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DS-019 Pixhawk versions and revisions.md

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DS-020 Pixhawk standard versions and revisions

Background

With the introduction of the Pixhawk FMUv5x and FMUv6x standard, versioning of boards and ensuring intercompatibility has become both a major feature as well as a challenge. To comply with the standard, both software maintainers as well as hardware manufacturers must agree to follow the same guidelines. This page is the central place where versions and revisions of Pixhawk FMUs are tracked and managed.

There are two different things to be sensed:

  1. the revision of the FMU board itself. This is called the REVISION (REV).
  2. the version of the base board that carries the FMU. This is called the VERSION (VER).

The REV and VER are determined by an ADC which reads a voltage divider. The voltage divider for the VER is on the base board, while the REV is on the FMU.

Resistor values

The mapping of the VER/REV number to actual ohmic resistor values for the voltage divider is defined in this section. The diagram shows R1 and R2, with the signals HW_xxx_SENSE and HW_VER_REV_DRIVE.

rev-ver-sensing

Config R1 (K) R2 (K)
0 NO POP NO POP
1 442 24.9
2 174 32.4
3 115 38.3
4 84.5 46.4
5 61.9 51.1
6 51.1 61.9
7 46.4 84.5
8 38.3 115
9 32.4 174
10 24.9 442
  Expected limits Boundary Expected voltage Boundary
ver/rev range (DN) thresholds (DN) limits (V) thresholds (V)
0 204 0 0.166 0
  553 579 0.441 0.467
1 605 580 0.492 0.468
  966 967 0.77 0.779
2 968 968 0.788 0.78
  1331 1356 1.062 1.093
3 1382 1357 1.125 1.094
  1738 1756 1.386 1.415
4 1774 1757 1.443 1.416
  2113 2137 1.685 1.722
5 2161 2138 1.759 1.723
  2476 2519 1.975 2.03
6 2562 2520 2.085 2.031
  2842 2919 2.267 2.353
7 2996 2920 2.438 2.354
  3230 3308 2.577 2.666
8 3386 3309 2.755 2.667
  3571 3699 2.848 2.981
9 3827 3700 3.114 2.982
  3946 4095 3.147 3.363

EEPROM Logic

The Pixhawk project aims to make all baseboards and FMUs compatible and interchangeable. Since all hardware manufacturers share this same narrow number space, additional logic was added.

The project is no longer accepting resistor-based REV/VER pairs and is moving all new hardware to use EEPROM logic.

If the VER resistor encodes the value 0x007, this tells the FMU that it needs to access the EEPROM to poll the true version of the base board, significantly opening up the number space.

The same logic applies to the REV resistor on the FMU—if it encodes the value 0x007, the FMU's true revision will be read from EEPROM.

Requesting a Board ID

If a manufacturer wants to introduce a new board - either a baseboard version or an FMU revision - this desire shall be indicated to the PX4 board support team by issuing a PR to this repository with the respective additions to the table below.

The body of the PR needs to include the following details

  • HEX board ID
  • Board Name
  • Board Type: base|imu
  • Manufacturer Name
  • Manufacturer Email

How to set EEPROM ID

Once the requested Board ID has been accepted and the PR has been merged, the Pixhawk SIG team will then generate the files required to set the ID in the EEPROM. The files will be sent via email and are meant to be private to avoid conflicts between manufacturers using same EEPROM values for distinct products.

The Pixhawk SIG team will send manufacturers the following files:

  • [manufacturer name]-[board name]-[base|imu]-[0xnnnn].bin is an application that programs the EEPROM
  • [manufacturer name]-[board name]-[base|imu]-[0xnnnn].jlink is an automation script to program and run the bin file on the target

With these files manufacturers will be capable of setting the Board ID to the requested value. There are two ways to do this, we noted both options below with detailed instructions, we recommend to use the one that fits your production workflow best.

Option 1: Final Assembly

Requirements

  • FMUM + BASE connected together
  • JLink + Pixhawk Debug Adapter
  • Computer capable of connecting to JLink console
  • EEPROM Files sent via email

Steps

  1. Make sure the FMUM and BASE are assembled and connected together.
  2. Hardware is connected to JLink and Console app using a pixhawk debug adapter on a Computer
  3. Hardware is powered ON
  4. Run the *.jlink file
  • JLinkExe -CommandFile FILENAME-0x0000.jlink
  • Console will output success/error messages accordingly
  1. Bootloader is loaded on the FMUM
  2. Done

Option 2: Set Base ID via FMUM

Requirements

  • An FMUM to be used to program bases
  • JLink + Pixhawk Debug Adapter
  • Computer capable of connecting to JLink console
  • EEPROM Files sent via email

Steps

Preparing the FMUM

  1. Choose an FMUM
  2. Connect to JLink + Console
  3. Run the JLink script on the FMUM
  • JLinkExe -CommandFile FILENAME-0x0000.jlink

Update Baseboards with FMUM

  1. The FMUM tool is installed on a base that needs it’s EEPROM programed.
  2. Base is connected to JLink and console app using a debug adaptor.
  3. Apply power.
  4. See results on Console.
  5. Remove power.
  6. Remove FMUM tool
  7. Repeat.

Defined versions and revisions

HWTYPE = {v5/6x}{VER}{REV}

Base board versions
Value Encoded by Base board VERSION
0x000 resistors Auterion v5x base board
0x001 resistors v5x base without px4io
0x002 resistors Modal AI
0x003 resistors NXP T1 PHY
0x004 resistors HB CM4
0x005 resistors HB mini
0x006 resistors RESERVED DRONECODE
0x007 resistors Read Version from EEPROM
0x008 resistors Skynode QS with USB
0x009 resistors Auterion Skynode base RC9 & older (no usb)
0x00a resistors Skynode QS no USB
0x010 EEPROM Auterion Skynode RC10, RC11, RC12, RC13
0x011 EEPROM Auterion Skynode Lite RC13
0x100 EEPROM Holybro Pixhawk Jetson Baseboard
0x150 EEPROM ZeroOne X6 Baseboard

FMU v5x revisions
Value Encoded by FMU v5x REVISION
0x000 resistors FMUv5x RC13 (baro2 on I2C4)
0x001 resistors FMUv5x RC15 (baro2 on I2C2)
0x002 resistors FMUv5x rev 2 sensor set
0x003 resistors FMUv5x rev 3 sensor set
0x004 resistors
0x005 resistors
0x006 resistors
0x007 resistors Read Revision from EEPROM
0x008 resistors
0x009 resistors
0x00a resistors
0x010 EEPROM

FMU v6x revisions
Value Encoded by FMU v6x REVISION
0x000 resistors
0x001 resistors CUAV v6x
0x002 resistors
0x003 resistors Holybro FMUv6x rev3
0x004 resistors Holybro FMUv6x rev4
0x005 resistors ClearSky AVEGA (FMUv6X)
0x006 resistors Holybro FMUv6x rev6
0x007 resistors Read Revision from EEPROM
0x008 resistors Holybro FMUv6x rev8
0x009 resistors
0x00a resistors
0x010 EEPROM Auterion FMUv6x 0.6.0