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HAL_ChibiOS: convert more boards to using new sensor config system

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This commit is contained in:
Andrew Tridgell 2019-06-02 17:39:07 +10:00
parent 4a8c307720
commit 614a059819
7 changed files with 39 additions and 47 deletions
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8
libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat
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@ -63,13 +63,13 @@ SPIDEV ms5611 SPI3 DEVID2 BARO_CS MODE3 8*MHZ 8*MHZ
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
define ALLOW_ARM_NO_COMPASS define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
# probe for an invensense IMU # probe for an invensense IMU
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI IMU Invensense SPI:mpu6000 ROTATION_NONE
define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
# and ms5611 baro
BARO MS56XX SPI:ms56xx
# define HAL_DISABLE_DCACHE # define HAL_DISABLE_DCACHE

8
libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat
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@ -98,11 +98,11 @@ define HAL_LOGGING_DATAFLASH
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI # one IMU
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 IMU Invensense SPI:mpu6000 ROTATION_YAW_90
define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI # one baro
define HAL_BARO_BMP280_NAME "bmp280" BARO BMP280 SPI:bmp280
# no built-in compass, but probe the i2c bus for all possible # no built-in compass, but probe the i2c bus for all possible
# external compass types # external compass types

8
libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
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@ -94,11 +94,11 @@ SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI # one IMU
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 IMU Invensense SPI:mpu6000 ROTATION_YAW_180
define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI # one baro
define HAL_BARO_BMP280_NAME "bmp280" BARO BMP280 SPI:bmp280
# no built-in compass, but probe the i2c bus for all possible # no built-in compass, but probe the i2c bus for all possible
# external compass types # external compass types

11
libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat
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@ -116,14 +116,11 @@ SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
# enable logging to dataflash # enable logging to dataflash
define HAL_LOGGING_DATAFLASH define HAL_LOGGING_DATAFLASH
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI # one baro
# V6 needs 90 degree gyro alignment BARO BMP280 SPI:bmp280
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
# Baro
define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
define HAL_BARO_BMP280_NAME "bmp280"
# no built-in compass, but probe the i2c bus for all possible # no built-in compass, but probe the i2c bus for all possible
# external compass types # external compass types

18
libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
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@ -117,22 +117,18 @@ define STORAGE_FLASH_PAGE 2
# reserve 32k for bootloader and 32k for flash storage # reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64 FLASH_RESERVE_START_KB 64
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI # one IMU
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 IMU Invensense SPI:mpu6000 ROTATION_YAW_90
define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843 # one baro
define HAL_COMPASS_HMC5843_I2C_BUS 0 BARO MS56XX I2C:0:0x77
define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
define HAL_BARO_MS5611_I2C_BUS 0
define HAL_BARO_MS5611_I2C_ADDR 0x77
# also allow for probing of external barometers # also allow for probing of external barometers
define HAL_PROBE_EXTERNAL_I2C_BAROS define HAL_PROBE_EXTERNAL_I2C_BAROS
# look for internal I2C compass
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
# SPI devices # SPI devices
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ

17
libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat
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@ -41,11 +41,6 @@ I2C_ORDER I2C1
PB8 I2C1_SCL I2C1 PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1 PB9 I2C1_SDA I2C1
# -------BARO-------------
define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
define HAL_BARO_MS5611_I2C_BUS 0
define HAL_BARO_MS5611_I2C_ADDR 0x77
# ---------USB------------- # ---------USB-------------
PA11 OTG_FS_DM OTG1 PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1 PA12 OTG_FS_DP OTG1
@ -125,11 +120,17 @@ FLASH_SIZE_KB 1024
# reserve 16k for bootloader and 32k for flash storage # reserve 16k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64 FLASH_RESERVE_START_KB 64
define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI # one IMU
define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 IMU Invensense SPI:mpu9250 ROTATION_NONE
# one baro
BARO MS56XX I2C:0:0x77
# one compass in mpu9250
COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0 define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# SPI devices # SPI devices
SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 4*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 4*MHZ

16
libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat
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@ -122,8 +122,13 @@ define STORAGE_FLASH_PAGE 2
# reserve 32k for bootloader and 32k for flash storage # reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64 FLASH_RESERVE_START_KB 64
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI # one IMU
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 IMU Invensense SPI:mpu6000 ROTATION_YAW_270
# probe for a BMP085, but also look for other baros
BARO BMP085 I2C:0:0x77
define HAL_PROBE_EXTERNAL_I2C_BAROS
define HAL_BARO_ALLOW_INIT_NO_BARO
# no built-in compass, but probe the i2c bus for all possible # no built-in compass, but probe the i2c bus for all possible
# external compass types # external compass types
@ -131,13 +136,6 @@ define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1 define HAL_I2C_INTERNAL_MASK 1
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_PROBE_EXTERNAL_I2C_BAROS
define HAL_BARO_ALLOW_INIT_NO_BARO
define HAL_BARO_DEFAULT HAL_BARO_BMP085
define HAL_BARO_BMP085_BUS 0
define HAL_BARO_BMP085_I2C_ADDR 0x77
# SPI devices # SPI devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ