feat: support PROVES Flight Control Board v5e (SX1262 radio)

FprimeZephyrReference/project/config/LoRaCfg.hpp

@@ -4,10 +4,12 @@
 
 #include <zephyr/drivers/lora.h>
 namespace LoRaConfig {
-const U32 DEFAULT_FREQ = 437400000;            //!< LoRa frequency in Hz
-lora_signal_bandwidth BANDWIDTH = BW_125_KHZ;  //!< LoRa bandwidth
-const I8 TX_POWER = 23;                        //!< LoRa transmission power in dBm
-const U16 PREAMBLE_LENGTH = 8;                 //!< LoRa preamble length
-U8 HEADER[0] = {};                             //!< No LoRa payload header
+const U32 DEFAULT_FREQ = 437400000;                  //!< LoRa frequency in Hz
+const lora_signal_bandwidth BANDWIDTH = BW_125_KHZ;  //!< LoRa bandwidth
+const I8 TX_POWER = 23;                              //!< LoRa transmission power in dBm
+const U16 PREAMBLE_LENGTH = 8;                       //!< LoRa preamble length
+const U8 HEADER[] = {
+    0, 0, 0,
+    0};  //!< LoRa payload header — size must match flight LoRaCfg::HEADER (flight strips sizeof(HEADER) bytes on RX)
 }  // namespace LoRaConfig
 #endif  // LORA_CFG_HPP

README.md

@@ -147,6 +147,15 @@ and change:
 +BOARD=proves_flight_control_board_v5/rp2350a/m33
 ```
 
+Use `proves_flight_control_board_v5e/rp2350a/m33` for the v5e board, which
+carries an SX1262-based E22-400M30S LoRa module instead of the v5's SX1276.
+The right LoRa driver is picked automatically from the board devicetree.
+After changing boards, regenerate with `make generate-force` before building.
+
+The v5e additionally needs the SX126x wake-up fix from `patches/` applied to
+the Zephyr submodule (see `patches/README.md`); without it, `SET_FREQ`
+intermittently fails to retune the radio in release builds.
+
 ### Workflow
 
 Most important operations in this repo have a Make helper.

boards/proves/proves_flight_control_board_v5e/Kconfig

@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_PROVES_FLIGHT_CONTROL_BOARD_V5E
+	select SOC_RP2350A_M33 if BOARD_PROVES_FLIGHT_CONTROL_BOARD_V5E_RP2350A_M33

boards/proves/proves_flight_control_board_v5e/board.yml

@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: Apache-2.0
+#
+# PROVES Flight Control Board v5e — DTS = upstream Pico 2 base + proves_flight_control_board_v5e_hardware.dtsi.
+
+board:
+  name: proves_flight_control_board_v5e
+  full_name: PROVES Flight Control Board v5e
+  vendor: PROVES
+  socs:
+    - name: rp2350a

boards/proves/proves_flight_control_board_v5e/proves_flight_control_board_v5e_hardware.dtsi

@@ -0,0 +1,76 @@
+/*
+ * Project-specific hardware for PROVES Flight Control Board v5e.
+ * Same wiring intent as the v5 port, but the v5e carries an SX126x-based
+ * LoRa module (E22-400M30S) instead of the v5's SX1276.
+ */
+
+#include <zephyr/dt-bindings/lora/sx126x.h>
+
+&zephyr_udc0 {
+	/* Control port */
+	cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+	};
+	/* Data port */
+	cdc_acm_uart1: cdc_acm_uart1 {
+		compatible = "zephyr,cdc-acm-uart";
+	};
+};
+
+&pinctrl {
+	spi1_default: spi1_default {
+		group1 {
+			pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;
+		};
+
+		group2 {
+			pinmux = <SPI1_RX_P12>;
+			input-enable;
+		};
+	};
+};
+
+&spi1 {
+	status = "okay";
+	cs-gpios = <&gpio0 9 GPIO_ACTIVE_LOW>;
+	pinctrl-0 = <&spi1_default>;
+	pinctrl-names = "default";
+
+	lora0: sx1262@0 {
+		compatible = "semtech,sx1262";
+		reg = <0>;
+		spi-max-frequency = <125000>;
+		reset-gpios = <&gpio0 6 GPIO_ACTIVE_LOW>;
+		busy-gpios = <&gpio0 13 GPIO_ACTIVE_HIGH>;
+		dio1-gpios = <&gpio0 14 GPIO_ACTIVE_HIGH>;
+		tx-enable-gpios = <&gpio0 21 (GPIO_PULL_DOWN | GPIO_ACTIVE_HIGH)>;
+		rx-enable-gpios = <&gpio0 22 (GPIO_PULL_DOWN | GPIO_ACTIVE_HIGH)>;
+		dio3-tcxo-voltage = <SX126X_DIO3_TCXO_1V8>;
+		tcxo-power-startup-delay-ms = <10>;
+		rx-boosted;
+		label = "E22-400M30S";
+	};
+};
+
+/ {
+	chosen {
+		zephyr,console = &cdc_acm_uart0;
+	};
+
+	fstab {
+		compatible = "zephyr,fstab";
+		ffs1: ffs1 {
+			compatible = "zephyr,fstab,fatfs";
+			disk-access;
+			automount;
+			mount-point = "/";
+		};
+	};
+
+	ramdisk0 {
+		compatible = "zephyr,ram-disk";
+		disk-name = "RAM";
+		sector-size = <512>;
+		sector-count = <128>;
+	};
+};

boards/proves/proves_flight_control_board_v5e/proves_flight_control_board_v5e_rp2350a_m33.dts

@@ -0,0 +1,14 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Same composition as Zephyr upstream rpi_pico2_rp2350a_m33.dts, plus
+ * proves_flight_control_board_v5e_hardware.dtsi (project-specific nodes only).
+ */
+
+/dts-v1/;
+
+#include <raspberrypi/rpi_pico/rp2350a.dtsi>
+#include <raspberrypi/rpi_pico/m33.dtsi>
+#include <../boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi>
+#include <../boards/raspberrypi/common/rpi_pico-led.dtsi>
+#include "proves_flight_control_board_v5e_hardware.dtsi"

boards/proves/proves_flight_control_board_v5e/proves_flight_control_board_v5e_rp2350a_m33.yaml

@@ -0,0 +1,22 @@
+identifier: proves_flight_control_board_v5e/rp2350a/m33
+name: PROVES Flight Control Board v5e (RP2350, Cortex-M33)
+type: mcu
+arch: arm
+flash: 4096
+ram: 520
+toolchain:
+  - zephyr
+  - gnuarmemb
+supported:
+  - adc
+  - clock
+  - counter
+  - dma
+  - gpio
+  - hwinfo
+  - i2c
+  - pwm
+  - spi
+  - uart
+  - usbd
+  - watchdog

boards/proves/proves_flight_control_board_v5e/proves_flight_control_board_v5e_rp2350a_m33_defconfig

@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: Apache-2.0
+# Minimal defaults — same baseline as upstream rpi_pico2_rp2350a_m33_defconfig.
+# Application merges prj.conf on top.
+
+CONFIG_BUILD_OUTPUT_HEX=y
+CONFIG_BUILD_OUTPUT_UF2=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_CONSOLE=y
+CONFIG_GPIO=y
+CONFIG_RESET=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_USE_DT_CODE_PARTITION=y

patches/README.md

@@ -0,0 +1,32 @@
+# Patches
+
+Local patches for submodules that cannot carry the change directly (the
+`lib/zephyr-workspace/zephyr` submodule points at upstream
+`zephyrproject-rtos/zephyr`).
+
+## zephyr-sx126x-wakeup-busy-delay.patch
+
+**Required for SX126x-based boards (`proves_flight_control_board_v5e`).**
+
+The Zephyr SX126x driver polls the BUSY line immediately after the wake-up
+SPI transaction. The chip needs up to ~340us (datasheet warm-start time)
+after the wake-up NSS edge before it is ready, and there is a window where
+BUSY has not yet been asserted. When the poll wins that race, the next SPI
+command is clocked into a chip that is still starting up and is silently
+ignored. Since the driver re-enters sleep after every operation and the
+first command after wake is always `SetRfFrequency`, the practical symptom
+is that `SET_FREQ` intermittently does not retune the radio (~40% of
+attempts measured on a Flight Control Board v5e in release builds; debug
+builds mask the race because logging adds delay).
+
+Apply with:
+
+```
+cd lib/zephyr-workspace/zephyr
+git apply ../../../patches/zephyr-sx126x-wakeup-busy-delay.patch
+```
+
+This should be submitted to upstream Zephyr; the patch can be dropped once
+the submodule advances past a release containing the fix. SX127x-based
+boards (`ground_radio_controller`, v5) do not compile this file and are
+unaffected.

patches/zephyr-sx126x-wakeup-busy-delay.patch

@@ -0,0 +1,19 @@
+diff --git a/drivers/lora/loramac_node/sx126x.c b/drivers/lora/loramac_node/sx126x.c
+index 6221943f5..d4ac247b9 100644
+--- a/drivers/lora/loramac_node/sx126x.c
++++ b/drivers/lora/loramac_node/sx126x.c
+@@ -394,6 +394,14 @@ void SX126xWakeup(void)
+ 		return;
+ 	}
+
++	/* The chip takes up to ~340us (datasheet t_woff, warm start) after
++	 * the wake-up NSS edge before it is ready. Polling BUSY immediately
++	 * can sample it before the chip has asserted it, in which case the
++	 * next command is clocked into a device still starting up and is
++	 * silently ignored. Wait out the startup window before polling.
++	 */
++	k_busy_wait(500);
++
+ 	LOG_DBG("Waiting for device...");
+ 	SX126xWaitOnBusy();
+ 	LOG_DBG("Device ready");

prj.conf

@@ -104,9 +104,10 @@ CONFIG_I2C=n
 CONFIG_SPI=y
     # Enable SPI, used by LoRa radio
 CONFIG_LORA=y
-    # Enable LoRa driver support
-CONFIG_LORA_SX127X=y
-    # Enable Semtech SX127x LoRa driver
+    # Enable LoRa driver support. The modem driver is selected by the board
+    # devicetree: LORA_SX127X defaults on for boards with an sx1276 node
+    # (ground_radio_controller, v5) and LORA_SX126X for boards with an sx1262
+    # node (v5e). Hard-setting either here breaks boards with the other radio.
 CONFIG_PINCTRL=y
     # Enable pin control.
 

settings.ini

@@ -9,4 +9,5 @@ default_cmake_options:  FPRIME_ENABLE_FRAMEWORK_UTS=OFF
                         BOARD_ROOT=.
                         BOARD=ground_radio_controller/rp2350a/m33
 
-                        # BOARD=proves_flight_control_board_v5/rp2350a/m33
+                        # BOARD=proves_flight_control_board_v5/rp2350a/m33
+                        # BOARD=proves_flight_control_board_v5e/rp2350a/m33