px4_fmu-v5x:Use BOARD_HAS_HW_SPLIT_VERSIONING & common PAB manifest

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 hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+if ver hwbasecmp 008 009 00a 010
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
@@ -25,12 +25,12 @@ fi
 safety_button start
 
 # GPIO Expander driver on external I2C3
-if ver hwtypecmp V5X009000 V5X009001
+if ver hwbasecmp 009
 then
 	# No USB
 	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
 fi
-if ver hwtypecmp V5X00a000 V5X00a001 V5X008000 V5X008001
+if ver hwbasecmp 00a 008
 then
 	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
-if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+if ver hwbasecmp 008 009 00a 010
 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

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -5,7 +5,7 @@
 
 set HAVE_PM2 yes
 
-if ver hwtypecmp V5X005000 V5X005001 V5X005002
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -49,54 +49,53 @@ then
 	fi
 fi
 
-if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002 V5X005001 V5X005002
+if ver hwbasecmp 008 009 00a 010
 then
-	#FMUv5Xbase board orientation
+	#SKYNODE base fmu board orientation
 
-	if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001 V5X005001
+	if ver hwtypecmp V5X000 V5X001
 	then
 		# Internal SPI BMI088
-		bmi088 -A -R 4 -s start
-		bmi088 -G -R 4 -s start
+		bmi088 -A -R 2 -s start
+		bmi088 -G -R 2 -s start
 	else
 		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
+		icm20649 -s -R 4 start
 	fi
 
 	# Internal SPI bus ICM42688p
-	icm42688p -R 6 -s start
+	icm42688p -R 4 -s start
 
 	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 10 -s start
+	icm20602 -R 8 -s start
 
 	# Internal magnetometer on I2c
-	bmm150 -I start
+	bmm150 -I -R 6 start
+
+	# Auto start power monitors
+	pm_selector_auterion start
 
 else
-	#SKYNODE base fmu board orientation
+	#FMUv5Xbase board orientation
 
-	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	if ver hwtypecmp V5X000 V5X001
 	then
 		# Internal SPI BMI088
-		bmi088 -A -R 2 -s start
-		bmi088 -G -R 2 -s start
+		bmi088 -A -R 4 -s start
+		bmi088 -G -R 4 -s start
 	else
 		# Internal SPI bus ICM20649
-		icm20649 -s -R 4 start
+		icm20649 -s -R 6 start
 	fi
 
 	# Internal SPI bus ICM42688p
-	icm42688p -R 4 -s start
+	icm42688p -R 6 -s start
 
 	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 8 -s start
+	icm20602 -R 10 -s start
 
 	# Internal magnetometer on I2c
-	bmm150 -I -R 6 start
-
-	# Auto start power monitors
-	pm_selector_auterion start
-
+	bmm150 -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)
@@ -108,7 +107,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
+	if ver hwtypecmp V5X000
 	then
 		bmp388 -I start
 	else

boards/px4/fmu-v5x/src/CMakeLists.txt

@@ -36,7 +36,6 @@ add_library(drivers_board
 	i2c.cpp
 	init.cpp
 	led.c
-	manifest.c
 	mtd.cpp
 	sdio.c
 	spi.cpp

boards/px4/fmu-v5x/src/board_config.h

@@ -179,31 +179,17 @@
 
 /* HW Version and Revision drive signals Default to 1 to detect */
 
-#define BOARD_HAS_HW_VERSIONING // migrate to Split
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
 #define HW_INFO_INIT_PREFIX           "V5X"
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
-// Base                   FMUM
-#define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
-#define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,                       Rev 0
-#define V5X01   HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388,             Rev 1
-#define V5X02   HW_VER_REV(0x0,0x2) // FMUV5X,                         Rev 2
-#define V5X40   HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base             Rev 0
-#define V5X41   HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
-#define V5X42   HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base             Rev 2
-#define V5X50   HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini                 Rev 0
-#define V5X51   HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini     Rev 1
-#define V5X52   HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini                 Rev 2
-#define V5X90   HW_VER_REV(0x9,0x0) // NO USB,                         Rev 0
-#define V5X91   HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388,             Rev 1
-#define V5X92   HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388,             Rev 2
-#define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),                     Rev 0
-#define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388,         Rev 1
-#define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388,         Rev 2
-#define V5X101   HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388,        Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+
+#define V5X_0     HW_FMUM_ID(0x0)   // FMUV5X, Auterion     FMUv5x RC13 (baro2 BMP388 on I2C4) Sensor Set Rev 0
+#define V5X_1     HW_FMUM_ID(0x1)   // FMUV5X, Auterion, HB FMUv5x RC15 (baro2 BMP388 on I2C2) Sensor Set Rev 1
+#define V5X_2     HW_FMUM_ID(0x2)   // FMUV5X, HB           FMUv5x                             Sensor Set Rev 2
 
 #define UAVCAN_NUM_IFACES_RUNTIME 1