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V6X-RT Add sensor set V6XRT001 and V6XRT002 #25274

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Merged
dagar merged 2 commits into from
Aug 6, 2025
Merged

V6X-RT Add sensor set V6XRT001 and V6XRT002 #25274

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9507f77
fmu-v6xrt: Enable lis2dml and bmm350 magnetometer
PetervdPerk-NXP Apr 8, 2025
1c1e58d
fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set
PetervdPerk-NXP Apr 8, 2025
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2 changes: 2 additions & 0 deletions boards/px4/fmu-v6xrt/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
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42 changes: 33 additions & 9 deletions boards/px4/fmu-v6xrt/init/rc.board_sensors
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Expand Up @@ -85,19 +85,43 @@ else
fi
fi

# Internal SPI bus ICM42686p (hard-mounted)
icm42688p -6 -R 12 -b 1 -s start
if ver hwtypecmp V6XRT000 V6XRT001
then
# Internal SPI bus ICM42686p (hard-mounted)
icm42688p -6 -R 12 -b 1 -s start

# Internal on IMU SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start

# Internal on IMU SPI bus ICM42688p
icm42688p -R 6 -b 2 -s start
fi

# Internal on IMU SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
if ver hwtypecmp V6XRT002
then
# Internal SPI bus icm45686 (hard-mounted)
icm45686 -R 12 -b 1 -s start

# Internal on IMU SPI bus ICM42688p
icm42688p -R 6 -b 2 -s start
# Internal on IMU SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start

# Internal magnetometer on I2c
bmm150 -I start
# Internal on IMU SPI bus icm45686
icm45686 -R 6 -b 2 -s start
fi

if ver hwtypecmp V6XRT000
then
# Internal magnetometer on I2c
bmm150 -I start
fi

if ver hwtypecmp V6XRT001 V6XRT002
then
# Internal magnetometer on I2c
bmm350 -I start
fi

# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -b 1 -R 10 start
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3 changes: 2 additions & 1 deletion boards/px4/fmu-v6xrt/src/board_config.h
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Expand Up @@ -297,9 +297,10 @@
#define GPIO_HW_VER_SENSE /* GPIO_AD_23 GPIO9 Pin 22 */ ADC_GPIO(5, 22)
#define HW_INFO_INIT_PREFIX "V6XRT"

#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 1 & 2
#define V6XRT_0 HW_FMUM_ID(0x0) // First Release
#define V6XRT_1 HW_FMUM_ID(0x1) // Next Release
#define V6XRT_2 HW_FMUM_ID(0x2) // Next Release

#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

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20 changes: 20 additions & 0 deletions boards/px4/fmu-v6xrt/src/spi.cpp
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Expand Up @@ -81,6 +81,26 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/
}),
}),

initSPIFmumID(V6XRT_2, {
initSPIBus(SPI::Bus::LPSPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33 GPIO2_IO01

initSPIBus(SPI::Bus::LPSPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22 GPIO1_IO22

initSPIBus(SPI::Bus::LPSPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}), /* GPIO_EMC_B2_05 GPIO2_IO15 */
}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14 GPIO1_IO14

initSPIBusExternal(SPI::Bus::LPSPI6, {
initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08 GPIO_EMC_B1_07 GPIO1_IO07*/
}),
}),
};

static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
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