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AP_HAL_ChibiOS: luminousbee5 hwdefs and default.parm update 

fix: restored storage folders for luminousbee5 in hwdef
This commit is contained in:
Davide_Lentini 2023-08-11 12:12:17 +02:00 committed by Randy Mackay
parent a61ad60c86
commit 9d586b077a
3 changed files with 285 additions and 39 deletions
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211
libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm Normal file
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@ -0,0 +1,211 @@
AHRS_GPS_USE,2
AHRS_ORIENTATION,6
ANGLE_MAX,4500
ARMING_CHECK,13822
ATC_ACCEL_P_MAX,200000
ATC_ACCEL_R_MAX,200000
ATC_ACCEL_Y_MAX,50000
ATC_ANG_PIT_P,18
ATC_ANG_RLL_P,18
ATC_ANG_YAW_P,10
ATC_RAT_PIT_D,0.003
ATC_RAT_PIT_FLTD,50
ATC_RAT_PIT_FLTT,25
ATC_RAT_PIT_I,0.14
ATC_RAT_PIT_P,0.14
ATC_RAT_RLL_D,0.003
ATC_RAT_RLL_FLTD,50
ATC_RAT_RLL_FLTT,25
ATC_RAT_RLL_I,0.14
ATC_RAT_RLL_P,0.14
ATC_RAT_YAW_D,0
ATC_RAT_YAW_FLTD,50
ATC_RAT_YAW_FLTE,3.7
ATC_RAT_YAW_FLTT,25
ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_P,0.5
AUTOTUNE_AGGR,0.075
AUTOTUNE_MIN_D,0.0003
AVOID_ENABLE,0
BATT_AMP_OFFSET,0
BATT_AMP_PERVLT,4.6135
BATT_ARM_MAH,0
BATT_ARM_VOLT,7.2
BATT_CAPACITY,3400
BATT_CRT_MAH,0
BATT_CRT_VOLT,6
BATT_CURR_PIN,15
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
BATT_FS_VOLTSRC,0
BATT_LOW_MAH,0
BATT_LOW_TIMER,10
BATT_LOW_VOLT,6.2
BATT_MONITOR,4
BATT_OPTIONS,0
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,3.28
BATT_VOLT_PIN,14
BRD_SAFETYENABLE,0
BRD_SAFETYOPTION,0
CAN_D1_PROTOCOL,0
CAN_D2_PROTOCOL,0
COMPASS_AUTODEC,1
COMPASS_EXTERNAL,1
COMPASS_ORIENT,12
COMPASS_TYPEMASK,510846
COMPASS_USE2,0
COMPASS_USE3,0
COMPASS_CAL_FIT,16
DISARM_DELAY,10
EK3_IMU_MASK,1
EK3_POSNE_M_NSE,0.1
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,3
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC3_POSZ,1
EK3_ALT_M_NSE,2
ESC_CALIBRATION,9
FLTMODE3,2
FLTMODE4,2
FLTMODE5,5
FLTMODE6,5
FRAME_CLASS,1
FRSKY_DNLINK1_ID,-1
FRSKY_DNLINK2_ID,-1
FRSKY_DNLINK_ID,-1
FRSKY_UPLINK_ID,-1
FS_OPTIONS,20
FS_THR_ENABLE,0
FS_VIBE_ENABLE,0
GND_EFFECT_COMP,0
GPS_AUTO_SWITCH,0
GPS_GNSS_MODE,0
GPS_RATE_MS,140
GPS_SBAS_MODE,0
GPS_TYPE,2
INS_ACC_BODYFIX,1
INS_ACCEL_FILTER,10
INS_ENABLE_MASK,1
INS_FAST_SAMPLE,1
INS_GYRO_FILTER,80
INS_GYRO_RATE,2
INS_HNTC2_ATT,16
INS_HNTC2_BW,50
INS_HNTC2_ENABLE,0
INS_HNTC2_FREQ,103
INS_HNTC2_HMNCS,1
INS_HNTC2_MODE,0
INS_HNTC2_OPTS,0
INS_HNTC2_REF,0
INS_HNTCH_ATT,40
INS_HNTCH_BW,10
INS_HNTCH_ENABLE,1
INS_HNTCH_FREQ,50
INS_HNTCH_HMNCS,22
INS_HNTCH_MODE,3
INS_HNTCH_OPTS,22
INS_HNTCH_REF,1
INS_LOG_BAT_CNT,32
INS_LOG_BAT_OPT,2
LAND_ALT_LOW,500
LAND_SPEED,80
LAND_SPEED_HIGH,300
LOG_BITMASK,141310
LOG_FILE_DSRMROT,1
LOIT_SPEED,2000
MOT_BAT_VOLT_MAX,7.56
MOT_BAT_VOLT_MIN,5.2
MOT_HOVER_LEARN,1
MOT_PWM_MAX,2000
MOT_PWM_MIN,1000
MOT_PWM_TYPE,6
MOT_SPIN_ARM,0.05
MOT_SPIN_MIN,0.16
MOT_THST_EXPO,0.55
MOT_THST_HOVER,0.47
NTF_BUZZ_TYPES,1
NTF_LED_BRIGHT,1
NTF_LED_TYPES,1
PSC_ACCZ_I,0.94
PSC_ACCZ_P,0.47
PSC_JERK_XY,6
PSC_JERK_Z,6
PSC_POSZ_P,1
RC1_MAX,1900
RC1_MIN,1100
RC2_MAX,1900
RC2_MIN,1100
RC3_MAX,1900
RC3_MIN,1100
RC4_MAX,1900
RC4_MIN,1100
RC6_OPTION,5
RC_PROTOCOLS,0
RELAY_PIN,-1
RELAY_PIN2,-1
RTL_ALT,1500
SCHED_LOOP_RATE,800
SERIAL1_BAUD,921
SERIAL1_PROTOCOL,2
SERIAL2_OPTIONS,8
SERIAL2_PROTOCOL,2
SERIAL4_BAUD,115
SERIAL4_PROTOCOL,16
SERIAL5_BAUD,921
SERIAL5_PROTOCOL,-1
SERIAL6_BAUD,921
SERIAL6_PROTOCOL,-1
SERVO1_FUNCTION,33
SERVO1_MAX,2000
SERVO1_MIN,1000
SERVO1_TRIM,1500
SERVO2_FUNCTION,34
SERVO2_MAX,2000
SERVO2_MIN,1000
SERVO2_TRIM,1500
SERVO3_FUNCTION,35
SERVO3_MAX,2000
SERVO3_MIN,1000
SERVO3_TRIM,1500
SERVO4_FUNCTION,36
SERVO4_MAX,2000
SERVO4_MIN,1000
SERVO4_TRIM,1500
SERVO_BLH_AUTO,1
SERVO_BLH_BDMASK,15
SERVO_BLH_POLES,12
SERVO_BLH_TRATE,0
SERVO_DSHOT_ESC,1
SERVO_DSHOT_RATE,2
SHOW_CTRL_MODE,1
SHOW_CTRL_RATE,10
SHOW_GROUP,0
SHOW_LED0_CHAN,1
SHOW_LED0_COUNT,100
SHOW_LED0_GAMMA,2.2
SHOW_LED0_TYPE,1
SHOW_MAX_XY_ERR,3
SHOW_MODE_BOOT,2
SHOW_PRE_LIGHTS,2
SHOW_START_AUTH,0
SHOW_SYNC_MODE,1
SHOW_TAKEOFF_ALT,2.5
SHOW_VEL_FF_GAIN,1
SR1_EXT_STAT,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_POSITION,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
SRTL_POINTS,0
TERRAIN_ENABLE,0
WP_YAW_BEHAVIOR,0
WPNAV_ACCEL,300
WPNAV_ACCEL_Z,300
WPNAV_JERK,6
WPNAV_SPEED,1000
WPNAV_SPEED_DN,300
WPNAV_SPEED_UP,300

17
libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat
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@ -1,5 +1,8 @@
# LUMINOUS BEE 5.1
# LUMINOUS BEE 5.32/5.4
# hw definition file for processing by chibios_hwdef.py
#define new bootloader baudrate
define BOOTLOADER_BAUDRATE 921600
# MCU class and specific type
MCU STM32H7xx STM32H743xx
@ -26,7 +29,13 @@ I2C_ORDER I2C1
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs (and USB) for bootloading
SERIAL_ORDER OTG1 UART7
SERIAL_ORDER USART2 OTG1
# USART2 serial2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# UART7 is debug
PE7 UART7_RX UART7 NODMA
@ -41,11 +50,11 @@ PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# CS lines
PB4 UWB_CS CS
#PB4 UWB_CS CS
PC2 BMI088_ACCEL_CS CS
PC15 BMI088_GYRO_CS CS
PD7 BARO_CS CS
PE15 MAG_CS CS
PB11 LED_BOOTLOADER OUTPUT
define HAL_LED_ON 0
define HAL_LED_ON 0

96
libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat
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@ -1,6 +1,10 @@
# LUMINOUS BEE 5.1
#42605 AND 42688 TOGETHER
# With suggestions by Andy
# LUMINOUS BEE 5.32/5.4 bidirectional telemetry
# hw definition file for processing by chibios_hwdef.py
MCU_CLOCKRATE_MHZ 480
# MCU class and specific type
MCU STM32H7xx STM32H743xx
@ -18,10 +22,16 @@ env OPTIMIZE -O2
FLASH_RESERVE_START_KB 128
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
define HAL_STORAGE_SIZE 16384
# only one I2C bus
I2C_ORDER I2C1
NODMA I2C*
define STM32_I2C_USE_DMA FALSE
define HAL_I2C_INTERNAL_MASK 0
@ -42,6 +52,9 @@ PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# optional baro2
PA8 BARO2_CS CS
# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT #OPENDRAIN
@ -62,21 +75,21 @@ PB2 BOOT1 INPUT
PB5 VDD_BRICK_VALID INPUT PULLDOWN
# USART1 TX now as led strip control
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
# PB6 USART1_TX USART1
PB7 USART1_RX USART1
# UWB DW1000
PB4 UWB_CS CS
#PB4 UWB_CS CS
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
#PB12 CAN2_RX CAN2
#PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
@ -84,13 +97,15 @@ PB15 SPI2_MOSI SPI2
PC0 VBUS_VALID INPUT PULLDOWN
#BMI088 CS
PC2 BMI088_ACCEL_CS CS
PC15 BMI088_GYRO_CS CS
#PC2 BMI088_ACCEL_CS CS #opt. second imu
#PC15 BMI088_GYRO_CS CS #opt. second imu
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC5 VDD_PERIPH_EN OUTPUT HIGH
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial
# Now setup the pins for the microSD card, if available.
PC8 SDMMC1_D0 SDMMC1
@ -101,14 +116,15 @@ PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
PC13 SBUS_INV OUTPUT
#PC13 SBUS_INV OUTPUT
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
#PD0 CAN1_RX CAN1
#PD1 CAN1_TX CAN1
# USART2 serial2 telem1
# USART2 serial1 telem1
PD3 IMU_CS CS # ex usart2 RTS
PD5 USART2_TX USART2
PD6 USART2_RX USART2
@ -116,7 +132,7 @@ PD6 USART2_RX USART2
PD7 BARO_CS CS
# USART3 serial3 telem2
# USART3 serial2 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
@ -127,35 +143,40 @@ PD12 USART3_RTS USART3
PD10 FRAM_CS CS SPEED_VERYLOW
PD15 20608_DRDY INPUT # IMU Luminous Bee
# UART8 serial4 FrSky
#PD15 20608_DRDY INPUT # IMU Luminous Bee
# CROSSFIRE RX
PE0 UART8_RX UART8
# CROSSFIRE TX
PE1 UART8_TX UART8
#set up SPI bus4 for UWB
#set up SPI bus4
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
DMA_NOSHARE for SPI4* #ANDY
PE3 VDD_SENSORS_EN OUTPUT HIGH
PE4 SPEKTRUM_PWR OUTPUT HIGH
# UART7 is debug
#PE3 VDD_SENSORS_EN OUTPUT HIGH
#PE4 SPEKTRUM_PWR OUTPUT HIGH
# UART7 FOR REMOTE ID OPTIONS
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50
PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) BIDIR #50
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
DMA_PRIORITY TIM1_UP TIM1_CH4 TIM1_CH2
PE12 MAG_DRDY INPUT
#PE12 MAG_DRDY INPUT
PE15 MAG_CS CS
# SPI device table. The DEVID values are chosen to match the PX4 port
@ -165,13 +186,12 @@ PE15 MAG_CS CS
SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
#SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
#SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
#SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
SPIDEV icm42605 SPI4 DEVID4 IMU_CS MODE3 2*MHZ 16*MHZ
SPIDEV icm42688 SPI4 DEVID4 IMU_CS MODE3 2*MHZ 16*MHZ
define HAL_STORAGE_SIZE 16384
@ -179,7 +199,7 @@ define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1
# fallback to flash is no FRAM fitted
#STORAGE_FLASH_PAGE 22
#define STORAGE_FLASH_PAGE 22
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
@ -202,16 +222,22 @@ define HAL_GPIO_C_LED_PIN 2
# battery setup
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
define HAL_BATT_VOLT_SCALE 3.28
define HAL_BATT_CURR_SCALE 3.06
# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define HAL_SERIAL5_BAUD 921600
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define DEFAULT_SERIAL5_BAUD 921600
# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 7
# two IMUs
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
IMU Invensensev3 SPI:icm42605 ROTATION_NONE
IMU Invensensev3 SPI:icm42688 ROTATION_NONE
#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# 2 compasses. R15 has LIS3MDL instead of HMC5843
@ -222,5 +248,5 @@ COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# TWO barometer
# ONE barometer
BARO DPS280 SPI:dps310