could reduce flash by about 3000 bytes by using uint8_t for power_enable_gpio as well as the spi_drdy_gpio_t, and cs_gpio but stuff stopped working, so that probably went too far.
I also wonder whether we should set SPI_BUS_MAX_DEVICES based on the actual configuration somehow to reduce the footprint of this.
Also, some of the SPI configurations are completely identical but given the data structure and constexpr generation we have to duplicate it. Any idea how to work around that?
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@dagar any chance we can merge this, and backport it to 1.3, without passing flash checks? |
add V5X004002
My assumption is that the bus are numbered < 127. This saves about 100 bytes of flash.
As I understand it, only Rev 1 and Rev 2 were shipped by HB, and likely to be used for the 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.
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Thanks @dagar. I'll backport it to v1.13. |
Add Holybro Pixhawk PI CM4 Baseboard Support (FMUvXX VER 4) on FMUv5X and FMUv6X.