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HAL_ChibiOS: MatekH743: move baro to I2C2 bus

This commit is contained in:
MATEKSYS 2020-06-08 20:31:53 +08:00 committed by Andrew Tridgell
parent dc19dfaed8
commit 14e01e21b7
2 changed files with 18 additions and 10 deletions
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3
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef-bl.dat
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@ -46,5 +46,6 @@ define HAL_STORAGE_SIZE 16384
# Add CS pins to ensure they are high in bootloader
PC15 IMU1_CS CS
PB12 MAX7456_CS CS
PD4 MS5611_CS CS
PE11 IMU2_CS CS
PD4 EXT_CS1 CS
PE2 EXT_CS2 CS

25
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
View File

@ -40,12 +40,15 @@ PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI3 for MS5611
PD4 MS5611_CS CS
# SPI3 - external
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
# external CS pins
PD4 EXT_CS1 CS
PE2 EXT_CS2 CS
# SPI4 for IMU2 (ICM20602)
PE11 IMU2_CS CS
PE12 SPI4_SCK SPI4
@ -53,7 +56,7 @@ PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4
# two I2C bus
I2C_ORDER I2C1 I2C2
I2C_ORDER I2C2 I2C1
# I2C1
PB6 I2C1_SCL I2C1
@ -175,17 +178,19 @@ define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 14
# spi devices
SPIDEV ms5611 SPI3 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
# SPI3 external connections
SPIDEV pixartflow SPI3 DEVID1 EXT_CS1 MODE3 2*MHZ 2*MHZ
# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# two IMUs. We put icm20602 first as we can sample accel at 4kHz
@ -193,8 +198,10 @@ IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# one BARO
BARO MS56XX SPI:ms5611
# MS5611 integrated on I2C2 bus, multiple possible choices for external barometer
BARO MS56XX I2C:0:0x77
BARO BMP280 I2C:0:0x76
BARO BMP388 I2C:0:0x76
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"