From b55920165adf4d906286baa4ebe7c7c8c40f5b44 Mon Sep 17 00:00:00 2001 From: Phillip Kocmoud Date: Sat, 28 Nov 2020 10:31:13 -0600 Subject: [PATCH] hwdef: mRo Pixracer Pro - update and improve uniformity --- .../hwdef/mRoPixracerPro/defaults.parm | 7 +++++ .../hwdef/mRoPixracerPro/hwdef-bl.dat | 23 +++++++------- .../hwdef/mRoPixracerPro/hwdef.dat | 31 ++++++++++--------- 3 files changed, 36 insertions(+), 25 deletions(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/defaults.parm diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/defaults.parm new file mode 100644 index 0000000000..3f37627939 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/defaults.parm @@ -0,0 +1,7 @@ +#Default Parameters for the mRo Pixracer Pro + +CAN_P1_DRIVER 1 +CAN_P2_DRIVER 2 +CAN_SLCAN_CPORT 1 +SERIAL6_PROTOCOL 22 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef-bl.dat index 587cbf2e13..bb91ff51c9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef-bl.dat @@ -1,13 +1,18 @@ ########################################################################################################################################################### # mRo Pixracer Pro Flight Controller -# STM32H753IIK6 -# 8 PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic -# Exposed JST GH Connectors: GPS UART+I2C connector, 5 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, Power with analog current and voltage sense +# STM32H743IIK6 +# 8 PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default) +# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable +# Exposed JST GH Connectors: GPS UART+I2C connector, 6 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, I2C, Power with analog current and voltage sense # 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF) -# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG +# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG, USB-C # Onboard 3 color LED and buzzer -# 36mm x 36mm, 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners -# M10064B - Initial Release +# Uncased weight and dimensions: +# Weight (with headers): 11.3g (.40oz) +# Length: 36mm (1.42in) +# Width: 36mm (1.42in) +# Mounting holes: 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners +# M10064C - Initial Release ########################################################################################################################################################### # MCU class and specific type @@ -40,11 +45,7 @@ PB3 LED_ACTIVITY2 OUTPUT define HAL_LED_ON 0 # order of UARTs (and USB) -SERIAL_ORDER OTG1 UART7 - -# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). -PE7 UART7_RX UART7 -PE8 UART7_TX UART7 +SERIAL_ORDER OTG1 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef.dat index ad2c9caef9..18089381cb 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef.dat @@ -1,13 +1,18 @@ ########################################################################################################################################################### # mRo Pixracer Pro Flight Controller -# STM32H753IIK6 -# 8 PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic -# Exposed JST GH Connectors: GPS UART+I2C connector, 5 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, Power with analog current and voltage sense +# STM32H743IIK6 +# 8 PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default) +# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable +# Exposed JST GH Connectors: GPS UART+I2C connector, 6 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, I2C, Power with analog current and voltage sense # 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF) -# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG +# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG, USB-C # Onboard 3 color LED and buzzer -# 36mm x 36mm, 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners -# M10064B - Initial Release +# Uncased weight and dimensions: +# Weight (with headers): 11.3g (.40oz) +# Length: 36mm (1.42in) +# Width: 36mm (1.42in) +# Mounting holes: 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners +# M10064C - Initial Release ########################################################################################################################################################### # MCU class and specific type @@ -34,8 +39,8 @@ define HAL_WITH_RAMTRON 1 # USB setup USB_STRING_MANUFACTURER "mRo" -# RC Input set for Interrupt not DMA -PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # also USART6_RX for serial RC +# RC Input set for Interrupt also USART6_RX for serial RC +PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # Control of Spektrum power pin PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) @@ -55,14 +60,15 @@ I2C_ORDER I2C1 define HAL_I2C_INTERNAL_MASK 0 # order of UARTs (and USB) and suggested usage -# UART4 GPS # USART2 Telem 1 (Flow Control) # USART3 Telem 2 (Flow Control) +# UART4 GPS # UART8 FRSKY Telem -# USART6 RC input (Only RX pin is connected) # USART1 Additional UART # UART7 Additional UART +# USART6 RC input (Only RX pin is connected) + SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 OTG2 # default the 2nd interface to MAVLink2 @@ -258,15 +264,12 @@ define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 -# DMA_PRIORITY SDMMC* -# DMA_NOSHARE SPI1* SPI2* SPI3* - # 3 IMUs IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90 IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90 -define HAL_DEFAULT_INS_FAST_SAMPLE 5 +define HAL_DEFAULT_INS_FAST_SAMPLE 7 # 1 baro BARO DPS280 SPI:dps310