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AP_HAL_ChibiOS: add support BeastF7v2

This commit is contained in:
Andy Piper 2021-12-29 20:41:01 +00:00 committed by Andrew Tridgell
parent 3fd79b8ffb
commit f9e14ffa30
1 changed files with 8 additions and 4 deletions
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12
libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
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@ -37,8 +37,8 @@ PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 for MPU6000
PA4 MPU6000_CS CS
# SPI1 for BMI270
PA4 BMI270_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
@ -112,7 +112,8 @@ STORAGE_FLASH_PAGE 1
define HAL_LOGGING_DATAFLASH_ENABLED 1
# spi devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV mpu6000 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ
SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 10*MHZ 10*MHZ
SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
@ -121,12 +122,15 @@ define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_I2C_INTERNAL_MASK 0
# one IMU
# one IMU, v1 mpu6000 and v2 bmi270
IMU Invensense SPI:mpu6000 ROTATION_YAW_270
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# one BARO
BARO BMP280 I2C:0:0x76
# v2 has no BARO
define HAL_BARO_ALLOW_INIT_NO_BARO 1
# setup for OSD
define OSD_ENABLED 1