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2128 Commits

Author SHA1 Message Date
QioTek
4289b6bc1b AP_HAL_ChibiOS: ICM4 series sensors as an alternative with IMU3. 
AP_HAL_ChibiOS:  ICM4 series sensors as an alternative with IMU3.
 2022-04-29 08:06:29 +09:00
mateksys
81e6426dc6 AP_HAL_ChibiOS:add icm42688p as substitution 2022-04-29 08:06:29 +09:00
Andrew Tridgell
d75e0c7a1c HAL_ChibiOS: disable fatal exceptions for DMA errors 
this zeros-watchdog was caused by a SPI DMA error on STM32F405:

  https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297

we had incorrectly left these internal errors enabled when asserts
were not enabled. That led to a osalSysHalt()

without these we get an spi_fail internal error, caught by the
SPIDevice code
 2022-04-29 08:06:29 +09:00
李孟晓
2dae778103 AP_HAL_ChibiOS: CUAV-Nora: add usart3 support 2022-04-09 17:12:27 +09:00
Andy Piper
9ce281ae14 AP_HAL_ChibiOS: fix dshot timeout bug where the elapsed pulse is longer than the send time 
dshot timeouts should be no longer than the pulse interval
use correct timestamp for dmar send time
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
eccec866f5 HAL_ChibiOS: incorrect class of class in uart TX timeout 
need to call chEvtGetAndClearEventsI() as we are in a system lock
state
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
f3c19575e9 HAL_ChibiOS: fixed H7 flash storage 
this fixes the flash re-init problem when flash storage fills on
H7. It was caused by rejecting writes where one or more of the 32 byte
chunks was not all 0xff but was equal to the current data. That
happens when writing to the sector header in AP_FlashStorage

it also moves the interrupt disable inside the loop to allow for
other interrupts to run between blocks
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
5a46280ce3 HAL_ChibiOS: use 16 byte lines for flash storage on H7 
this halves the number of flash writes needed, and makes flash storage
twice as space efficient on H7

On H7 we need to write 32 bytes at a time to flash, which corresponds
to 30 bytes of data in AP_FlashStorage. By using a 16 byte storage
line we don't waste as much space
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
186f1db6d5 HAL_ChibiOS: increase monitor thread stack by 512 
this is needed to ensure that the log writes of MON and WDOG don't
overflow monitor thread stack
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
ab93818570 HAL_ChibiOS: added expected delays on flash writes 
this prevents a long loop internal error on disarm after a large
amount of flash writes when armed on a board with flash storage
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
5e76e7aa7b HAL_ChibiOS: disable interrupts during flash operations 
we have now shown that interrupts being enabled during flash
operations can cause the infamous "68ms" bug, or watchdog when using a
32 bit timer on boards using flash for storage

The issue is quite repeatable with a load of a very large waypoint
file (over 500 waypoints) using "wp ftpload" in MAVProxy. This puts a
huge load on flash storage.

Our current working theory is that while doing flash writes for
storage on dual-bank we block access to only one bank, so if another
thread uses a timeout function with a short timeout while the flash
write is happening and chVTDoTickI calls code which crosses the flash
bank boundary then it can cause chVTDoTickI to violate the assumption
that no more than CH_CFG_ST_DELTA ticks pass while it is calculating
the value to set in the system timer. In that case we get a delay of a
full timer wrap, which is 68ms on boards with 16 bit timer and 70
minutes on boards with 32 bit timer
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
e343d9d86b Revert "hwdef: changed MatekH743 to a 32 bit timer" 
This reverts commit 7dc5911572.
 2022-04-09 17:12:27 +09:00
Andrew Tridgell
b497de8c12 HAL_ChibiOS: constrain more timer timeouts 2022-04-09 17:12:27 +09:00
Andrew Tridgell
057340cb1d HAL_ChibiOS: prevent long timeouts in DShot 
this prevents bad calculated timeouts in DShot. The timeout would
sometimes come out as 0xFFFFFFFF, which led to an assert and could
block the thread

This fix is meant to be minimilistic to allow it to be merged easily
into 4.2. A better fix would fix all the uint32_t wrap handling in
DShot
 2022-04-09 17:12:27 +09:00
Andy Piper
4f8c486278 AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:12:27 +09:00
Henry Wurzburg
94c0701f17 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 19:12:45 +09:00
Andy Piper
70bba0cc99 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 19:12:45 +09:00
AndKe
1805ff4e6d AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 19:12:45 +09:00
Andrew Tridgell
5a24abafe9 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
6c3062d972 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
e079d93b2d HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 19:12:45 +09:00
Andy Piper
7393425ea4 AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 19:12:45 +09:00
Andy Piper
f5615f94fa AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 19:12:45 +09:00
Randy Mackay
596893b199 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 19:12:45 +09:00
Andrew Tridgell
df9679c73a HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-30 19:12:45 +09:00
Peter Barker
5a289c527b AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:00:49 +09:00
MallikarjunSE
fe74ce5257 AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-12 08:00:49 +09:00
Andy Piper
cceb4c8302 AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-12 08:00:49 +09:00
Evgeniy
2df91dbad4 AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-12 08:00:49 +09:00
Andrew Tridgell
51d22a93f1 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-12 08:00:49 +09:00
MallikarjunSE
ad1e513b2f hwdef: hwdef update with watchdog 2022-03-12 08:00:49 +09:00
MallikarjunSE
ae76cfbe4d hwdef:update storage pages and enable watchdog 2022-03-12 08:00:49 +09:00
murata
d46e4249bd hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-12 08:00:49 +09:00
murata
81d89ab51e hwdef: Maximum number of battery monitors is 1 2022-03-12 08:00:49 +09:00
Andrew Tridgell
ead26a9ac8 hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-12 08:00:49 +09:00
Andrew Tridgell
aebeee4c0c hwdef: added HolybroG4_GPS 2022-03-12 08:00:49 +09:00
Andrew Tridgell
07962bb97d HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-12 08:00:49 +09:00
Andy Piper
ed952a0ea0 AP_HAL_ChibiOS: allow flash to be write-protected/unprotected on reboot 
control protection support via HAL_FLASH_PROTECTION
provide support for flash protection on SPRacingH7
SPRacingH7 bootloader needs to use w25q-dtr
 2022-02-24 10:19:07 +11:00
Henry Wurzburg
ac88f354fc hwdef: update Swan-K1 with new harmonic notch mask to avoid errors 2022-02-23 18:45:51 +11:00
Andy Piper
02219ba3e5 AP_HAL_ChibiOS: ensure chan_offset is initialized before using it 2022-02-23 18:35:43 +11:00
Andy Piper
b6022ca5d4 AP_HAL_ChibiOS: add support for alternate alarm PWM group 
account for inverted alarms and build on boards without PWM
enable alarm based on pwm
shutdown alarm channel if using a different one
 2022-02-23 18:35:43 +11:00
Andy Piper
f840315aa4 AP_HAL_ChibiOS: clock H750 at 480Mhz when using 8Mhz, 16Mhz and 24Mhz crystals 2022-02-23 18:19:56 +11:00
Andrew Tridgell
96518c9eda HAL_ChibiOS: added CPU defines to hwdef 
needed for checks like defined(STM32F1)
 2022-02-22 12:13:19 +11:00
Andrew Tridgell
6039b8012a HAL_ChibiOS: define HAL_USE_SDMMC 2022-02-22 12:13:19 +11:00
Andrew Tridgell
638e20a0b9 HAL_ChibiOS: bring in hal.h where it is needed 2022-02-22 12:13:19 +11:00
Andrew Tridgell
25cc8203d8 HAL_ChibiOS: added CHIBIOS_BOARD_NAME define 2022-02-22 12:13:19 +11:00
Andrew Tridgell
fd8d28e23c HAL_ChibiOS: reduced time in critical sections for CAN processing 2022-02-19 18:24:56 +11:00
Andrew Tridgell
7e18d85f7e hwdef: added compat board ID for FreeFly RTK GPS 2022-02-17 14:37:41 +11:00
Andrew Tridgell
f2308e96a9 HAL_ChibiOS: added stm32_was_software_reset() 2022-02-17 14:37:41 +11:00
Andrew Tridgell
a641eb3a30 HAL_ChibiOS: support ALT_BOARD_ID 
allow for compat with px4 board ID for the same board
 2022-02-17 14:37:41 +11:00
Andy Piper
83ac78e969 AP_HAL_ChibiOS: add support for @SYS/timers.txt 
move out prescaler calculation and use closest prescaler everywhere
include timer id in PWM groups
 2022-02-16 15:28:04 +11:00
Nathan Costa
9f7aa715b1 AP_HAL_ChibiOS: add support for CAN/I2C switch 2022-02-16 13:25:58 +11:00
Andy Piper
7b15245efe AP_HAL_ChibiOS: update SPRacingH7 Extreme hwdef and add README 
add SPRacingH7 board layout
 2022-02-15 11:32:52 +11:00
Andrew Tridgell
33ebc83a68 AP_HAL_ChibiOS: disable CAN filtering except on AP_Periph 
this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
 2022-02-12 16:36:05 +11:00
Andrew Tridgell
124c9d5d9b HAL_ChibiOS: support mavcan message forwarding 2022-02-12 16:36:05 +11:00
Andy Piper
89ba955419 AP_HAL_ChibiOS: only change SD card on external flash boards 2022-02-09 12:47:55 +00:00
Andy Piper
48c21299f8 AP_HAL_ChibiOS: hwdef for SPRacingH7 
hwdef for DevEBoxH7v2
pin definitions for STM32H750
add QSPI to DevEBox bootloader
add external flash to DevEBox
rename EXTERNAL_PROG_FLASH_MB to EXT_FLASH_SIZE_MB
Add support for EXT_FLASH_RESERVE_START_KB and EXT_FLASH_RESERVE_END_KB
Disable HAL_ENABLE_SAVE_PERSISTENT_PARAMS when there is no bootloader flash available
relax storage health status with SD card backend
don't check SD card health unless USE_POSIX
binary sections rearranged on external ram
manage RAMFUNC through ldscript and optimize function placement in external flash
inline timer functions
optimize placement of ChibiOS and functions in ITCM and AXI RAM
fix chibios features on bootloader build with external flash
change H750 memory layout
increase line storage for SD card based parameters
comment external flash linker script
move vtables into DTCM
update ram map for H757
enable crashdump support with external flash
correct bootloader pins and generator on SPRacingH7/DevEBoxH7v2
setup external flash reserve regions
allow different RAM_MAP for external flash on H750 and H757
 2022-02-09 12:47:55 +00:00
MallikarjunSE
a4b5bf1f4f hwdef: Update hwdef to have only mag and airspeed 2022-02-09 18:27:56 +11:00
Andrew Tridgell
ef7e611aff HAL_ChibiOS: added cubemx file for F745-8MHz 2022-02-09 09:35:26 +11:00
Walter Dunckel
f2347e7845 AP_HAL_ChibiOS: add missing EOL in output 
without it a double define line was giving compiler an error
 2022-02-09 09:14:25 +11:00
Peter Barker
6e684b3496 hwdef: disable blheli on skyviper 2022-02-08 20:39:44 +11:00
Peter Barker
09c040891e hwdef: cap number of Compass, Baro and INS instances 
saves flash as we don't have to have the parameter structures
 2022-02-08 20:39:44 +11:00
Peter Barker
7f584ad2c8 hwdef: SkyViper gets COMPASS_MAX_SENSORS 1 2022-02-08 20:39:44 +11:00
Andy Piper
0e18bd450d AP_HAL_ChibiOS: fix bi-directional dshot on omnibusf4pro 2022-02-08 12:12:28 +11:00
Peter Barker
b88bfa962b AP_HAL_ChibiOS: add and use AP_MOTORS_FRAME_DEFAULT_ENABLED 2022-02-08 11:06:24 +11:00
Joshua Henderson
3df82b26de hwdef: MatekF045-CAN remove unused define, set BATT_Default 0 2022-02-08 10:41:02 +11:00
Joshua Henderson
ecacd513c2 hwdef: f405-MatekGPS add debug pin info, set default arspd, batt 0 
and remove ADSB from build
 2022-02-08 10:41:02 +11:00
Joshua Henderson
8505017d26 hwdef: Add f405-MatekAirspeed 2022-02-08 10:41:02 +11:00
Andy Piper
ab25fc659a AP_HAL_ChibiOS: correct prescaler algorithm 
remove redundant PWM reset
 2022-02-07 12:56:30 +11:00
murata
a6ea55735f AP_HAL_ChibiOS: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Sam Chamberlin
d73a45aa64 hwdef: add ARK_GPS 2022-02-03 18:36:02 +11:00
Joshua Henderson
204c26c53b hwdef: f103-RangeFinder, use AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2022-02-02 18:45:59 +11:00
Joshua Henderson
ed208687b4 hwdef: Pixracer-periph, use AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2022-02-02 18:45:59 +11:00
Andrew Tridgell
c2c94631e8 HAL_ChibiOS: added STM32CubeMX files for new F412 configs 2022-02-02 07:42:23 +11:00
Andrew Tridgell
e07057d24f HAL_ChibiOS: support SDIO 48MHz clock on F412 2022-02-02 07:42:23 +11:00
TulleU
7907fd5729 AP_HAL_ChibiOS: revo-mini-i2c probe for external compasses 
allow for probing of external compasses on i2c
 2022-02-01 17:36:14 +11:00
Hwurzburg
0ea7044796 AP_HAL_ChibiOS: update option names in BATTMonitor in prep for expansion 2022-02-01 12:35:03 +11:00
Peter Barker
0eacc0348e AP_HAL_ChibiOS: remove HAL_COMPASS_DEFAULT define 
this doesn't actually allow you to specify a default, despite the name
and a couple of hwdefs trying to use it that way.

This would have stopped being useful when we did the
compass-prority-table stuff - or before.
 2022-02-01 12:10:38 +11:00
Peter Barker
a4d2194f80 hwdef: SkyViper-v2450: enable only UBLOX and MAV GPS backends 2022-02-01 11:22:02 +11:00
mathieulohier
bcc60d0945 hwdef: modalai_fc_v1 update documentation 2022-02-01 11:02:23 +11:00
Andrew Tridgell
563528dfc0 HAL_ChibiOS: update CubeMX files 2022-01-29 18:57:33 +11:00
Andrew Tridgell
00e32b52bf hwdef: removed unnecessary PLL overrides 
now we've properly filled in the F4 clocks we can use normal PLL
settings
 2022-01-29 18:57:33 +11:00
Andrew Tridgell
040ff007ea HAL_ChibiOS: fixed some F4 clocks, and support no crystal on F4 
this fixes up some of the F4 varients that were running at the wrong
clock, and also gives support for running F4s with no crystal
 2022-01-29 18:57:33 +11:00
Andrew Tridgell
a8b98bfcc4 HAL_ChibiOS: required EXPECTED_CLOCK in all MCU files 
this ensures we validate the clock setup at compile time
 2022-01-29 18:57:33 +11:00
Andrew Tridgell
1224ff48b3 hwdef: fixed VCC monitoring on AIRLink 2022-01-29 15:09:46 +11:00
Peter Barker
da79a5ea78 hwdef: skyviper-v2450: exclude many build features 2022-01-27 20:58:24 +11:00
Kirill Shilov
477fb4c408 hwdef: AIRLink added default parameters files 2022-01-27 17:42:11 +11:00
Andrew Tridgell
d71ec5bb4d HAL_ChibiOS: don't init RCOut twice 
this triggered a watchdog if the dshot timer was already active, which caused
the neoled driver to prevent boot of the Matek F405 GPS
 2022-01-27 08:26:47 +11:00
Andrew Tridgell
585ee5b2e4 hwdef: fixed rainbow effect on startup in CUAV_GPS 2022-01-27 08:26:47 +11:00
Andrew Tridgell
e35514b551 HAL_ChibiOS: fixed neopixel control 
fixes frequency setup for neopixel, separating out DShot setup. Also
allows for neopixel without other DMA controlled output types for LEDs
in AP_Periph
 2022-01-27 08:26:47 +11:00
Peter Barker
51a9efe817 AP_HAL_ChibiOS: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Hwurzburg
c5a444e4a3 hwdef: correct Pixhawk5 3.3V analog in scale factor 2022-01-25 09:37:34 +11:00
ot0tot
13050b325b Tools: add JHEMCU GSF405A bootloader and ID 2022-01-19 18:31:05 +11:00
ot0tot
1a08a1e1a1 hwdef: add support for JHEMCU GSF405A 2022-01-19 18:31:05 +11:00
Peter Barker
185ccaee92 AP_HAL_ChibiOS: disable UART stats based on GCS being enabled 
We may need to revisit this if we are able to transfer these files over
some other mechanism into the future
 2022-01-18 11:09:03 +11:00
Hwurzburg
176de8aa86 AP_HAL_ChibOS: update hwdef,defaults.readme for KakuteH7 2022-01-18 11:05:38 +11:00
Andrew Tridgell
d22e3a1f52 hwdef: fixed flash double reserve 
fixes #19765, an alternative to #19768

the advantage of this approach is it is less error prone, as the
actual position and size of the storage sectors is calculated
 2022-01-13 06:44:46 +11:00
Peter Barker
4c72d0f562 AP_HAL_ChibiOS: disable UART statistics on Hitec-Airspeed 2022-01-12 18:30:49 +11:00
Peter Barker
875f9a9497 AP_HAL_ChibiOS: add HAL_UART_STATS_ENABLED to disable stats gathering 2022-01-12 18:30:49 +11:00
Andy Piper
368a0c74a1 AP_HAL_ChibiOS: fix UART operation on original OmnibusNanoV6 2022-01-12 18:17:08 +11:00