From 9b99a0ce550f5b59eb3d0487d65e252fd188c506 Mon Sep 17 00:00:00 2001 From: ljwang Date: Tue, 6 Feb 2018 21:39:55 +1100 Subject: [PATCH] AP_HAL_ChibiOS: fixed mini-pix hwdef.dat --- .../AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat | 132 +++++++++++------- 1 file changed, 80 insertions(+), 52 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat index 9c9140950c..a11b088db1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat @@ -18,85 +18,113 @@ FLASH_SIZE_KB 1024 # board voltage STM32_VDD 330U -STDOUT_SERIAL SD1 -STDOUT_BAUDRATE 115200 +STDOUT_SERIAL SD2 +STDOUT_BAUDRATE 57600 # only one I2C bus -I2C_ORDER I2C1 +I2C_ORDER I2C1 I2C2 # order of UARTs (and USB) -UART_ORDER OTG1 USART1 +UART_ORDER OTG1 USART2 USART3 UART4 -# PB10 USART3_TX USART3 - -# PB14 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 - -PC3 VDD_5V_SENS ADC1 - -PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) -PC1 BATT_CURRENT_SENS ADC1 SCALE(1) - -# spi bus for IMU +# UART4 serial GPS +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT_CURRENT_SENS ADC1 SCALE(1) +PA4 VDD_5V_SENS ADC1 SCALE(2) +#SPI for MPU6500 PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 -PA9 USART1_TX USART1 -PA10 USART1_RX USART1 +PA9 VBUS INPUT OPENDRAIN -# PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 -PA13 JTMS-SWDIO SWD -PA14 JTCK-SWCLK SWD +#PA15 ALARM + +PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM +PB1 LED_RED OUTPUT GPIO(1) +PB2 BOOT1 INPUT + +PB5 VDD_BRICK_VALID INPUT PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 -PB5 LED_BLUE OUTPUT GPIO(0) -PB6 LED_YELLOW OUTPUT GPIO(1) +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 -PA4 MPU_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 -PC6 TIM8_CH1 TIM8 PWM(1) -PC7 TIM8_CH2 TIM8 PWM(2) -PC8 TIM8_CH3 TIM8 PWM(3) -PC9 TIM8_CH4 TIM8 PWM(4) +PC0 VBUS_VALID INPUT +PC1 RSSI_IN ADC1 +PC2 LPS22HB_CS CS +PC3 LED_SAFETY OUTPUT +PC4 SAFETY_IN INPUT +PC5 LED_GREEN OUTPUT GPIO(2) -define HAL_STORAGE_SIZE 8192 -define STORAGE_FLASH_PAGE 11 +PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 # also USART6_RX for serial RC +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PC12 SDIO_CK SDIO -FLASH_SIZE_KB 1024 +PC13 SBUS_INV OUTPUT +PC14 MPU6500_DRDY INPUT +PC15 MPU6500_CS CS -# reserve 16k for bootloader -FLASH_RESERVE_START_KB 16 +PD2 SDIO_CMD SDIO -# use empty storage for now -define HAL_USE_EMPTY_STORAGE +# USART2 serial2 telem2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI +# USART3 serial3 telem1 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD10 FRAM_CS CS +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 -define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843 -define HAL_COMPASS_HMC5843_I2C_BUS 1 -define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) -define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -define HAL_BARO_MS5611_I2C_BUS 0 -define HAL_BARO_MS5611_I2C_ADDR 0x77 +PD15 LPS22HB_DRDY INPUT + +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) # SPI devices -# mpu6500 on SPI -SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ -#SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ -# hmc5843 on spi? -#bus_type:I2C(1) bus:1 address:13 devtype:13(0xd) DEVTYPE_QMC5883L -#bus_type:I2C(1) bus:0 address:13 devtype:13(0xd) DEVTYPE_QMC5883L +SPIDEV mpu6000 SPI1 DEVID1 MPU6500_CS MODE3 1*MHZ 8*MHZ +SPIDEV lps22h SPI2 DEVID3 LPS22HB_CS MODE3 1*MHZ 10*MHZ +SPIDEV ramtron SPI2 DEVID4 FRAM_CS MODE3 8*MHZ 8*MHZ +define HAL_BARO_DEFAULT HAL_BARO_LPS22H_SPI -define OPTFLOW DISABLED +define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI +define HAL_COMPASS_DEFAULT HAL_COMPASS_QMC5883L -define STM32_USB_OTG1_IRQ_PRIORITY 14 -define STM32_USB_OTG1_RX_FIFO_SIZE 1024 -define STM32_USB_OTG_THREAD_PRIO 40 -define STM32_USB_OTG_THREAD_STACK_SIZE 256 -define STM32_USB_OTGFIFO_FILL_BASEPRI 0 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" + +define HAL_STORAGE_SIZE 16384 + +# enable RAMTROM parameter storage +define HAL_WITH_RAMTRON 1 + +# fallback to flash is no FRAM fitted +define STORAGE_FLASH_PAGE 22 + +# enable FAT filesystem +define HAL_OS_FATFS_IO 1