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Add Software CAN Terminiation Support to Holybro CAN Products

This commit is contained in:
Vincent Poon 2024-12-16 18:26:14 +08:00
parent eaf20db6ea
commit 8973534ab2
17 changed files with 5362 additions and 1304 deletions
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Tools/bootloaders/HolybroF4_PMU_bl.bin generated
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libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef-bl.dat
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@ -33,6 +33,7 @@ PC11 USART3_RX USART3
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_USE_CAN TRUE define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE define STM32_CAN_USE_CAN1 TRUE

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libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef.dat
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@ -61,6 +61,7 @@ env ROMFS_UNCOMPRESSED True
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
# use DNA for node allocation # use DNA for node allocation

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libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef-bl.dat
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@ -74,6 +74,7 @@ define HAL_DISABLE_LOOP_DELAY
PB12 CAN2_RX CAN2 PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 PB13 CAN2_TX CAN2
PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
# make bl baudrate match debug baudrate for easier debugging # make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600 define BOOTLOADER_BAUDRATE 57600

1
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef.dat
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@ -75,6 +75,7 @@ define HAL_DISABLE_LOOP_DELAY
PB12 CAN2_RX CAN2 PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 PB13 CAN2_TX CAN2
PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
define HAL_NO_MONITOR_THREAD define HAL_NO_MONITOR_THREAD

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libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef-bl.dat
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@ -64,6 +64,7 @@ define DMA_RESERVE_SIZE 0
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
# make bl baudrate match debug baudrate for easier debugging # make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600 define BOOTLOADER_BAUDRATE 57600

1
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
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@ -80,6 +80,7 @@ define DMA_RESERVE_SIZE 0
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
define HAL_DEVICE_THREAD_STACK 768 define HAL_DEVICE_THREAD_STACK 768

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libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef-bl.dat
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@ -64,10 +64,12 @@ define DMA_RESERVE_SIZE 0
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
PB12 CAN2_RX CAN2 PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 PB13 CAN2_TX CAN2
PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB9 GPIO_CAN2_TERM OUTPUT PUSHPULL SPEED_LOW LOW
# make bl baudrate match debug baudrate for easier debugging # make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600 define BOOTLOADER_BAUDRATE 57600

2
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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@ -110,10 +110,12 @@ define DMA_RESERVE_SIZE 0
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
PB12 CAN2_RX CAN2 PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 PB13 CAN2_TX CAN2
PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB9 GPIO_CAN2_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
define HAL_DEVICE_THREAD_STACK 768 define HAL_DEVICE_THREAD_STACK 768