From e705f78b5e432a1c0e64f83be013e530c4962330 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 2 Sep 2021 18:28:21 +0100 Subject: [PATCH] AP_HAL_ChibiOS: correct and compact Pixhawk4-bdshot build --- .../hwdef/Pixhawk4-bdshot/hwdef-bl.dat | 1 + .../hwdef/Pixhawk4-bdshot/hwdef.dat | 13 +- .../hwdef/fmuv5-bdshot/hwdef.dat | 319 ------------------ 3 files changed, 8 insertions(+), 325 deletions(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef-bl.dat delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/fmuv5-bdshot/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef-bl.dat new file mode 100644 index 0000000000..63203ba765 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef-bl.dat @@ -0,0 +1 @@ +include ../Pixhawk4/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef.dat index 3f6a4901dd..bdc09e9e18 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4-bdshot/hwdef.dat @@ -1,11 +1,12 @@ # hw definition file for processing by chibios_hwdef.py # for Holybro Pixhawk4 hardware. -include ../fmuv5-bdshot/hwdef.dat +include ../Pixhawk4/hwdef.dat -# setup for supplied power brick -undef HAL_BATT_VOLT_SCALE -define HAL_BATT_VOLT_SCALE 18.182 -undef HAL_BATT_CURR_SCALE -define HAL_BATT_CURR_SCALE 36.364 +undef PA10 PE11 +# This gives bi-dir dshot on the first four channels and regular dshot on the next two +PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR + +DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM* diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5-bdshot/hwdef.dat deleted file mode 100644 index 9d9e9cfe37..0000000000 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5-bdshot/hwdef.dat +++ /dev/null @@ -1,319 +0,0 @@ -# hw definition file for processing by chibios_hwdef.py -# for FMUv5 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4) - -# MCU class and specific type. It is a F765, which is the same as F767 -# but without the TFT interface -MCU STM32F7xx STM32F767xx - -# crystal frequency -OSCILLATOR_HZ 16000000 - -define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 -define HAL_CHIBIOS_ARCH_FMUV5 1 - -# board ID for firmware load -APJ_BOARD_ID 50 - -FLASH_RESERVE_START_KB 32 - - -# flash size -FLASH_SIZE_KB 2048 - -env OPTIMIZE -O2 - -# order of UARTs (and USB) -SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7 OTG2 - -# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers -define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 - -# now we define the pins that USB is connected on -PA11 OTG_FS_DM OTG1 -PA12 OTG_FS_DP OTG1 - -# these are the pins for SWD debugging with a STlinkv2 or black-magic probe -PA13 JTMS-SWDIO SWD -PA14 JTCK-SWCLK SWD - -# SPI1 - internal sensors -PG11 SPI1_SCK SPI1 -PA6 SPI1_MISO SPI1 -PD7 SPI1_MOSI SPI1 - -# SPI2 - FRAM -PI1 SPI2_SCK SPI2 -PI2 SPI2_MISO SPI2 -PI3 SPI2_MOSI SPI2 - -# SPI4 - sensors2 -PE2 SPI4_SCK SPI4 -PE13 SPI4_MISO SPI4 -PE6 SPI4_MOSI SPI4 - -# SPI5 - external1 (disabled to save DMA channels) -# PF7 SPI5_SCK SPI5 -# PF8 SPI5_MISO SPI5 -# PF9 SPI5_MOSI SPI5 - -# SPI6 - external2 (disabled to save DMA channels) -# PG13 SPI6_SCK SPI6 -# PG12 SPI6_MISO SPI6 -# PB5 SPI6_MOSI SPI6 - -# sensor CS -PF10 MS5611_CS CS -PF2 ICM20689_CS CS SPEED_VERYLOW -PF3 ICM20602_CS CS SPEED_VERYLOW -PF4 BMI055_G_CS CS -PG10 BMI055_A_CS CS -PF5 FRAM_CS CS SPEED_VERYLOW - -# unusued CS pins -PF11 SPARE_CS CS -PH5 AUXMEM_CS CS -PI4 EXTERNAL1_CS1 CS -PI10 EXTERNAL1_CS2 CS -PI11 EXTERNAL1_CS3 CS -PI6 EXTERNAL2_CS1 CS -PI7 EXTERNAL2_CS2 CS -PI8 EXTERNAL2_CS3 CS - -# I2C buses - -PB8 I2C1_SCL I2C1 -PB9 I2C1_SDA I2C1 - -PF1 I2C2_SCL I2C2 -PF0 I2C2_SDA I2C2 - -PH7 I2C3_SCL I2C3 -PH8 I2C3_SDA I2C3 - -PF14 I2C4_SCL I2C4 -PF15 I2C4_SDA I2C4 - -# order of I2C buses -I2C_ORDER I2C3 I2C1 I2C2 I2C4 - - -# enable pins -PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH - -# start peripheral power off, then enable after init -# this prevents a problem with radios that use RTS for -# bootloader hold -PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH -PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH - -PG5 VDD_5V_RC_EN OUTPUT HIGH -PG6 VDD_5V_WIFI_EN OUTPUT HIGH -PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH - -# drdy pins -PE7 DRDY8_NC INPUT -PB4 DRDY1_ICM20689 INPUT -PB14 DRDY2_BMI055_GYRO INPUT -PB15 DRDY3_BMI055_ACC INPUT -PC5 DRDY4_ICM20602 INPUT -PC13 DRDY5_BMI055_GYRO INPUT -PD10 DRDY6_BMI055_ACC INPUT -PD15 DRDY7_EXTERNAL1 INPUT - -# Control of Spektrum power pin -PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) -define HAL_GPIO_SPEKTRUM_PWR 73 - -# Spektrum Power is Active High -define HAL_SPEKTRUM_PWR_ENABLED 1 - -# UARTs - -# USART2 is telem1 -PD6 USART2_RX USART2 -PD5 USART2_TX USART2 -PD3 USART2_CTS USART2 -PD4 USART2_RTS USART2 - -# USART1 is GPS1 -PB7 USART1_RX USART1 NODMA -PB6 USART1_TX USART1 NODMA - -# USART3 is telem2 -PD9 USART3_RX USART3 -PD8 USART3_TX USART3 -PD11 USART3_CTS USART3 -PD12 USART3_RTS USART3 - -# UART4 GPS2 -PD0 UART4_RX UART4 NODMA -PD1 UART4_TX UART4 NODMA - -# USART6 is telem3 -PG9 USART6_RX USART6 NODMA -# we leave PG14 as an input to prevent it acting as a pullup -# on the IOMCU SBUS input -# PG14 USART6_TX USART6 NODMA -PG15 USART6_CTS USART6 -PG8 USART6_RTS USART6 - -# UART7 is debug -PF6 UART7_RX UART7 NODMA -PE8 UART7_TX UART7 NODMA - -# UART8 is for IOMCU -PE0 UART8_RX UART8 -PE1 UART8_TX UART8 - -# UART for IOMCU -IOMCU_UART UART8 - -# PWM AUX channels -PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) -PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR -PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR -PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) -PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) NODMA -PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) NODMA -# we need to disable DMA on the last 2 FMU channels -# as timer 12 doesn't have a TIMn_UP DMA option -PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA -PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA - -# PWM output for buzzer -PE5 TIM9_CH1 TIM9 GPIO(77) ALARM - -# analog in -PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) -PA1 BATT_CURRENT_SENS ADC1 SCALE(1) - -PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1) -PA3 BATT2_CURRENT_SENS ADC1 SCALE(1) - -PC4 SPARE1_ADC1 ADC1 SCALE(1) -PA4 SPARE2_ADC1 ADC1 SCALE(1) - -PB0 RSSI_IN ADC1 SCALE(1) - -#PC3 HW_REV_SENS ADC1 SCALE(1) -#PC2 HW_VER_SENS ADC1 SCALE(1) - -PC0 VDD_5V_SENS ADC1 SCALE(2) -PC1 SCALED_V3V3 ADC1 SCALE(2) - -# setup scaling defaults for PixHackV5 power brick -define HAL_BATT_VOLT_SCALE 18.0 -define HAL_BATT_CURR_SCALE 24.0 -define HAL_BATT_VOLT_PIN 0 -define HAL_BATT_CURR_PIN 1 -define HAL_BATT2_VOLT_PIN 2 -define HAL_BATT2_CURR_PIN 3 - -# CAN bus -PI9 CAN1_RX CAN1 -PH13 CAN1_TX CAN1 - -PB12 CAN2_RX CAN2 -PB13 CAN2_TX CAN2 - -PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) -PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) -PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) - -# GPIOs -PA7 HEATER_EN OUTPUT LOW GPIO(80) -define HAL_HEATER_GPIO_PIN 80 - -PG1 VDD_BRICK_nVALID INPUT PULLUP -PG2 VDD_BRICK2_nVALID INPUT PULLUP -PG3 VBUS_nVALID INPUT PULLUP -PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP -PE15 VDD_5V_PERIPH_nOC INPUT PULLUP -PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH - -# capture pins -PA5 FMU_CAP1 INPUT GPIO(58) -PB3 FMU_CAP2 INPUT GPIO(59) -PB11 FMU_CAP3 INPUT GPIO(60) -PI0 FMU_SPARE_4 INPUT GPIO(61) - -# SPI devices -SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ -SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ -SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ -SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ -SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ -SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ - -# up to 3 IMUs -IMU Invensense SPI:icm20689 ROTATION_NONE -IMU Invensense SPI:icm20602 ROTATION_NONE -# 3rd could be BMMI055 or BMI088 -IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 -IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 - -define HAL_DEFAULT_INS_FAST_SAMPLE 1 - -# probe external I2C compasses plus some internal IST8310 -# we also probe some external IST8310 with a non-standard orientation -define HAL_PROBE_EXTERNAL_I2C_COMPASSES -COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 -COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90 - -# one baro -BARO MS56XX SPI:ms5611 - -# microSD support -PC8 SDMMC_D0 SDMMC1 -PC9 SDMMC_D1 SDMMC1 -PC10 SDMMC_D2 SDMMC1 -PC11 SDMMC_D3 SDMMC1 -PC12 SDMMC_CK SDMMC1 -PD2 SDMMC_CMD SDMMC1 - -# red LED marked as B/E -PB1 LED_RED OUTPUT OPENDRAIN GPIO(90) - -# green LED marked as PWR. We leave this solid on, but allow -# for it to be controlled as a relay if needed -PC6 LED_GREEN OUTPUT GPIO(91) LOW - -# blue LED marked as ACT -PC7 LED_BLUE OUTPUT GPIO(92) HIGH - -# setup for BoardLED2 -define HAL_GPIO_A_LED_PIN 90 -define HAL_GPIO_B_LED_PIN 92 -define HAL_GPIO_LED_ON 0 - - -# enable RAMTROM parameter storage -define HAL_STORAGE_SIZE 16384 -define HAL_WITH_RAMTRON 1 - -# allow to have have a dedicated safety switch pin -define HAL_HAVE_SAFETY_SWITCH 1 - -define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE -define HAL_COMPASS_AUTO_ROT_DEFAULT 2 - -DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM* - -# define HAL_SPI_CHECK_CLOCK_FREQ 1 - -# enable FAT filesystem support (needs a microSD defined via SDMMC) -define HAL_OS_FATFS_IO 1 - -define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" -define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" - -ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin - -# uncomment block below to enable a 2nd MS5611 baro on SPI5 -#PF7 SPI5_SCK SPI5 -#PF8 SPI5_MISO SPI5 -#PF9 SPI5_MOSI SPI5 -#SPIDEV ms5611_spi5 SPI5 DEVID1 EXTERNAL1_CS1 MODE3 20*MHZ 20*MHZ -#undef PI10 -#PI10 EXTERNAL1_CS2 OUTPUT LOW -#BARO MS56XX SPI:ms5611_spi5