From a357d14f4b98da9c8415312c35d9fcd0a3cfb3b5 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 20 Jun 2023 20:36:07 +0100 Subject: [PATCH] AP_HAL_ChibiOS: Pixhawk6X bdshot version --- .../hwdef/Pixhawk6X-bdshot/hwdef-bl.dat | 1 + .../hwdef/Pixhawk6X-bdshot/hwdef.dat | 16 ++++++++++++++++ .../param/CUAV_V6X_defaults.parm | 3 +++ 3 files changed, 20 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/param/CUAV_V6X_defaults.parm diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef-bl.dat new file mode 100644 index 0000000000..52a1d92f03 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef-bl.dat @@ -0,0 +1 @@ +include ../Pixhawk6X/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef.dat new file mode 100644 index 0000000000..3287caaa16 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/hwdef.dat @@ -0,0 +1,16 @@ +# hw definition file for processing by chibios_hwdef.py +# for the Pixhawk V6X hardware bdshot version + +include ../Pixhawk6X/hwdef.dat + +undef PI0 PH12 PH11 PH10 PD13 PD14 + +# PWM output pins +PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR +PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) +PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR +PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR + +DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART* diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/param/CUAV_V6X_defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/param/CUAV_V6X_defaults.parm new file mode 100644 index 0000000000..1d631c5328 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-bdshot/param/CUAV_V6X_defaults.parm @@ -0,0 +1,3 @@ +BATT_MONITOR=8 +CAN_P1_DRIVER=1 +CAN_P2_DRIVER=1