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AP_HAL: added FMUv4 port for ChibiOS

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This commit is contained in:
Andrew Tridgell 2018-01-10 21:33:57 +11:00
parent c3435e45c5
commit c7fd455f6a
2 changed files with 41 additions and 0 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -62,6 +62,7 @@
/* HAL CHIBIOS sub-types, starting at 5000 */ /* HAL CHIBIOS sub-types, starting at 5000 */
#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000 #define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001 #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
/* InertialSensor driver types */ /* InertialSensor driver types */
#define HAL_INS_MPU60XX_SPI 2 #define HAL_INS_MPU60XX_SPI 2

40
libraries/AP_HAL/board/chibios.h
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@ -73,6 +73,20 @@
// enable FAT filesystem // enable FAT filesystem
#define HAL_OS_FATFS_IO 1 #define HAL_OS_FATFS_IO 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
#define HAL_CHIBIOS_ARCH_FMUV4 1
#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
#define STORAGE_FLASH_PAGE 22
#define HAL_STORAGE_SIZE 16384
// enable RAMTROM parameter storage
#define HAL_WITH_RAMTRON 1
// enable FAT filesystem
#define HAL_OS_FATFS_IO 1
#endif // CONFIG_HAL_BOARD_SUBTYPE #endif // CONFIG_HAL_BOARD_SUBTYPE
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE #define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
@ -84,3 +98,29 @@
#ifndef HAL_WITH_RAMTRON #ifndef HAL_WITH_RAMTRON
#define HAL_WITH_RAMTRON 0 #define HAL_WITH_RAMTRON 0
#endif #endif
/* string names for well known SPI devices */
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
#define HAL_INS_MPU60x0_NAME "mpu6000"
#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
#define HAL_INS_MPU6500_NAME "mpu6500"
#define HAL_INS_ICM20608_NAME "icm20608"
#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
#define HAL_COMPASS_HMC5843_NAME "hmc5843"
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"