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AP_Periph: enable build of ZubaxGNSS

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This commit is contained in:
Andrew Tridgell 2019-10-19 20:41:55 +11:00
parent 4962b6ddc8
commit e9af111b0c
3 changed files with 10 additions and 2 deletions
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8
Tools/AP_Periph/AP_Periph.cpp
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@ -57,6 +57,14 @@ void AP_Periph_FW::init()
serial_manager.init(); serial_manager.init();
#ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS
// setup remapping register for ZubaxGNSS
uint32_t mapr = AFIO->MAPR;
mapr &= ~AFIO_MAPR_SWJ_CFG;
mapr |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS #ifdef HAL_PERIPH_ENABLE_GPS
gps.init(serial_manager); gps.init(serial_manager);
#endif #endif

2
Tools/AP_Periph/can.cpp
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@ -52,7 +52,7 @@ extern const AP_HAL::HAL &hal;
extern AP_Periph_FW periph; extern AP_Periph_FW periph;
static CanardInstance canard; static CanardInstance canard;
static uint32_t canard_memory_pool[1024/4]; static uint32_t canard_memory_pool[2048/4];
#ifndef HAL_CAN_DEFAULT_NODE_ID #ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID #define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID
#endif #endif

2
Tools/AP_Periph/wscript
View File

@ -4,7 +4,7 @@
import fnmatch import fnmatch
def build(bld): def build(bld):
targets = ['f103-*', 'CUAV_GPS'] targets = ['f103-*', 'CUAV_GPS', 'ZubaxGNSS*']
valid_target = False valid_target = False
for t in targets: for t in targets:
if fnmatch.fnmatch(bld.env.BOARD, t): if fnmatch.fnmatch(bld.env.BOARD, t):