From ee87621ed44f3db38daf8e39d09dc3f86a2a9e94 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 25 Aug 2018 12:29:15 +1000 Subject: [PATCH] HAL_ChibiOS: fixes for DrotekP3Pro --- .../hwdef/DrotekP3Pro/hwdef.dat | 31 ++++++++++++------- 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat index 972ef9cc8b..0de79a8191 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat @@ -1,7 +1,9 @@ # hw definition file for processing by chibios_hwdef.py # for FMUv4pro hardware (Pixhawk 3 Pro) -define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUv4PRO +define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4PRO + +define BOARD_TYPE_DEFAULT 14 # MCU class and specific type MCU STM32F4xx STM32F469xx @@ -21,9 +23,9 @@ STM32_ST_USE_TIMER 5 # flash size FLASH_SIZE_KB 2048 -# serial port for stdout -STDOUT_SERIAL SD7 -STDOUT_BAUDRATE 57600 +# serial port for stdout, disabled so console is on USB +#STDOUT_SERIAL SD7 +#STDOUT_BAUDRATE 57600 # order of I2C buses I2C_ORDER I2C1 I2C2 @@ -45,6 +47,9 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 # UART for IOMCU IOMCU_UART USART6 +# we have a safety switch on IO +define HAL_HAVE_SAFETY_SWITCH 1 + # UART4 serial GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 @@ -61,6 +66,13 @@ PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 +# SPI1 CS pins +PC2 MPU9250_CS CS +PC15 20608_CS CS +PD7 BARO_CS CS +PE15 MAG_CS CS +PH5 EEPROM_CS CS + PA9 VBUS INPUT OPENDRAIN PA10 FRSKY_INV OUTPUT GPIO(78) @@ -85,7 +97,6 @@ PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PB1 LED_GREEN OUTPUT GPIO(0) PB2 BOOT1 INPUT PB3 LED_BLUE OUTPUT GPIO(1) -PB5 VDD_BRICK_VALID INPUT PB6 USART1_TX USART1 PB7 USART1_RX USART1 @@ -103,6 +114,9 @@ PE6 8266_RST OUTPUT HIGH GPIO(63) PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + # SPI2 is FRAM PB10 SPI2_SCK SPI2 PB11 LED_RED OUTPUT GPIO(2) @@ -113,10 +127,8 @@ PB15 SPI2_MOSI SPI2 PC0 VBUS_VALID INPUT PC1 BATT2_VOLTAGE_SENS ADC1 SCALE(1) -PC2 MPU9250_CS CS PC3 BATT2_CURRENT_SENS ADC1 SCALE(1) #PC4 SAFETY_IN INPUT PULLDOWN -PC5 VDD_PERIPH_EN OUTPUT HIGH # this sets up the UART for talking to the IOMCU. Note that it is # vital that this UART has DMA available. See the DMA settings below @@ -134,7 +146,6 @@ PC11 SDIO_D3 SDIO PC12 SDIO_CK SDIO PC13 SBUS_INV OUTPUT PC14 20608_DRDY INPUT -PC15 20608_CS CS PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 @@ -146,8 +157,6 @@ PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 -PD7 BARO_CS CS - # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 @@ -181,14 +190,12 @@ PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE12 MAG_DRDY INPUT PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) -PE15 MAG_CS CS # Power flag pins: these tell the MCU the status of the various power # supplies that are available. The pin names need to exactly match the # names used in AnalogIn.cpp. PB5 VDD_BRICK_VALID INPUT PULLUP PG5 VDD_BRICK2_VALID INPUT PULLUP -PB7 VDD_SERVO_VALID INPUT PULLUP PF3 VDD_5V_HIPOWER_OC INPUT PULLUP PG4 VDD_5V_PERIPH_OC INPUT PULLUP