From aaec99ae316b4a43e3fe3881d1b3b3a054173cd4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 15 Aug 2023 19:48:46 +1000 Subject: [PATCH] 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 --- .../hwdef/HolybroG4_GPS/hwdef.dat | 42 ++++++------------- 1 file changed, 13 insertions(+), 29 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat index 984d61749a..226bb3d0f9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat @@ -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