From 7db0c387cc1b4cd27d33de775d794545e2b00262 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 15 Apr 2023 20:26:38 +0100 Subject: [PATCH] AP_HAL_ChibiOS: update MambaF405v2 for ICM42688, bdshot and DMA on UART1 --- .../AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat index 2aec5f7886..cad7351eb1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat @@ -36,17 +36,17 @@ PC5 VBUS INPUT OPENDRAIN # USART1 is wired to SBUS and PPM input # RC input defaults to timer capture PA10 TIM1_CH3 TIM1 RCININT PULLDOWN -PA9 USART1_TX USART1 NODMA +PA9 USART1_TX USART1 # Alt config to allow RCIN on UART -PA10 USART1_RX USART1 NODMA ALT(1) +PA10 USART1_RX USART1 ALT(1) # SBUS inversion control pin, active high PC0 USART1_RXINV OUTPUT LOW GPIO(78) POL(1) # USART3 PB10 USART3_TX USART3 -PB11 USART3_RX USART3 +PB11 USART3_RX USART3 NODMA # USART6 PC6 USART6_TX USART6 @@ -64,8 +64,8 @@ PC3 BAT_CURR_SENS ADC1 SCALE(1) # PWM output. 1 - 4 on ESC header PA3 TIM2_CH4 TIM2 PWM(1) GPIO(50) PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51) -PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) -PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) +PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR +PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR # Board LEDs PB5 LED_BLUE OUTPUT LOW GPIO(1) @@ -108,16 +108,19 @@ PB3 FLASH_CS CS # SPI Device table SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ # One IMU rotated in yaw IMU Invensense SPI:mpu6000 ROTATION_YAW_90 +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180 -# Probe for I2C BMP280 only +# Probe for I2C BMP280 BARO BMP280 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_BMP280_ENABLED 1 +define HAL_BARO_ALLOW_INIT_NO_BARO 1 # no built-in compass, but probe the i2c bus for all possible # external compass types