mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: update to plane3.9.0beta6
This commit is contained in:
Andrew Tridgell
Randy Mackay
parent
faa937e41d
commit
b2f4cccd52
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@ -78,11 +78,6 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
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}
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}
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int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return -1;
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}
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uint8_t GPIO::read(uint8_t pin)
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{
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@ -149,7 +144,7 @@ bool GPIO::_attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode)
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#ifdef GPIOH
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{ GPIOH, EXT_MODE_GPIOH },
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#endif
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#ifdef GPIOI
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#if defined(GPIOI) && defined(GPIOI_BASE)
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{ GPIOI, EXT_MODE_GPIOI },
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#endif
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};
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@ -31,7 +31,6 @@ public:
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GPIO();
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void init();
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void pinMode(uint8_t pin, uint8_t output);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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void toggle(uint8_t pin);
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@ -0,0 +1,45 @@
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# hw definition file for processing by chibios_hwdef.py
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# for f4by bootloader
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MCU STM32F4xx STM32F407xx
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APJ_BOARD_ID 20
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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# board voltage
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STM32_VDD 330U
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 1024
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART2
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PE3 LED_BOOTLOADER OUTPUT
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PE2 LED_ACTIVITY OUTPUT
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define HAL_LED_ON 1
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PA9 VBUS INPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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FLASH_USE_MAX_KB 16
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FLASH_RESERVE_START_KB 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# location of application code
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define FLASH_BOOTLOADER_LOAD_KB 16
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@ -5,7 +5,7 @@
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MCU STM32F4xx STM32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 129
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APJ_BOARD_ID 20
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_F4BY
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# USB setup
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@ -123,6 +123,8 @@ define HAL_BARO_MS5611_I2C_BUS 0
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define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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define HAL_COMPASS_HMC5843_I2C_BUS 0
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define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_EXT_COMPASS_HMC5843_I2C_BUS 1
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@ -0,0 +1,48 @@
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# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteF7 bootloader
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 123
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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define STM32_LSECLK 32768U
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define STM32_LSEDRV (3U << 3U)
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define STM32_PLLSRC STM32_PLLSRC_HSE
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define STM32_PLLM_VALUE 8
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define STM32_PLLN_VALUE 432
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define STM32_PLLP_VALUE 2
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define STM32_PLLQ_VALUE 9
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FLASH_SIZE_KB 1024
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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define FLASH_BOOTLOADER_LOAD_KB 96
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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UART_ORDER OTG1
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PA2 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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@ -0,0 +1,137 @@
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# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteF7 hardware.
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@ thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 123
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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define STM32_LSECLK 32768U
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define STM32_LSEDRV (3U << 3U)
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define STM32_PLLSRC STM32_PLLSRC_HSE
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define STM32_PLLM_VALUE 8
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define STM32_PLLN_VALUE 432
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define STM32_PLLP_VALUE 2
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define STM32_PLLQ_VALUE 9
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FLASH_SIZE_KB 1024
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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# board voltage
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STM32_VDD 330U
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
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UART_ORDER OTG1 USART3 USART1 USART2 UART4
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PA2 LED0 OUTPUT LOW
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# SPI1 for SDCard
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PA4 SDCARD_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4 for ICM20689
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PE4 ICM20689_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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PC5 RSSI_ADC ADC1
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS)
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# UART4 (GPS2)
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# UART6, RX only, for RCIN
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PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
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# UART7 USED BY ESC FROM ORIGINAL DESIGN
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#PE7 UART7_RX UART7
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PB0 TIM3_CH3 TIM3 PWM(1)
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PB1 TIM3_CH4 TIM3 PWM(2)
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PE9 TIM1_CH1 TIM1 PWM(3)
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PE11 TIM1_CH2 TIM1 PWM(4)
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DMA_PRIORITY S*
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
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SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
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define HAL_BARO_BMP280_BUS 0
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define HAL_BARO_BMP280_I2C_ADDR 0x76
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# probe for an invensense IMU
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define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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# setup for OSD
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define OSD_ENABLED ENABLED
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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