From 91aa49ba6f186795fc352df5035dcb9e532b68e6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 30 May 2019 12:32:51 +1000 Subject: [PATCH] HAL_ChibiOS: convert matek boards --- .../AP_HAL_ChibiOS/hwdef/MatekF405-STD/hwdef.dat | 5 +++-- .../AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat | 10 ++++------ libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat | 11 +++++------ 3 files changed, 12 insertions(+), 14 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-STD/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-STD/hwdef.dat index 05ecc0d7e2..48b1c5fa0b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-STD/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-STD/hwdef.dat @@ -2,5 +2,6 @@ include ../MatekF405/hwdef.dat -undef HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 +# different IMU orientation +undef IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat index 60aba4669b..a154ba52e0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat @@ -145,13 +145,11 @@ SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ # SD Card on SPI SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ -# Baro on I2C -define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C -define HAL_BARO_BMP280_BUS 0 -define HAL_BARO_BMP280_I2C_ADDR 0x76 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_180 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 +# one baro +BARO BMP280 I2C:0:0x76 define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat index c06fb581f5..249b3f7654 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat @@ -133,8 +133,11 @@ define STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_180 + +# one baro +BARO BMP280 I2C:0:0x76 # no built-in compass, but probe the i2c bus for all possible # external compass types @@ -144,10 +147,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 -define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C -define HAL_BARO_BMP280_BUS 0 -define HAL_BARO_BMP280_I2C_ADDR 0x76 - # SPI devices SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ