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[BACKPORT] px4_fmu-v6c:Add Mini & fix Rev 1 #21227

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Mar 6, 2023
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[BACKPORT] px4_fmu-v6c:Add Mini & fix Rev 1 #21227

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3 changes: 2 additions & 1 deletion boards/px4/fmu-v6c/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -143,12 +143,13 @@
#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 2 // Rev 0, 10 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 10 and Mini Sensor sets
// Base/FMUM
#define V6C00 HW_VER_REV(0x0,0x0) // FMUV6C, Rev 0 I2C4 External but with Internal devices
#define V6C01 HW_VER_REV(0x0,0x1) // FMUV6C, Rev 1 I2C4 Internal I2C2 External
#define V6C10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 I2C4 External but with Internal devices
#define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External
#define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External


/* HEATER
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6 changes: 6 additions & 0 deletions boards/px4/fmu-v6c/src/manifest.c
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Expand Up @@ -79,6 +79,11 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};

static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
Expand All @@ -101,6 +106,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
{V6C21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 MINI
};

/************************************************************************************
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12 changes: 11 additions & 1 deletion boards/px4/fmu-v6c/src/spi.cpp
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Expand Up @@ -46,7 +46,17 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
}),
}),
initSPIHWVersion(V6C10, {
initSPIHWVersion(V6C01, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
}, {GPIO::PortB, GPIO::Pin2}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
}),
}),
initSPIHWVersion(V6C21, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
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