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hwdef: disable I2C DMA on Pixhawk6C and enable compass compensation

This commit is contained in:
Andrew Tridgell 2022-08-01 18:45:50 +10:00
parent 155d436807
commit f47585b235
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
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@ -144,6 +144,12 @@ PD13 I2C4_SDA I2C4
I2C_ORDER I2C4 I2C1 I2C2 I2C_ORDER I2C4 I2C1 I2C2
define HAL_I2C_INTERNAL_MASK 1 define HAL_I2C_INTERNAL_MASK 1
# this board is tight on DMA channels. To allow for more UART DMA we
# disable DMA on I2C. This also prevents a problem with DMA on I2C
# interfering with IMUs
NODMA I2C*
define STM32_I2C_USE_DMA FALSE
# heater # heater
PB9 HEATER_EN OUTPUT LOW GPIO(80) PB9 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80 define HAL_HEATER_GPIO_PIN 80
@ -215,9 +221,14 @@ define HAL_BARO_ALLOW_INIT_NO_BARO 1
define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE
# compensate for magnetic field generated by the heater on 6C IST8310
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xc,0xa),Vector3f(17,14,0)}
# we need to stop the probe of an IST8310 as an internal compass with PITCH_180 # we need to stop the probe of an IST8310 as an internal compass with PITCH_180
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
# SPI devices # SPI devices
SPIDEV bmi055_g SPI1 DEVID1 BMI055_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_g SPI1 DEVID1 BMI055_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi055_a SPI1 DEVID2 BMI055_A_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_a SPI1 DEVID2 BMI055_A_CS MODE3 10*MHZ 10*MHZ