aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL_ChibiOS: add support for PPP between CubeRed Primary and Secondary

Browse Source
This commit is contained in:
bugobliterator 2024-07-17 16:42:52 +10:00 committed by Peter Barker
parent 4909ad4e4f
commit 8a4b925c71
4 changed files with 51 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/defaults.parm
View File

@ -6,3 +6,22 @@ ADSB_TYPE 1
SERIAL5_BAUD 57
SERIAL5_PROTOCOL 1
EK3_PRIMARY 1
NET_ENABLE 1
NET_OPTIONS 1
NET_DHCP 0
NET_P1_TYPE 1
NET_P1_PROTOCOL 2
NET_P1_IP0 192
NET_P1_IP1 168
NET_P1_IP2 144
NET_P1_IP3 10
NET_P1_PORT 14553
NET_P2_TYPE 4
NET_P2_PROTOCOL 2
NET_P2_IP0 192
NET_P2_IP1 168
NET_P2_IP2 144
NET_P2_IP3 100
NET_P2_PORT 14554

19
libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
View File

@ -274,17 +274,20 @@ PG15 USART6_CTS USART6
PG8 USART6_RTS USART6
# primary <-> secondary
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE7 UART7_RX UART7 SPEED_VERYLOW LOW_NOISE
PE8 UART7_TX UART7 SPEED_VERYLOW
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 EMPTY UART7
SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 OTG2 UART7
EXT_FLASH_SIZE_MB 32
INT_FLASH_PRIMARY 1
# forward Serial traffic from USB OTG2 to Serial7(UART7)
define HAL_FORWARD_OTG2_SERIAL 7
define HAL_HAVE_DUAL_USB_CDC 1
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
define DEFAULT_SERIAL7_BAUD 2000000
# set protocol for UART7 to SerialProtocol_PPP
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_PPP
define DEFAULT_SERIAL7_BAUD 8000000
define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.144.100"
define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0"
define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.144.11"
define AP_NETWORKING_BACKEND_PPP 1

10
libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/defaults.parm
View File

@ -1,2 +1,12 @@
SERIAL3_OPTIONS 8
SERIAL4_OPTIONS 8
NET_ENABLE 1
NET_P1_TYPE 3
NET_P1_PROTOCOL 2
NET_P1_IP0 192
NET_P1_IP1 168
NET_P1_IP2 144
NET_P1_IP3 100
NET_P1_PORT 14554
SYSID_THISMAV 2

16
libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
View File

@ -7,6 +7,8 @@ MCU STM32H7xx STM32H757xx
define CORE_CM7
define SMPS_PWR
env OPTIMIZE -Os
# crystal frequency
OSCILLATOR_HZ 24000000
@ -39,7 +41,8 @@ PA6 RSSI_IN ADC1 SCALE(2)
# CAN config
PB14 GPIOCAN2_TERM OUTPUT HIGH
PC12 GPIOCAN1_SHUTDOWN OUTPUT LOW
PF1 GPIOCAN2_SHUTDOWN OUTPUT LOW
PA12 CAN1_TX CAN1
PB8 CAN1_RX CAN1
@ -118,8 +121,8 @@ PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
# UART connected to FMU, uses DMA
PE7 UART7_RX UART7 SPEED_HIGH
PE8 UART7_TX UART7 SPEED_HIGH
PE7 UART7_RX UART7 SPEED_VERYLOW LOW_NOISE
PE8 UART7_TX UART7 SPEED_VERYLOW
# UART for SBUS out
PC7 USART6_RX USART6 SPEED_HIGH LOW
@ -144,13 +147,16 @@ PD4 USART2_RTS USART2 SPEED_HIGH
PD3 USART2_CTS USART2 SPEED_HIGH
# order of UARTs
SERIAL_ORDER UART7 UART8 USART3 USART6 UART4 USART2
SERIAL_ORDER UART8 UART7 USART3 USART6 UART4 USART2
# use 2 MBaud when talking to primary controller
define DEFAULT_SERIAL0_BAUD 2000000
define DEFAULT_SERIAL1_BAUD 8000000
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_PPP
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
define AP_NETWORKING_BACKEND_PPP 1
# only use pulse input for PPM, other protocols
# are on serial
define HAL_RCIN_PULSE_PPM_ONLY