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Sai Vishnu BalajiArkinLabs1Support
Sai Vishnu Balaji
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ArkinLabs1Support
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boards: Add board support for Arkin Labs A2M6X board
This commit introduces initial board support for the A2M6X flight controller developed by Arkin Labs, based on the PX4-V6X standard. Signed-off-by: Sai Vishnu Balaji <sai.vishnu@arkinlabs.in>
1 parent 66b07d8 commit 6177f5a

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‎boards/arkin/a2m6x/bootloader.px4board‎

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ROMFSROOT=""

‎boards/arkin/a2m6x/cmake/upload.cmake‎

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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
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add_custom_target(upload_skynode_usb
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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add_custom_target(upload_skynode_wifi
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)

‎boards/arkin/a2m6x/default.px4board‎

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ETHERNET=y
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
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CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
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CONFIG_DRIVERS_ADC_ADS1115=y
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_DRIVERS_BAROMETER_BMP388=y
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CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
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CONFIG_DRIVERS_BAROMETER_MS5611=y
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CONFIG_DRIVERS_CAMERA_CAPTURE=y
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CONFIG_DRIVERS_CAMERA_TRIGGER=y
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CONFIG_DRIVERS_CDCACM_AUTOSTART=y
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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_HEATER=y
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CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
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CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
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CONFIG_COMMON_INS=y
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CONFIG_COMMON_LIGHT=y
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CONFIG_COMMON_MAGNETOMETER=y
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CONFIG_DRIVERS_OSD_MSP_OSD=y
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CONFIG_DRIVERS_POWER_MONITOR_INA226=y
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CONFIG_DRIVERS_POWER_MONITOR_INA228=y
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CONFIG_DRIVERS_POWER_MONITOR_INA238=y
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CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_PX4IO=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_DRIVERS_SAFETY_BUTTON=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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CONFIG_MODULES_EVENTS=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_FW_ATT_CONTROL=y
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_FW_RATE_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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CONFIG_MODULES_LOAD_MON=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NETMAN=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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CONFIG_ARCH_CHIP_STM32H7=y

‎boards/arkin/a2m6x/extras/arkin_a2m6x_bootloader.bin‎

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‎boards/arkin/a2m6x/extras/px4_io-v2_default.bin‎

39.2 KB
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‎boards/arkin/a2m6x/firmware.prototype‎

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{
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"board_id": 53,
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"magic": "A2M6Xv1",
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"description": "Firmware for the A2M6X board",
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"image": "",
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"build_time": 0,
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"summary": "A2M6X",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 1966080,
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"git_identity": "",
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"board_revision": 0
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}

‎boards/arkin/a2m6x/init/rc.board_defaults‎

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#!/bin/sh
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#
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# board specific defaults
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#------------------------------------------------------------------------------
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# Mavlink ethernet (CFG 1000)
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param set-default MAV_2_CONFIG 1000
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param set-default MAV_2_BROADCAST 1
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param set-default MAV_2_MODE 0
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param set-default MAV_2_RADIO_CTL 0
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param set-default MAV_2_RATE 100000
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param set-default MAV_2_REMOTE_PRT 14550
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param set-default MAV_2_UDP_PRT 14550
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# By disabling all 3 INA modules, we use the
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# i2c_launcher instead.
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param set-default SENS_EN_INA238 0
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param set-default SENS_EN_INA228 0
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param set-default SENS_EN_INA226 0
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if ver hwbasecmp 009 010 011
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then
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# Skynode: use the "custom participant" config for uxrce_dds_client
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param set-default UXRCE_DDS_PTCFG 2
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fi
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safety_button start

‎boards/arkin/a2m6x/init/rc.board_mavlink‎

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#!/bin/sh
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#
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# PX4 FMUv6X specific board MAVLink startup script.
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#------------------------------------------------------------------------------
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# if skynode base board is detected start Mavlink on Telem2
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if ver hwbasecmp 009 010 011
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then
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mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
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# Ensure nothing else starts on TEL2 (ttyS4)
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set PRT_TEL2_ 1
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fi

‎boards/arkin/a2m6x/init/rc.board_sensors‎

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#!/bin/sh
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#
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# PX4 FMUv6X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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set INA_CONFIGURED no
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if mft query -q -k MFT -s MFT_PM2 -v 0
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then
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set HAVE_PM2 no
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fi
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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board_adc start -n
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else
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board_adc start
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fi
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if param compare SENS_EN_INA226 1
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then
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# Start Digital power monitors
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ina226 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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set INA_CONFIGURED yes
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fi
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if param compare SENS_EN_INA228 1
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then
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# Start Digital power monitors
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ina228 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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set INA_CONFIGURED yes
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fi
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if param compare SENS_EN_INA238 1
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then
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# Start Digital power monitors
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ina238 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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set INA_CONFIGURED yes
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fi
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if [ $INA_CONFIGURED = no ]
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then
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# INA226, INA228, INA238 auto-start
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i2c_launcher start -b 1
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if [ $HAVE_PM2 = yes ]
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then
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i2c_launcher start -b 2
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fi
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fi
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#A2M6X Sensor Set
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icm45686 -b 3 -s -R 0 start
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icm45686 -b 2 -s -R 0 start
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icm45686 -b 1 -s -R 8 start
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rm3100 -I -b 4 start
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# 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)
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ist8310 -X -b 1 -R 10 start
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# Possible internal Baro
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if param compare SENS_INT_BARO_EN 1
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then
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icp201xx -I -b 4 start
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icp201xx -I -b 2 start
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fi
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unset INA_CONFIGURED
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unset HAVE_PM2

‎boards/arkin/a2m6x/multicopter.px4board‎

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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
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CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
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CONFIG_MODULES_AIRSPEED_SELECTOR=n
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CONFIG_MODULES_FW_ATT_CONTROL=n
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
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CONFIG_MODULES_FW_POS_CONTROL=n
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CONFIG_MODULES_FW_RATE_CONTROL=n
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CONFIG_MODULES_VTOL_ATT_CONTROL=n
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CONFIG_COMMON_RC=y
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CONFIG_EKF2_AUX_GLOBAL_POSITION=y
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# CONFIG_EKF2_SIDESLIP is not set
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

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