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[BACKPORT v1.13] Add Holybro Pixhawk Pi CM4 Baseboard Support #20182

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merged 14 commits into from
Sep 26, 2022
Merged

[BACKPORT v1.13] Add Holybro Pixhawk Pi CM4 Baseboard Support #20182

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b6ba97c
Add Holybro Pixhawk Pi CM4 Baseboard Support
vincentpoont2 Aug 22, 2022
a19d05c
Fix Error on board_config.h Define on FMUv5X & FMUv6X
vincentpoont2 Aug 22, 2022
c65025a
Fix Error on manifest.c
vincentpoont2 Aug 22, 2022
476bcd1
Correct BOARD_NUM_SPI_CFG_HW_VERSIONS at board_config.h
vincentpoont2 Aug 22, 2022
0135f21
update v5x rc.board_sensors
vincentpoont2 Sep 2, 2022
feec327
update fmuv5x rc.board_sensors with V5X004000
vincentpoont2 Sep 5, 2022
02f9ea1
update fmu-v6x rc.board_sensors, add V6X004003
vincentpoont2 Sep 6, 2022
3bc2020
platforms: decrease flash usage by type for bus id
julianoes Sep 7, 2022
3d10844
fmu-v5x: disable rev0 for HB Mini and CM4 base
julianoes Sep 7, 2022
0c184d9
fmu-v6: disable Rev 0, Rev 1 for HB Mini, and CM4
julianoes Sep 7, 2022
42038d2
fmu-v5x: alias for duplicates, remove commented
julianoes Sep 13, 2022
7c846dc
fmu-v6x: alias, add VX43
julianoes Sep 13, 2022
cd7ac71
fmu-v3: make optional sensor startup quiet
julianoes Sep 20, 2022
39f1dae
fmu-v5x: support for mini base board
julianoes Sep 25, 2022
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6 changes: 3 additions & 3 deletions boards/px4/fmu-v3/init/rc.board_sensors
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ board_adc start
hmc5883 -T -I -R 4 start

# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s -b 1 start
if ! ms5611 -T 5607 -s -b 1 -q start
then
ms5611 -s -b 1 start
fi
Expand All @@ -24,13 +24,13 @@ if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
# mpu6000 on v2.0, mpu9250 on v2.1
if mpu6000 -s -b 4 -R 10 start
if mpu6000 -s -b 4 -R 10 -q start
then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# isolated/external mpu9250 (SPI4)
if mpu9250 -s -b 4 -R 10 start
if mpu9250 -s -b 4 -R 10 -q start
then
set BOARD_FMUV3 21
fi
Expand Down
39 changes: 20 additions & 19 deletions boards/px4/fmu-v5x/init/rc.board_sensors
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Original file line number Diff line number Diff line change
Expand Up @@ -48,50 +48,51 @@ then
fi
fi

if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
if ver hwtypecmp V5X00 V5X01 V5X02 V5X10 V5X40 V5X41 V5X42 V5X51 V5X52
then
#SKYNODE base fmu board orientation
#FMUv5Xbase board orientation

if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
if ver hwtypecmp V5X00 V5X01 V5X40 V5X41 V5X51
then
# Internal SPI BMI088
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
else
# Internal SPI bus ICM20649
icm20649 -s -R 4 start
icm20649 -s -R 6 start
fi

# Internal SPI bus ICM42688p
icm42688p -R 4 -s start
icm42688p -R 6 -s start

# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 8 -s start
icm20602 -R 10 -s start

# Internal magnetometer on I2c
bmm150 -I -R 6 start
bmm150 -I start

else
#FMUv5Xbase board orientation
#SKYNODE base fmu board orientation

if ver hwtypecmp V5X00 V5X01
# V5X010001 ommited because not representable in this hardware format
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I'm not sure about this.

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It is OK - we should ask @Igor-Misic @ThomasDebrunner what ID it is or to reserve it here in the PX4 V5X Spec

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I have a bad feeling about this, but I'm unsure. We are using V5X010001 (VER 0x10, REV 0x01), that's actually the current gen. Just because VER 0x10 is read from EEPROM (according to the ADC it would be ver 07x), it doesn't change the startup script, right? I believe this would break the build for Skynode

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@julianoes julianoes Sep 15, 2022 •
edited
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@nicovanduijn so this change is only for the release/v1.13 branch, and will go into v1.13.1. On main this should all be fine. Does that resolve it?

My problem was that I don't know how V5X010001 would map back to the old V5Xabc format.

From what I can see, the counting seems to be 0,1,2,3,...,9,a,10, which would be base 11 which is a bit unusual, but maybe I don't understand it 😄.

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it's still conted as base16, we just skipped 0b,0c,0d,0e,0f and went to 0x10 after 0x0a to leave space for the remaining resistor space.
e.g. 0x00 - 0x0f : resistors
0x10 - 0xff: eeprom

at least that's my understanding of how it went.
But I can't tell you either how 0x010001 maps to the v5xabc format. I guess that just doesn't work, so we'll have to live with the fact that it won't boot on skynode

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Ok, got it, thanks! This is only v1.13, so I assume it doesn't really matter for you/Auterion anyway.

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it's still conted as base16, we just skipped 0b,0c,0d,0e,0f and went to 0x10 after 0x0a to leave space for the remaining resistor space. e.g. 0x00 - 0x0f : resistors 0x10 - 0xff: eeprom

at least that's my understanding of how it went. But I can't tell you either how 0x010001 maps to the v5xabc format. I guess that just doesn't work, so we'll have to live with the fact that it won't boot on skynode

There are 11 code point that can be read from resistors.
0 - 0xb (0-11) are the values. 0x7 means read the EEPROM
In the EEPROM with current print format the using 3 digits each (see HW_INFO_REV_DIGITS and HW_INFO_VER_DIGITS and
the value are 0x10-0x3E7 (16-999)

Values are displayed and compared in HEX as lllvvvrrr where lll is the label (V5, V6X DH etc) vvv is 3 hex digits for version and rrr is 3 hex digits for revision.

On X series the VER is the Base Board and the Rev is the FMUM.

In the code the #defines for the HW configs may use the abbreviated where thay fit.
#define V5X01 HW_VER_REV(0x0,0x1) that is V5X0000001`
This was done to prevent coupling if we compiled with HW_INFO_xxx_DIGITS 2 or 3 or 5 as the value are still valid.

if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
then
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start
else
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
icm20649 -s -R 4 start
fi

# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
icm42688p -R 4 -s start

# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 10 -s start
icm20602 -R 8 -s start

# Internal magnetometer on I2c
bmm150 -I start
bmm150 -I -R 6 start

fi

Expand All @@ -104,12 +105,12 @@ ist8310 -X -b 1 -R 10 start
if param compare SENS_INT_BARO_EN 1
then
bmp388 -I -a 0x77 start
if ver hwtypecmp V5X00 V5X90 V5Xa0
if ver hwtypecmp V5X00 V5X10 V5X80 V5X90 V5Xa0
then
bmp388 -I start
else
bmp388 -X -b 2 start
fi

fi
unset HAVE_PM2
unset HAVE_PM2
5 changes: 4 additions & 1 deletion boards/px4/fmu-v5x/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 6
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
// 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 V5X40 HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base Rev 0
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I believe this can be dropped. @nicovanduijn Please correct me but the FMUM REV 0 was not shipped other then in prototypes. Once the BMP 388 was moved to i2c2 the FMUM REV e was bumped to 1.

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^ that's incorrect, a batch of 40 FMUM REV0 was definitely shipped to early customers. I don't know how many of them are still operational

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@nicovanduijn nicovanduijn Sep 15, 2022 •
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but if this is about being able to support those FMUs (RC13) on the holybro CM4 base board, we can probably ignore it. We shipped out full skynode assemblies and not single FMUs and I believe it to be safe to assume that those will not be mixed with other base boards

#define V5X41 HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
#define V5X42 HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base 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
Expand Down
3 changes: 2 additions & 1 deletion boards/px4/fmu-v5x/src/manifest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,8 @@ 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
{V5X41, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, HB CM4 base Rev 1
{V5X42, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, HB CM4 base Rev 2
{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
Expand Down
28 changes: 26 additions & 2 deletions boards/px4/fmu-v5x/src/spi.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2019-2022 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
Expand Down Expand Up @@ -106,7 +106,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(V5X50, {

initSPIHWVersion(V5X41, {
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}),
Expand All @@ -130,6 +131,29 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),

initSPIHWVersion(V5X42, {
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(V5X51, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
Expand Down
6 changes: 3 additions & 3 deletions boards/px4/fmu-v6x/init/rc.board_sensors
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Expand Up @@ -47,7 +47,7 @@ then
fi
fi

if ver hwtypecmp V6X04 V6X14 V6X54
if ver hwtypecmp V6X04 V6X14 V6X44 V6X54
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
Expand All @@ -60,7 +60,7 @@ fi
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start

if ver hwtypecmp V6X03 V6X13 V6X04 V6X14 V6X53 V6X54
if ver hwtypecmp V6X03 V6X13 V6X33 V6X04 V6X14 V6X43 V6X44 V6X53 V6X54
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
Expand Down Expand Up @@ -88,4 +88,4 @@ fi
# Baro on I2C3
ms5611 -X start

unset HAVE_PM2
unset HAVE_PM2
6 changes: 5 additions & 1 deletion boards/px4/fmu-v6x/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 6 // Rev 0 and Rev 3,4 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // 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
Expand All @@ -224,6 +224,10 @@
#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 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 V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
Expand Down
4 changes: 4 additions & 0 deletions boards/px4/fmu-v6x/src/manifest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,10 @@ 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_v0600, arraySize(hw_mft_list_v0600)}, // HB CM4 base
{V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 HB CM4 base
{V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
{V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // 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
{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
Expand Down
72 changes: 72 additions & 0 deletions boards/px4/fmu-v6x/src/spi.cpp
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Expand Up @@ -84,6 +84,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),

initSPIHWVersion(V6X43, {
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Add V6X43 and keep V6X50

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Ok, that's plus around 700 B of flash, unfortunately.

And note, this PR is just the backport to v1.13.

initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, 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(V6X50, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
Expand All @@ -107,6 +131,54 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(V6X44, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, 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_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}),
}),
}),

// 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}),
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4 changes: 2 additions & 2 deletions platforms/common/include/px4_platform_common/spi.h
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
Expand Down Expand Up @@ -64,8 +64,8 @@ struct px4_spi_bus_devices_t {

struct px4_spi_bus_t {
px4_spi_bus_device_t devices[SPI_BUS_MAX_DEVICES];
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
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)
bool is_external; ///< static external configuration. Use px4_spi_bus_external() to check if a bus is really external
bool requires_locking; ///< whether the bus should be locked during transfers (true if NuttX drivers access the bus)
};
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