From 7cb1cd73ebae665cede01df02c92670dcafbc160 Mon Sep 17 00:00:00 2001 From: Niklas Hauser Date: Thu, 29 Feb 2024 10:07:54 +0100 Subject: [PATCH] Add minimal Skynode RC13 config to the PAB manifest --- boards/px4/fmu-v5x/init/rc.board_defaults | 2 +- boards/px4/fmu-v5x/init/rc.board_mavlink | 2 +- boards/px4/fmu-v5x/init/rc.board_sensors | 2 +- boards/px4/fmu-v6x/init/rc.board_defaults | 2 +- boards/px4/fmu-v6x/init/rc.board_mavlink | 2 +- boards/px4/fmu-v6x/init/rc.board_sensors | 8 ++-- boards/px4/fmu-v6xrt/init/rc.board_mavlink | 2 +- platforms/common/pab_manifest.c | 49 ++++++++++++++++++++-- 8 files changed, 55 insertions(+), 14 deletions(-) diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults index 83596bc9b209..30ff624b2f63 100644 --- a/boards/px4/fmu-v5x/init/rc.board_defaults +++ b/boards/px4/fmu-v5x/init/rc.board_defaults @@ -16,7 +16,7 @@ param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 1 -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then # Skynode: use the "custom participant" config for uxrce_dds_client param set-default UXRCE_DDS_PTCFG 2 diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink index 8d1d7c1e38ab..1c85ceff4fe1 100644 --- a/boards/px4/fmu-v5x/init/rc.board_mavlink +++ b/boards/px4/fmu-v5x/init/rc.board_mavlink @@ -3,7 +3,7 @@ # board specific MAVLink startup script. #------------------------------------------------------------------------------ -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then # Start MAVLink on the UART connected to the mission computer mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors index e14364c9508e..1a0f426db6f4 100644 --- a/boards/px4/fmu-v5x/init/rc.board_sensors +++ b/boards/px4/fmu-v5x/init/rc.board_sensors @@ -49,7 +49,7 @@ then fi fi -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then #SKYNODE base fmu board orientation diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults index 6500693173a5..95d873475b15 100644 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ b/boards/px4/fmu-v6x/init/rc.board_defaults @@ -18,7 +18,7 @@ param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 0 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then # Skynode: use the "custom participant" config for uxrce_dds_client param set-default UXRCE_DDS_PTCFG 2 diff --git a/boards/px4/fmu-v6x/init/rc.board_mavlink b/boards/px4/fmu-v6x/init/rc.board_mavlink index 4fef2264da97..713d7a41b72b 100644 --- a/boards/px4/fmu-v6x/init/rc.board_mavlink +++ b/boards/px4/fmu-v6x/init/rc.board_mavlink @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # if skynode base board is detected start Mavlink on Telem2 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 077eb6f80ba2..f7b132af1117 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -56,7 +56,7 @@ then fi #Start Auterion Power Module selector for Skynode boards -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then pm_selector_auterion start else @@ -93,7 +93,7 @@ else icm20649 -s -R 6 start else # Internal SPI BMI088 - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then bmi088 -A -R 6 -s start bmi088 -G -R 6 -s start @@ -110,7 +110,7 @@ else fi # Internal SPI bus ICM42688p - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then icm42688p -R 12 -s start else @@ -127,7 +127,7 @@ else # Internal SPI bus ICM-42670-P (hard-mounted) icm42670p -R 10 -s start else - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then icm20602 -R 6 -s start else diff --git a/boards/px4/fmu-v6xrt/init/rc.board_mavlink b/boards/px4/fmu-v6xrt/init/rc.board_mavlink index 546949911863..5c1a00ff959d 100644 --- a/boards/px4/fmu-v6xrt/init/rc.board_mavlink +++ b/boards/px4/fmu-v6xrt/init/rc.board_mavlink @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # if skynode base board is detected start Mavlink on Telem2 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/platforms/common/pab_manifest.c b/platforms/common/pab_manifest.c index aa2958631f2b..979bb5ecbc9b 100644 --- a/platforms/common/pab_manifest.c +++ b/platforms/common/pab_manifest.c @@ -294,11 +294,54 @@ static const px4_hw_mft_item_t base_configuration_9[] = { .connection = px4_hw_con_onboard, }, { - .id = PX4_MFT_PM2, + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, .present = 1, .mandatory = 1, .connection = px4_hw_con_onboard, }, +}; + +// BASE ID 10 Skynode QS no USB Alaised to ID 9 +// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0 + +// BASE ID 17 Auterion Skynode RC13 with many parts removed +static const px4_hw_mft_item_t base_configuration_17[] = { + { + .id = PX4_MFT_PX4IO, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_CAN2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, { .id = PX4_MFT_ETHERNET, .present = 1, @@ -313,9 +356,6 @@ static const px4_hw_mft_item_t base_configuration_9[] = { }, }; -// BASE ID 10 Skynode QS no USB Alaised to ID 9 -// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0 - static px4_hw_mft_list_entry_t mft_lists[] = { // ver_rev @@ -329,6 +369,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = { {HW_BASE_ID(9), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 9 {HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 10 {HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16 + {HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17 }; /************************************************************************************