Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 01:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
52,557 Commits 71 Branches 510 Tags 785 MiB
dd92f3492d
Commit Graph

2113 Commits

Author SHA1 Message Date
Andrew Tridgell
3742da883a hwdef: added BOARD_MATCH() support for IMUs 
allow hwdef.dat to specify list of IMUs which match a specific board
type
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
3fe53a6360 hwdef: align with master for 6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell
fcded72ae2 hwdef: switched to pixracer LED scheme for Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell
89bb5de315 hwdef: disable I2C DMA on Pixhawk6C and enable compass compensation 2022-08-12 02:49:33 -04:00
Andrew Tridgell
255ffb48df hwdef: added compass compensation for 3 boards 
use the new compass heater compensation for 4 compasses across 3
boards
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
ed81cfb579 hwdef: added missing ADC channel on Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell
9b9f4f8f29 hwdef: disable I2C DMA on Pixhawk6X 
this prevents an issue with the BMI088 and external compass on GPS1
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
406620e851 hwdef: fixed rotation of bmi088 on Holybro6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell
3ea79004a0 hwdef: fixed orientation of Pixhawk6X ICM42670 2022-08-12 02:49:33 -04:00
Andrew Tridgell
b51a406529 hwdef: use right name for ICM42670 SPI device 2022-08-12 02:49:33 -04:00
Andrew Tridgell
f5deacfb80 hwdef: MFE-PixSurveyA1 rename PixSurveyA1 2022-08-12 02:49:33 -04:00
xiao
e688822faa HAL_ChibiOS: hwdef: add new hardware MFE-PixSurveyA1 2022-08-12 02:49:33 -04:00
Andrew Tridgell
a22d6d27cf hwdef: changed Pixhawk6C board type to 56 
production bootloader uses 56
 2022-08-12 02:49:33 -04:00
Andy Piper
982eb2e6fa AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2. 
README for Reaper F745v2
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
b0160c10f5 hwdef: added telem3 on Pixhawk6X 2022-08-12 02:49:33 -04:00
Andrew Tridgell
88d49fb654 hwdef: added Pixhawk6C support 2022-08-12 02:49:33 -04:00
Andrew Tridgell
51f4d0b22e hwdef: fixed Pixhawk6X ALT_RAM_MAP check 2022-08-12 02:49:33 -04:00
Andrew Tridgell
520d015866 hwdef: added Pixhawk6X support 
a new H753 based board similar to the Pixhawk5X
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
a7fb8b8e75 HAL_ChibiOS: added support for ALT_RAM_MAP on H7 
for compatibility with the px4 H7 bootloader
 2022-08-12 02:49:33 -04:00
Andrew Tridgell
9427847f6a HAL_ChibiOS: enable ITCM and DTCM on H7 at startup 
these may have been disabled by the px4 H7 bootloader
 2022-08-12 02:49:33 -04:00
Andy Piper
9c02682785 AP_HAL_ChibiOS: add support for MambaF405 2022 MK4 
mark DMA on MambaF405US-I2C UARTs
correct RSSI pin on MambaF405US-I2C
 2022-06-21 19:41:34 +09:00
Andy Piper
22687bd545 AP_HAL_ChibiOS: hwdef for MambaH743v4 
support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743
 2022-06-21 19:41:34 +09:00
Andy Piper
a3e79c8263 AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths 2022-05-28 16:08:08 +09:00
Andy Piper
19d9f157cb AP_HAL_ChibiOS: move bitwidths to AP_HAL 2022-05-28 16:08:08 +09:00
Andrew Tridgell
49af52b735 HAL_ChibiOS: always start with safety enabled 
we want it enabled during early boot to prevent incorrect ESC and
servo output
 2022-05-28 16:08:08 +09:00
Andrew Tridgell
6b790eaca0 hwdef: added FlyingMoonF427 support 2022-05-16 08:15:26 +09:00
Andrew Tridgell
707bc9502f hwdef: added FlyingMoonF407 board support 2022-05-16 08:15:26 +09:00
Andrew Tridgell
ed18123f95 HAL_ChibiOS: fixed RSSI from IOMCU analog pin 103 
need to check new pin not old pin
 2022-05-16 08:15:26 +09:00
Andy Piper
9300ab8d02 AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750 
move more of EKF into memory on H750
move rc handling into memory on H750
disable double math on SPRacing H7
 2022-04-29 07:54:06 +09:00
Andy Piper
ff5a813b4f AP_HAL_ChibiOS: determine presence of disabled channels based on digital channels in a group 2022-04-29 07:54:06 +09:00
Andy Piper
cfb8830fad AP_HAL_ChibiOS: bdshot version of MatekF765-Wing 2022-04-29 07:54:06 +09:00
Andy Piper
33c9ffd874 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-04-29 07:54:06 +09:00
Randy Mackay
f3db67b322 AP_HAL: add GPIO::pin_to_servo_channel method 2022-04-29 07:54:06 +09:00
Randy Mackay
343115a242 AP_HAL_ChibiOS: GPIO comment removes mention of BRD_PWM_COUNT 2022-04-29 07:54:06 +09:00
Andrew Tridgell
053e9d7c19 AP_HAL_ChibiOS: update for changed INS_NOTCH parameter name 2022-04-29 07:54:06 +09:00
QioTek
d56c6b6249 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 07:54:06 +09:00
mateksys
d51dd75ba0 AP_HAL_ChibiOS:add icm42688p as substitution 2022-04-29 07:54:06 +09:00
Andrew Tridgell
41f56d8d87 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 07:54:06 +09:00
李孟晓
f497e8639d AP_HAL_ChibiOS: CUAV-Nora: add usart3 support 2022-04-09 17:04:26 +09:00
Andy Piper
0e78bdbb19 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 17:04:26 +09:00
Andrew Tridgell
f8c3b4be5d 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 17:04:26 +09:00
Andrew Tridgell
e50f893a7e 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 17:04:26 +09:00
Andrew Tridgell
e1c74ee6e5 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 17:04:26 +09:00
Andrew Tridgell
0a3ca205eb 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 17:04:26 +09:00
Andrew Tridgell
a03b9ec034 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 17:04:26 +09:00
Andrew Tridgell
86f7365c1c 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 17:04:26 +09:00
Andrew Tridgell
8d4130ee11 Revert "hwdef: changed MatekH743 to a 32 bit timer" 
This reverts commit 7dc5911572.
 2022-04-09 17:04:26 +09:00
Andrew Tridgell
0c2041d415 HAL_ChibiOS: constrain more timer timeouts 2022-04-09 17:04:26 +09:00
Andrew Tridgell
ce1fc5406c 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 17:04:26 +09:00
Andy Piper
b3bd0d3fbb AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:04:26 +09:00