From 5749bd50749d751053bee090e2f8746d6a144f15 Mon Sep 17 00:00:00 2001 From: Leonardo Garcia Date: Fri, 26 Jan 2024 14:58:09 -0800 Subject: [PATCH] AP_HAL_ChibiOS: mRo KitCAN revC board fix Add RM3100 reversal mask to deal with M10025C board changes. --- Tools/bootloaders/mRoKitCANrevC_bl.bin | Bin 0 -> 18732 bytes Tools/bootloaders/mRoKitCANrevC_bl.hex | Bin 0 -> 51544 bytes .../hwdef/mRoKitCANrevC/defaults.parm | 4 +++ .../hwdef/mRoKitCANrevC/hwdef-bl.dat | 8 +++++ .../hwdef/mRoKitCANrevC/hwdef.dat | 30 ++++++++++++++++++ 5 files changed, 42 insertions(+) create mode 100755 Tools/bootloaders/mRoKitCANrevC_bl.bin create mode 100644 Tools/bootloaders/mRoKitCANrevC_bl.hex create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.bin 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100644 index 0000000000..b574c697ef --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm @@ -0,0 +1,4 @@ +# Default HAL_COMPASS_MAX_SENSORS + +ARSPD_PRIMARY 0 +ARSPD_TYPE 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat new file mode 100644 index 0000000000..6bbaeb3ef1 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat @@ -0,0 +1,8 @@ +include ../f303-periph/hwdef-bl.inc + +# start as DNA + +undef APJ_BOARD_ID +APJ_BOARD_ID 1145 + +define CAN_APP_NODE_NAME "org.ardupilot.mRoKitCANrevC" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat new file mode 100644 index 0000000000..a44f8a39f3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat @@ -0,0 +1,30 @@ +include ../f303-periph/hwdef.inc + +# start as DNA + +define CAN_APP_NODE_NAME "org.ardupilot.mRoKitCANrevC" +undef APJ_BOARD_ID +APJ_BOARD_ID 1145 + +define AP_RM3100_REVERSAL_MASK 2 + +# added rm3100 mag on SPI +SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ +COMPASS RM3100 SPI:rm3100 false ROTATION_NONE + +# an I2C baro (DPS310) +BARO DPS310 I2C:0:0x77 + +# GPS+MAG+LED+Baro +define HAL_PERIPH_ENABLE_GPS +define HAL_PERIPH_ENABLE_MAG +define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY +define HAL_PERIPH_ENABLE_BARO +# I2C Airspeed sensor must use a different address than 0x77 +define HAL_PERIPH_ENABLE_AIRSPEED + + +# Safety button +PC13 SAFE_BUTTON INPUT PULLUP +# Button is active LOW +define HAL_SAFE_BUTTON_ON 0 \ No newline at end of file