From 66608e8cadde9386518aaf6592966ba99f7ebd9a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 11 Feb 2018 19:28:43 +1100 Subject: [PATCH] HAL_ChibiOS: improved mini-pix support --- libraries/AP_HAL_ChibiOS/GPIO.h | 9 ++++-- .../AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat | 7 +++++ .../AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat | 30 +++++++++++++++---- .../hwdef/scripts/STM32F405xx.py | 6 ++++ 4 files changed, 43 insertions(+), 9 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/GPIO.h b/libraries/AP_HAL_ChibiOS/GPIO.h index 124aad71d5..919d4fc2fe 100644 --- a/libraries/AP_HAL_ChibiOS/GPIO.h +++ b/libraries/AP_HAL_ChibiOS/GPIO.h @@ -18,9 +18,12 @@ #include "AP_HAL_ChibiOS.h" -#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS - # define HAL_GPIO_LED_ON LOW - # define HAL_GPIO_LED_OFF HIGH +#ifndef HAL_GPIO_LED_ON +#define HAL_GPIO_LED_ON 0 +#endif + +#ifndef HAL_GPIO_LED_OFF +#define HAL_GPIO_LED_OFF 1 #endif class ChibiOS::GPIO : public AP_HAL::GPIO { diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat index cfd4589a2a..be4969ef4f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat @@ -173,10 +173,17 @@ define STORAGE_FLASH_PAGE 22 # enable FAT filesystem define HAL_OS_FATFS_IO 1 +# pixracer has 3 LEDs, Red, Green, Blue +define HAL_HAVE_PIXRACER_LED + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 + # enable RTSCTS define AP_FEATURE_RTSCTS 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat index a11b088db1..f4e953c113 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat @@ -13,6 +13,12 @@ APJ_BOARD_ID 3 # crystal frequency OSCILLATOR_HZ 24000000 +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# ArduPilot highres timer +HRT_TIMER 6 + FLASH_SIZE_KB 1024 # board voltage @@ -22,10 +28,10 @@ STDOUT_SERIAL SD2 STDOUT_BAUDRATE 57600 # only one I2C bus -I2C_ORDER I2C1 I2C2 +I2C_ORDER I2C2 I2C1 # order of UARTs (and USB) -UART_ORDER OTG1 USART2 USART3 UART4 +UART_ORDER OTG1 UART4 USART2 USART3 # UART4 serial GPS PA0 UART4_TX UART4 @@ -42,10 +48,9 @@ PA9 VBUS INPUT OPENDRAIN PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 -#PA15 ALARM +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM -PB1 LED_RED OUTPUT GPIO(1) PB2 BOOT1 INPUT PB5 VDD_BRICK_VALID INPUT @@ -65,7 +70,6 @@ PC1 RSSI_IN ADC1 PC2 LPS22HB_CS CS PC3 LED_SAFETY OUTPUT PC4 SAFETY_IN INPUT -PC5 LED_GREEN OUTPUT GPIO(2) PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 # also USART6_RX for serial RC PC8 SDIO_D0 SDIO @@ -102,7 +106,6 @@ PE3 VDD_SENSORS_EN OUTPUT HIGH PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) -PE12 LED_BLUE OUTPUT GPIO(3) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) @@ -128,3 +131,18 @@ define STORAGE_FLASH_PAGE 22 # enable FAT filesystem define HAL_OS_FATFS_IO 1 + +# LED setup is similar to PixRacer +define HAL_HAVE_PIXRACER_LED +PB1 LED_RED OUTPUT GPIO(0) +PC5 LED_GREEN OUTPUT GPIO(1) +PE12 LED_BLUE OUTPUT GPIO(2) + +define HAL_GPIO_A_LED_PIN 0 +define HAL_GPIO_B_LED_PIN 1 +define HAL_GPIO_C_LED_PIN 2 + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py index 749b9c5f21..8ef6bd0f5c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py @@ -28,6 +28,12 @@ AltFunction_map = { "PA13:JTMS-SWDIO" : 0, "PA14:EVENTOUT" : 15, "PA14:JTCK-SWCLK" : 0, + "PA15:EVENTOUT" : 15, + "PA15:JTDI" : 0, + "PA15:SPI1_NSS" : 5, + "PA15:SPI3_NSS" : 6, + "PA15:TIM2_CH1" : 1, + "PA15:TIM2_ETR" : 1, "PA1:ETH_MII_RX_CLK" : 11, "PA1:ETH_RMII__REF_CLK" : 11, "PA1:EVENTOUT" : 15,