From d348ffbff930618783133518dda7480a5d804a82 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Tue, 17 Sep 2024 15:26:53 +1000 Subject: [PATCH] AP_HAL_ChibiOS: add support for driving profileds via safety pins --- libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat | 4 +++- libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat | 5 +++-- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc | 6 ++++-- libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat | 5 +++-- 4 files changed, 13 insertions(+), 7 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat index 39c7cfa10d..851814d808 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat @@ -19,4 +19,6 @@ IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensense SPI:mpu9250 ROTATION_YAW_270 undef ROMFS -ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_cube_highpolh.bin + +define AP_IOMCU_PROFILED_SUPPORT_ENABLED 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat index cccd5a28e0..04aa6bf20f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat @@ -102,8 +102,9 @@ define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 # default the 2nd interface to SLCAN define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN -ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin -ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin +ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_cube_highpolh.bin +define AP_IOMCU_PROFILED_SUPPORT_ENABLED 1 # enable support for dshot on iomcu define HAL_WITH_IO_MCU_DSHOT 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc index f7d85e8082..b34eb0a9fa 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc @@ -296,12 +296,14 @@ define HAL_GPIO_PWM_VOLT_3v3 1 # we can automatically update the IOMCU firmware on boot. The format # is "ROMFS ROMFS-filename source-filename". Paths are relative to the # ardupilot root. -ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_cube_highpolh.bin # enable support for dshot on iomcu -ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin +ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin define HAL_WITH_IO_MCU_DSHOT 1 +define AP_IOMCU_PROFILED_SUPPORT_ENABLED 1 + DMA_NOSHARE SPI1* SPI4* USART6* # for users who have replaced their CubeSolo with a CubeOrange: diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat index 55ac0d221d..2c32d68135 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat @@ -445,9 +445,10 @@ STORAGE_FLASH_PAGE 1 # we can automatically update the IOMCU firmware on boot. The format # is "ROMFS ROMFS-filename source-filename". Paths are relative to the # ardupilot root -ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_cube_highpolh.bin # enable support for dshot on iomcu -ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin +ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin define HAL_WITH_IO_MCU_DSHOT 1 +define AP_IOMCU_PROFILED_SUPPORT_ENABLED 1