diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat index e6ba4c03ab..a001de6f3a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat @@ -59,10 +59,10 @@ PE2 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 -# SPI5 - external1 (disabled to save DMA channels) -# PF7 SPI5_SCK SPI5 -# PF8 SPI5_MISO SPI5 -# PF9 SPI5_MOSI SPI5 +# SPI5 - external1 +PF7 SPI5_SCK SPI5 +PF8 SPI5_MISO SPI5 +PF9 SPI5_MOSI SPI5 # SPI6 - external2 (disabled to save DMA channels) # PG13 SPI6_SCK SPI6 @@ -77,6 +77,16 @@ PF4 BMI055_G_CS CS PG10 BMI055_A_CS CS PF5 FRAM_CS CS SPEED_VERYLOW +# external CS pins, SPI5 connector +PI4 EXT1_CS1 CS +PI10 EXT1_CS2 CS + +# external CS pins, SPI6 connector +PI6 EXT2_CS1 CS +PI7 EXT2_CS2 CS +PI8 EXT2_CS3 CS + + # I2C buses PB8 I2C1_SCL I2C1 @@ -244,6 +254,17 @@ SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ +# SPI5 external connections +SPIDEV external10m0 SPI5 DEVID1 EXT1_CS1 MODE0 2*MHZ 2*MHZ +SPIDEV external10m1 SPI5 DEVID1 EXT1_CS1 MODE1 2*MHZ 2*MHZ +SPIDEV external10m2 SPI5 DEVID1 EXT1_CS1 MODE2 2*MHZ 2*MHZ +SPIDEV external10m3 SPI5 DEVID1 EXT1_CS1 MODE3 2*MHZ 2*MHZ +SPIDEV external20m0 SPI5 DEVID2 EXT1_CS2 MODE0 2*MHZ 2*MHZ +SPIDEV external20m1 SPI5 DEVID2 EXT1_CS2 MODE1 2*MHZ 2*MHZ +SPIDEV external20m2 SPI5 DEVID2 EXT1_CS2 MODE2 2*MHZ 2*MHZ +SPIDEV external20m3 SPI5 DEVID2 EXT1_CS2 MODE3 2*MHZ 2*MHZ + + # microSD support (disabled for now) #PC8 SDMMC_D0 SDMMC1 #PC9 SDMMC_D1 SDMMC1 @@ -291,5 +312,7 @@ ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin # don't share IOMCU DMA DMA_NOSHARE UART8* SPI1* TIM*UP* +# there is an issue with DMA on SPI which needs to be solved +# before we enable it define HAL_SPI_USE_POLLED