From 6fd18e51d026d466a7ebeeef4e1f3244aa042880 Mon Sep 17 00:00:00 2001 From: Huibean Date: Tue, 16 Dec 2025 19:46:01 +0800 Subject: [PATCH] AP_HAL_ChibiOS: add VM-L431-BMS hardware def Co-authored-by: Randy Mackay --- .../hwdef/VM-L431-BMS/README.md | 3 ++ .../hwdef/VM-L431-BMS/defaults.parm | 7 +++ .../hwdef/VM-L431-BMS/hwdef-bl.dat | 7 +++ .../hwdef/VM-L431-BMS/hwdef.dat | 53 +++++++++++++++++++ 4 files changed, 70 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/README.md b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/README.md new file mode 100644 index 0000000000..002c7abcd8 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/README.md @@ -0,0 +1,3 @@ +### VM-L431-BMS + +AP_Periph BMS Target based on Vimdrones L431 AP_Periph Hardware diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/defaults.parm new file mode 100644 index 0000000000..7c828445f0 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/defaults.parm @@ -0,0 +1,7 @@ +# Vimdrones L431 BMS (battery management system) parameter defaults + +CAN_NODE 0 +CAN_BAUDRATE 1000000 + +# Battery Monitor Settings +BATT_MONITOR 32 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef-bl.dat new file mode 100644 index 0000000000..ee306425b4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef-bl.dat @@ -0,0 +1,7 @@ +include ../VM-L431/hwdef-bl.inc + +undef CAN_APP_NODE_NAME +define CAN_APP_NODE_NAME "com.vimdrones.bms_bl" + +# board ID for firmware load +APJ_BOARD_ID AP_HW_VIMDRONES_BMS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef.dat new file mode 100644 index 0000000000..680378382d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/VM-L431-BMS/hwdef.dat @@ -0,0 +1,53 @@ +include ../VM-L431/hwdef.inc + +define CAN_APP_NODE_NAME "com.vimdrones.bms" + +# board ID for firmware load +APJ_BOARD_ID AP_HW_VIMDRONES_BMS + +# battery specific definitions +# define AP_BATTMON_CELL_COUNT 6 + +# Serial ports +SERIAL_ORDER EMPTY EMPTY USART2 + +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +STDOUT_BAUDRATE 57600 +STDOUT_SERIAL SD2 + +# enable battery monitor +define AP_PERIPH_BATTERY_ENABLED 1 +define AP_BATTERY_TIBQ76952_ENABLED 1 +define AP_BATTERY_TIBQ76952_I2C_DEVICE "tibq76952" +define HAL_BATT_MONITOR_DEFAULT 32 +define AP_PERIPH_BATTERY_MODEL_NAME "VM-L431-BMS" + +# I2C1 for TI BMS chip +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 +I2C_ORDER I2C1 + +# LEDs +PA4 LED1 OUTPUT OPENDRAIN GPIO(1) HIGH +PA5 LED2 OUTPUT OPENDRAIN GPIO(2) HIGH +PA6 LED3 OUTPUT OPENDRAIN GPIO(3) HIGH +PA7 LED4 OUTPUT OPENDRAIN GPIO(4) HIGH +PB0 LED5 OUTPUT OPENDRAIN GPIO(5) HIGH +PB1 LED6 OUTPUT OPENDRAIN GPIO(6) HIGH +PA8 LED7 OUTPUT OPENDRAIN GPIO(7) HIGH +PA9 LED8 OUTPUT OPENDRAIN GPIO(8) HIGH +define AP_PERIPH_BMS_LED_PINS 1,2,3,4,5,6,7,8 + +# Buttons +PB4 BTN1 INPUT PULLUP GPIO(9) +define HAL_GPIO_PIN_BMS_BTN1 9 + +define HAL_USE_ADC FALSE +define STM32_ADC_USE_ADC1 FALSE +define HAL_DISABLE_ADC_DRIVER TRUE + +define AP_PERIPH_BATTERY_BMS_ENABLED 1 +define AP_PERIPH_RTC_ENABLED 1 +define AP_PERIPH_RTC_GLOBALTIME_ENABLED 1