Skip to content

boards: Add board support for Arkin Labs A2M6X board #25595

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ArkinLabs1Support wants to merge 1 commit into
base: main
Choose a base branch
from
Open

boards: Add board support for Arkin Labs A2M6X board #25595

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions boards/arkin/a2m6x/bootloader.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ROMFSROOT=""
49 changes: 49 additions & 0 deletions boards/arkin/a2m6x/cmake/upload.cmake
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
############################################################################
#
# Copyright (c) 2023 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.
#
############################################################################


set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)

add_custom_target(upload_skynode_usb
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
DEPENDS ${PX4_FW_NAME}
COMMENT "Uploading PX4"
USES_TERMINAL
)

add_custom_target(upload_skynode_wifi
COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
DEPENDS ${PX4_FW_NAME}
COMMENT "Uploading PX4"
USES_TERMINAL
)
104 changes: 104 additions & 0 deletions boards/arkin/a2m6x/default.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,104 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ETHERNET=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
CONFIG_DRIVERS_ADC_ADS1115=y
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NETMAN=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_ARCH_CHIP_STM32H7=y
Binary file added boards/arkin/a2m6x/extras/arkin_a2m6x_bootloader.bin
View file
Open in desktop
Binary file not shown.
Binary file added boards/arkin/a2m6x/extras/px4_io-v2_default.bin
View file
Open in desktop
Binary file not shown.
13 changes: 13 additions & 0 deletions boards/arkin/a2m6x/firmware.prototype
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
{
"board_id": 53,
"magic": "A2M6Xv1",
"description": "Firmware for the A2M6X board",
"image": "",
"build_time": 0,
"summary": "A2M6X",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1966080,
"git_identity": "",
"board_revision": 0
}
27 changes: 27 additions & 0 deletions boards/arkin/a2m6x/init/rc.board_defaults
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
#!/bin/sh
#
# board specific defaults
#------------------------------------------------------------------------------

# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_MODE 0
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 100000
param set-default MAV_2_REMOTE_PRT 14550
param set-default MAV_2_UDP_PRT 14550

# By disabling all 3 INA modules, we use the
# i2c_launcher instead.
param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 0

if ver hwbasecmp 009 010 011
then
# Skynode: use the "custom participant" config for uxrce_dds_client
param set-default UXRCE_DDS_PTCFG 2
fi

safety_button start
13 changes: 13 additions & 0 deletions boards/arkin/a2m6x/init/rc.board_mavlink
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
#!/bin/sh
#
# PX4 FMUv6X specific board MAVLink startup script.
#------------------------------------------------------------------------------

# if skynode base board is detected start Mavlink on Telem2
if ver hwbasecmp 009 010 011
then
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

# Ensure nothing else starts on TEL2 (ttyS4)
set PRT_TEL2_ 1
fi
89 changes: 89 additions & 0 deletions boards/arkin/a2m6x/init/rc.board_sensors
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,89 @@
#!/bin/sh
#
# PX4 FMUv6X specific board sensors init
#------------------------------------------------------------------------------
set HAVE_PM2 yes
set INA_CONFIGURED no

if mft query -q -k MFT -s MFT_PM2 -v 0
then
set HAVE_PM2 no
fi
if param compare -s ADC_ADS1115_EN 1
then
ads1115 start -X
board_adc start -n
else
board_adc start
fi


if param compare SENS_EN_INA226 1
then
# Start Digital power monitors
ina226 -X -b 1 -t 1 -k start

if [ $HAVE_PM2 = yes ]
then
ina226 -X -b 2 -t 2 -k start
fi

set INA_CONFIGURED yes
fi

if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
ina228 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina228 -X -b 2 -t 2 -k start
fi

set INA_CONFIGURED yes
fi

if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
ina238 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina238 -X -b 2 -t 2 -k start
fi

set INA_CONFIGURED yes
fi


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


#A2M6X Sensor Set
icm45686 -b 3 -s -R 0 start
icm45686 -b 2 -s -R 0 start
icm45686 -b 1 -s -R 8 start

rm3100 -I -b 4 start

# 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

# Possible internal Baro
if param compare SENS_INT_BARO_EN 1
then
icp201xx -I -b 4 start
icp201xx -I -b 2 start
fi


unset INA_CONFIGURED
unset HAVE_PM2
13 changes: 13 additions & 0 deletions boards/arkin/a2m6x/multicopter.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_COMMON_RC=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
17 changes: 17 additions & 0 deletions boards/arkin/a2m6x/nuttx-config/Kconfig
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
default y
---help---
This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.

config BOARD_USE_PROBES
bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
default n
depends on BOARD_HAS_PROBES

---help---
Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers.
Loading
Loading