Split PAB ID and FMUM #22639
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Split PAB ID and FMUM #22639
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FMI @AlexKlimaj @vincentpoont2 - Can you please test this branch on all the HB base with all the versions of FMUM (sensor sets), comparing main boot output to this version and note any missing sensors or incorrect rotations? |
Will test and report back |
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FYI @AlexKlimaj |
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@dagar I have migrated the px4_fmu-v5x - Please have a look |
We have tested it with all the Rev and Ver we have. No issue found. |
Thanks @vincentpoont2 - can you please list the FMUM (V5X, V6X - and sensor sets) and base types tested with each |
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@dagar Can we bring this in? |
It would be these. We haven't test the FMUv5x yet. We will do so asap. |
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I'm testing on FMUv6x and Skynode Baseboard 010 and the MAVLINK connection does not start, because the config file has not been updated in this PR: I'll test some more. |
@niklaut - good catch - sorry about that - I will add that change. |
PX4:common add PAB manifest with V5X bases
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Hm, I don't know if this is really backward compatible: Running on the same hardware shows different sensor rotations in the boot output, which is a little sus: -[boot] Rev 0x1 : Ver 0x9 V5X009001
-HW type: V5X009001
-HW version: 0x009
-HW revision: 0x001
-bmi088_accel #0 on SPI bus 3 rotation 2
-bmi088_gyro #0 on SPI bus 3 rotation 2
-icm42688p #0 on SPI bus 2 rotation 4
-icm20602 #0 on SPI bus 1 rotation 8
-bmm150 #0 on I2C bus 4 (external) address 0x10 rotation 6
+[boot] Rev 0x1 : Ver 0x9 V5X001
+HW type: V5X
+HW FMUM ID: 0x001
+HW BASE ID: 0x009
+bmi088_accel #0 on SPI bus 3 rotation 4
+bmi088_gyro #0 on SPI bus 3 rotation 4
+icm42688p #0 on SPI bus 2 rotation 6
+icm20602 #0 on SPI bus 1 rotation 10
+bmm150 #0 on I2C bus 4 (external) address 0x10FMUv5x before changeFMUv5x after changeFMUv6x rev 0x10 ver 0x10 doesn't show this issue. |
I wonder if I translated the "if then" logic wrong |
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Same issue with FMU rev 0x1 ver 0x10, so not related to the base version.
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@niklaut - I have fixed ( and restructured) the V5X files. I messed up the selection logic for the skynode but also V5X001000 and V5X005000 were broken on main. Both have been fixed. 58c58
< Run:V5X001000 fmum=000 base=001 Used
---
> Run:V5X000 fmum=000 base=001 Used
66c66,67
< icm20649 -s -R 6 start
---
> bmi088 -A -R 4 -s start
> bmi088 -G -R 4 -s start
82c83
< Run:V5X004000 fmum=000 base=004 Used
---
> Run:V5X000 fmum=000 base=004 Used
97c98
< bmp388 -X -b 2 start
---
> bmp388 -I start
138c139
< Run:V5X005000 fmum=000 base=005 Used
---
> Run:V5X000 fmum=000 base=005 Used
146,150c147,151
< icm20649 -s -R 4 start
< icm42688p -R 4 -s start
< icm20602 -R 8 -s start
< bmm150 -I -R 6 start
< pm_selector_auterion start
---
> bmi088 -A -R 4 -s start
> bmi088 -G -R 4 -s start
> icm42688p -R 6 -s start
> icm20602 -R 10 -s start
> bmm150 -I start
153c154
< bmp388 -X -b 2 start
---
> bmp388 -I startMain FMUv5xThis PR FMUv5x |
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Migrated the arkv6x, I still need to test it. |
niklaut
approved these changes
Jan 29, 2024
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@AlexKlimaj Can you post your test results so we can merge? |
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Looks like it is working. ARKV6X FMUM ID: 0x000 with the ARK PAB Carrier BASE ID 0x001 ARKV6X FMUM ID: 0x000 with the Holybro Mini Carrier BASE ID 0x005 ARKV6X FMUM ID: 0x001 with the ARK PAB Carrier BASE ID 0x001 ARKV6X FMUM ID: 0x001 with the Holybro Mini Carrier BASE ID 0x005 |
AlexKlimaj
approved these changes
Jan 29, 2024
dagar
approved these changes
Jan 30, 2024
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This is a Work in progress on VxX to split the version and revision into BASE ID and FMUM ID.
The purpose is to reduce the permutations of FMUM/BASE combinations needed in the SPI configuration, scripting and boards.
The manifest has been moved to be a common pab_manifest and the manifest components expanded.
The MFT query has been completed to include a queries to identify a base component existence or non-existence.
to-dos: