From ef9d9d9c263c0da65c7abd817579c8088254e295 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 4 Mar 2018 21:05:33 +1100 Subject: [PATCH] HAL_ChibiOS: first boot of OMNIBUSF7V2 only the 20608 works, and it has lots of errors. The bmp280 is detected, but does not give good data no UARTs yet --- .../hwdef/OMNIBUSF7V2/hwdef.dat | 28 +++++++++++++++++-- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat index df543d0700..a5a705e8d5 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat @@ -10,10 +10,21 @@ define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 # board ID for firmware load APJ_BOARD_ID 81 -# crystal frequency -OSCILLATOR_HZ 25000000 +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +define STM32_LSECLK 32768U +define STM32_LSEDRV (3U << 3U) + +define STM32_PLLSRC STM32_PLLSRC_HSE +define STM32_PLLM_VALUE 8 +define STM32_PLLN_VALUE 432 +define STM32_PLLP_VALUE 2 +define STM32_PLLQ_VALUE 9 FLASH_SIZE_KB 1024 + +# run without a bootloader for now, use DFU upload FLASH_RESERVE_START_KB 0 # board voltage @@ -35,9 +46,13 @@ PA14 JTCK-SWCLK SWD PE0 LED0 OUTPUT LOW #PD15 BUZZER OUTPUT +# ICM-20608 on SPI1 PA4 MPU6000_CS CS -# SPI1 for IMU +# MPU6500 on SPI3 +PA15 MPU6500_CS CS + +# SPI1 for IMU and baro PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 @@ -111,3 +126,10 @@ define HAL_USE_EMPTY_STORAGE define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 + +# spi devices +SPIDEV bmp280 SPI1 DEVID1 BMP280_CS MODE3 20*MHZ 20*MHZ +SPIDEV mpu6000 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV mpu6500 SPI3 DEVID1 MPU6500_CS MODE3 1*MHZ 4*MHZ + +define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI