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boards: Updated ZeroOne X6

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* Starts pwm_voltage_apply
* Enable Septentrio modules
* Enable IIM42653 IMU
* Enable SCH16T IMU

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
xue
2025-06-23 09:54:28 +08:00
committed by Ramon Roche
parent 81000f4c71
commit cb71aea7fa
10 changed files with 235 additions and 112 deletions
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34
boards/zeroone/x6/CMakeLists.txt Normal file
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@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2025 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
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(pwm_voltage)

3
boards/zeroone/x6/default.px4board
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@@ -20,6 +20,9 @@ CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y

BIN
boards/zeroone/x6/extras/zeroone_x6_bootloader.bin Normal file → Executable file
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Binary file not shown.

3
boards/zeroone/x6/init/rc.board_defaults
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@@ -27,3 +27,6 @@ else
fi
safety_button start
# pwm voltage 3.3V/5V switch
pwm_voltage_apply start

117
boards/zeroone/x6/init/rc.board_sensors
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@@ -43,6 +43,7 @@ then
set INA_CONFIGURED yes
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
@@ -55,96 +56,35 @@ then
set INA_CONFIGURED yes
fi
#Start Auterion Power Module selector for zeroone boards
if ver hwbasecmp 009 010 011
if ver hwtypecmp ZeroOneX6000
then
pm_selector_auterion start
else
if [ $INA_CONFIGURED = no ]
then
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
if [ $HAVE_PM2 = yes ]
then
i2c_launcher start -b 2
fi
fi
# Internal SPI bus icm45686 with SPIX
icm45686 -b 2 -s -R 6 start //X6 & X6 air
bmi088 -A -R 4 -s start //X6
bmi088 -G -R 4 -s start //X6
# Internal SPI bus icm45686 with SPIX
icm45686 -b 1 -s -R 8 start //X6 & X6 air
fi
# Keep nesting shallow
if ver hwtypecmp V6X006 V6X008
if ver hwtypecmp ZeroOneX6001 //X6 PRO
then
if ver hwtypecmp V6X006
then
# Internal SPI bus ICM45686
adis16470 -s -R 0 start
iim42652 -s -R 6 start
icm45686 -s -R 10 start
else
# Internal SPI bus 3x ICM45686
icm45686 -b 3 -s -R 0 start
icm45686 -b 2 -s -R 0 start
icm45686 -b 1 -s -R 10 start
fi
else
if ver hwtypecmp V6X004
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
else
# Internal SPI BMI088
if ver hwbasecmp 009 010 011
then
bmi088 -A -R 6 -s start
bmi088 -G -R 6 -s start
else
if ver hwtypecmp V6X010
then
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start
else
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
fi
fi
fi
# Internal SPI bus IIM42653 with SPIX
iim42653 -b 2 -s -R 6 start
# Internal SPI bus ICM42688p
if ver hwbasecmp 009 010 011
then
icm42688p -R 12 -s start
else
if ver hwtypecmp V6X010
then
icm42688p -R 14 -s start
else
icm45686 -b 1 -s -R 8 start //ZeroOne
fi
fi
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
if ver hwtypecmp V6X003 V6X004
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
if ver hwbasecmp 009 010 011
then
icm20602 -R 6 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm45686 -b 2 -s -R 6 start //ZeroOne
fi
fi
# Internal SPI bus IIM42653 with SPIX
iim42653 -b 1 -s -R 8 start
fi
rm3100 -I -b 4 start
# Internal magnetometer on I2c
# if ver hwtypecmp V6X001
# then
# rm3100 -I -b 4 start
# else
# # Internal magnetometer on I2C
# bmm150 -I -R 0 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
@@ -156,24 +96,9 @@ ist8310 start -I -a 0x0E -R 12
if param compare SENS_INT_BARO_EN 1
then
icp201xx -I -a 0x64 start
# if ver hwtypecmp V6X001 V6X006 V6X008
# then
# icp201xx -I -a 0x64 start
# else
# bmp388 -I -a 0x77 start
# fi
fi
icp201xx -X start
#external baro
# if ver hwtypecmp V6X001
# then
# icp201xx -X start
# else
# bmp388 -X start
# fi
# Baro on I2C3
ms5611 -X start
unset INA_CONFIGURED
unset HAVE_PM2

42
boards/zeroone/x6/pwm_voltage/CMakeLists.txt Normal file
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@@ -0,0 +1,42 @@
############################################################################
#
# Copyright (c) 2025 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
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__pwm_voltage_apply
MAIN pwm_voltage_apply
SRCS
pwm_voltage.cpp
DEPENDS
px4_work_queue
)

43
boards/zeroone/x6/pwm_voltage/parameters.c Normal file
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@@ -0,0 +1,43 @@
/****************************************************************************
*
* Copyright (c) 2025 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Control PWM output voltage
*
* @value 0 3.3V
* @value 1 5.0V
*
* @reboot_required true
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

56
boards/zeroone/x6/pwm_voltage/pwm_voltage.cpp Normal file
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@@ -0,0 +1,56 @@
/****************************************************************************
*
* Copyright (c) 2025 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <inttypes.h>
#include <stdint.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module_params.h>
#include "board_config.h"
extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
{
int32_t pwm_volt_sel = 0;
param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
if (pwm_volt_sel != 0) {
PWM_5V_VOLT_SEL(true);
} else {
PWM_5V_VOLT_SEL(false);
}
return 0;
}

14
boards/zeroone/x6/src/board_config.h
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@@ -215,10 +215,11 @@
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT_PREFIX "ZeroOneX6"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
// Base/FMUM
#define ZeroOneX6_0 HW_FMUM_ID(0x0) // ZeroOneX6, Sensor Set Rev 0
#define ZeroOneX6_1 HW_FMUM_ID(0x1) // ZeroOneX6, Sensor Set Rev 1
#define ZeroOneX6_0 HW_FMUM_ID(0x0) // ZeroOneX6,
#define ZeroOneX6_1 HW_FMUM_ID(0x1) // ZeroOneX6 Pro,
#define ZeroOneX6_2 HW_FMUM_ID(0x2) // reserved
#define UAVCAN_NUM_IFACES_RUNTIME 1
@@ -244,6 +245,10 @@
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 9
/* PWM Power */
#define GPIO_PWM_VOLT_SEL /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
#define PWM_5V_VOLT_SEL(on_true) px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -457,7 +462,8 @@
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_PG6, \
GPIO_nARMED_INIT \
GPIO_nARMED_INIT, \
GPIO_PWM_VOLT_SEL \
}
#define BOARD_ENABLE_CONSOLE_BUFFER

35
boards/zeroone/x6/src/spi.cpp
View File

@@ -47,10 +47,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
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})
}),
@@ -60,21 +56,36 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIFmumID(ZeroOneX6_1, { // Placeholder
initSPIFmumID(ZeroOneX6_1, { // X6 Pro
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, 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}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
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}),
}),
}),
initSPIFmumID(ZeroOneX6_2, { // reserved
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, 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})
}),