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hwdef: removed baro from HolybroG4_GPS 

not included in production versions, and baro is not generally a good
idea on a GPS due to impact of airflow

also disable unused IMU, SPI bus and 2nd I2C and re-enable 2nd CAN as
helical units have dual CAN
This commit is contained in:
Andrew Tridgell 2023-08-15 19:48:46 +10:00
parent 95c13faac2
commit aaec99ae31
1 changed files with 13 additions and 29 deletions
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42
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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@ -67,43 +67,31 @@ PA14 JTCK-SWCLK SWD
PB7 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1
# I2C2 bus
PA8 I2C2_SDA I2C2
PA9 I2C2_SCL I2C2
# I2C2 bus (unused)
#PA8 I2C2_SDA I2C2
#PA9 I2C2_SCL I2C2
define HAL_I2C_INTERNAL_MASK 3
# I2C buses
I2C_ORDER I2C1 I2C2
I2C_ORDER I2C1
# one SPI bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# one SPI bus (for IMU, unused)
#PA5 SPI1_SCK SPI1
#PA6 SPI1_MISO SPI1
#PA7 SPI1_MOSI SPI1
# SPI CS
PC4 GYR_CS CS
PB1 ACC_CS CS
PC14 ICM_CS CS
PC14 ICM_CS CS
# GPS PPS
PA15 GPS_PPS_IN INPUT
# SPI devices
SPIDEV bmi088_a SPI1 DEVID1 ACC_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_g SPI1 DEVID2 GYR_CS MODE3 10*MHZ 10*MHZ
# compass
COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90
# baro
BARO BMP388 I2C:0:0x77
# IMU
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_BARO_ALLOW_INIT_NO_BARO
define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
@ -126,9 +114,9 @@ PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
#PB12 CAN2_RX CAN2
#PB13 CAN2_TX CAN2
#PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define CAN_APP_NODE_NAME "org.ardupilot.HolybroG4_GPS"
@ -150,16 +138,12 @@ DMA_NOSHARE USART3*
# add support for moving baseline yaw
define GPS_MOVING_BASELINE 1
# GPS+MAG+BARO+LEDs
# GPS+MAG+LEDs
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_RC_OUT
# single baro
define BARO_MAX_INSTANCES 1
# GPS on 2nd port
define HAL_PERIPH_GPS_PORT_DEFAULT 1