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HAL_ChibiOS: improved mini-pix support

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This commit is contained in:
Andrew Tridgell 2018-02-11 19:28:43 +11:00
parent 52815cd952
commit 66608e8cad
4 changed files with 43 additions and 9 deletions
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9
libraries/AP_HAL_ChibiOS/GPIO.h
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@ -18,9 +18,12 @@
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #ifndef HAL_GPIO_LED_ON
# define HAL_GPIO_LED_ON LOW #define HAL_GPIO_LED_ON 0
# define HAL_GPIO_LED_OFF HIGH #endif
#ifndef HAL_GPIO_LED_OFF
#define HAL_GPIO_LED_OFF 1
#endif #endif
class ChibiOS::GPIO : public AP_HAL::GPIO { class ChibiOS::GPIO : public AP_HAL::GPIO {

7
libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
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@ -173,10 +173,17 @@ define STORAGE_FLASH_PAGE 22
# enable FAT filesystem # enable FAT filesystem
define HAL_OS_FATFS_IO 1 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_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_C_LED_PIN 2
# enable RTSCTS # enable RTSCTS
define AP_FEATURE_RTSCTS 1 define AP_FEATURE_RTSCTS 1

30
libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
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@ -13,6 +13,12 @@ APJ_BOARD_ID 3
# crystal frequency # crystal frequency
OSCILLATOR_HZ 24000000 OSCILLATOR_HZ 24000000
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# ArduPilot highres timer
HRT_TIMER 6
FLASH_SIZE_KB 1024 FLASH_SIZE_KB 1024
# board voltage # board voltage
@ -22,10 +28,10 @@ STDOUT_SERIAL SD2
STDOUT_BAUDRATE 57600 STDOUT_BAUDRATE 57600
# only one I2C bus # only one I2C bus
I2C_ORDER I2C1 I2C2 I2C_ORDER I2C2 I2C1
# order of UARTs (and USB) # order of UARTs (and USB)
UART_ORDER OTG1 USART2 USART3 UART4 UART_ORDER OTG1 UART4 USART2 USART3
# UART4 serial GPS # UART4 serial GPS
PA0 UART4_TX UART4 PA0 UART4_TX UART4
@ -42,10 +48,9 @@ PA9 VBUS INPUT OPENDRAIN
PA11 OTG_FS_DM OTG1 PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1 PA12 OTG_FS_DP OTG1
#PA15 ALARM PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
PB1 LED_RED OUTPUT GPIO(1)
PB2 BOOT1 INPUT PB2 BOOT1 INPUT
PB5 VDD_BRICK_VALID INPUT PB5 VDD_BRICK_VALID INPUT
@ -65,7 +70,6 @@ PC1 RSSI_IN ADC1
PC2 LPS22HB_CS CS PC2 LPS22HB_CS CS
PC3 LED_SAFETY OUTPUT PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT 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 PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 # also USART6_RX for serial RC
PC8 SDIO_D0 SDIO PC8 SDIO_D0 SDIO
@ -102,7 +106,6 @@ PE3 VDD_SENSORS_EN OUTPUT HIGH
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE12 LED_BLUE OUTPUT GPIO(3)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
@ -128,3 +131,18 @@ define STORAGE_FLASH_PAGE 22
# enable FAT filesystem # enable FAT filesystem
define HAL_OS_FATFS_IO 1 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

6
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py
View File

@ -28,6 +28,12 @@ AltFunction_map = {
"PA13:JTMS-SWDIO" : 0, "PA13:JTMS-SWDIO" : 0,
"PA14:EVENTOUT" : 15, "PA14:EVENTOUT" : 15,
"PA14:JTCK-SWCLK" : 0, "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_MII_RX_CLK" : 11,
"PA1:ETH_RMII__REF_CLK" : 11, "PA1:ETH_RMII__REF_CLK" : 11,
"PA1:EVENTOUT" : 15, "PA1:EVENTOUT" : 15,