mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: hwdef: modify to use HAL CAN driver instead of ChibiOS's
This commit is contained in:
parent
36ffcdae30
commit
62df67a4b8
|
@ -125,8 +125,8 @@ define HAL_DISABLE_LOOP_DELAY
|
|||
PB8 CAN1_RX CAN1
|
||||
PB9 CAN1_TX CAN1
|
||||
PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
define HAL_USE_CAN TRUE
|
||||
define STM32_CAN_USE_CAN1 TRUE
|
||||
|
||||
|
||||
|
||||
# use DNA
|
||||
define HAL_CAN_DEFAULT_NODE_ID 0
|
||||
|
|
|
@ -60,8 +60,8 @@ define HAL_UART_NODMA
|
|||
# enable CAN support
|
||||
PA11 CAN_RX CAN
|
||||
PB9 CAN_TX CAN
|
||||
define HAL_USE_CAN TRUE
|
||||
define STM32_CAN_USE_CAN1 TRUE
|
||||
|
||||
|
||||
|
||||
# no I2C buses
|
||||
# I2C_ORDER
|
||||
|
@ -127,3 +127,6 @@ define HAL_STORAGE_SIZE 800
|
|||
# Add CS pins to ensure they are high in bootloader
|
||||
PA15 BARO_CS CS
|
||||
PD2 MAG_CS CS
|
||||
|
||||
# reduce the number of CAN RX Buffer
|
||||
define HAL_CAN_RX_QUEUE_SIZE 32
|
||||
|
|
|
@ -78,8 +78,8 @@ define HAL_WATCHDOG_ENABLED_DEFAULT true
|
|||
# enable CAN support
|
||||
PA11 CAN_RX CAN
|
||||
PB9 CAN_TX CAN
|
||||
define HAL_USE_CAN TRUE
|
||||
define STM32_CAN_USE_CAN1 TRUE
|
||||
|
||||
|
||||
|
||||
# no I2C buses
|
||||
# I2C_ORDER
|
||||
|
@ -162,3 +162,6 @@ define HAL_NO_MONITOR_THREAD
|
|||
define HAL_PERIPH_ENABLE_GPS
|
||||
define HAL_PERIPH_ENABLE_MAG
|
||||
define HAL_PERIPH_ENABLE_BARO
|
||||
|
||||
# reduce the number of CAN RX Buffer
|
||||
define HAL_CAN_RX_QUEUE_SIZE 32
|
||||
|
|
|
@ -11,6 +11,8 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
|
|||
|
||||
# and support all external compass types
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
define HAL_DISABLE_I2C_MAGS_BY_DEFAULT
|
||||
define HAL_USE_I2C_MAG_HMC5843
|
||||
|
||||
# increase TX size for RTCM
|
||||
undef HAL_UART_MIN_TX_SIZE
|
||||
|
|
|
@ -92,8 +92,8 @@ define HAL_DISABLE_LOOP_DELAY
|
|||
# enable CAN support
|
||||
PA11 CAN_RX CAN
|
||||
PA12 CAN_TX CAN
|
||||
define HAL_USE_CAN TRUE
|
||||
define STM32_CAN_USE_CAN1 TRUE
|
||||
|
||||
|
||||
|
||||
# reduce memory overheads
|
||||
define HAL_CAN_POOL_SIZE 2500
|
||||
|
@ -142,3 +142,6 @@ RAM_RESERVE_START 256
|
|||
# keep ROMFS uncompressed as we don't have enough RAM
|
||||
# to uncompress the bootloader at runtime
|
||||
env ROMFS_UNCOMPRESSED True
|
||||
|
||||
# reduce the number of CAN RX Buffer
|
||||
define HAL_CAN_RX_QUEUE_SIZE 32
|
|
@ -87,8 +87,8 @@ define HAL_DISABLE_LOOP_DELAY
|
|||
# enable CAN support
|
||||
PA11 CAN_RX CAN
|
||||
PA12 CAN_TX CAN
|
||||
define HAL_USE_CAN TRUE
|
||||
define STM32_CAN_USE_CAN1 TRUE
|
||||
|
||||
|
||||
|
||||
# debugger support
|
||||
PA13 JTMS-SWDIO SWD
|
||||
|
@ -138,3 +138,6 @@ RAM_RESERVE_START 256
|
|||
# keep ROMFS uncompressed as we don't have enough RAM
|
||||
# to uncompress the bootloader at runtime
|
||||
env ROMFS_UNCOMPRESSED True
|
||||
|
||||
# reduce the number of CAN RX Buffer
|
||||
define HAL_CAN_RX_QUEUE_SIZE 32
|
|
@ -645,7 +645,7 @@ def write_mcu_config(f):
|
|||
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
|
||||
if 'OTG2' in bytype:
|
||||
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
|
||||
if have_type_prefix('CAN') and 'AP_PERIPH' not in env_vars:
|
||||
if have_type_prefix('CAN') and not args.bootloader:
|
||||
if 'CAN1' in bytype and 'CAN2' in bytype:
|
||||
enable_can(f, 2)
|
||||
else:
|
||||
|
|
Loading…
Reference in New Issue