mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 11:28:58 +08:00
Config changes. Set imu and baro to correct spi
This commit is contained in:
kevindehecker
@@ -17,14 +17,25 @@
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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
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<!-- in seconds-->
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<module name="telemetry" type="transparent_usb" />
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<module name="imu" type="mpu9250_spi"/>
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<module name="imu" type="mpu9250_spi">
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<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
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<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
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<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
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<define name="IMU_MPU9250_CHAN_X" value="1"/>
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<define name="IMU_MPU9250_CHAN_Y" value="0"/>
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<define name="IMU_MPU9250_CHAN_Z" value="2"/>
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<define name="IMU_MPU9250_X_SIGN" value="-1"/>
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<define name="IMU_MPU9250_Y_SIGN" value="-1"/>
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<define name="IMU_MPU9250_Z_SIGN" value="-1"/>
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</module>
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<module name="gps" type="ublox" >
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<configure name="GPS_BAUD" value="B57600"/>
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</module>
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<module name="gps" type="ubx_ucenter" />
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<module name="stabilization" type="indi_simple" />
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<module name="ahrs" type="int_cmpl_quat" >
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<define name="AHRS_ICQ_IMU_ID" value="IMU_PX4_ID" /> <!-- Meaning the lsm303 and l3g -->
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<module name="ahrs" type="int_cmpl_quat" >
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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@@ -51,7 +62,6 @@
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<!--module name="px4_flash" >
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<configure name="PX4IO_UART" value="UART3"/> <!-- TMP solution! How to undefine PX4IO to nothing in px4_flash.xml? -->
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<!--/module-->
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<module name="px4_gimbal" />
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<module name="geo_mag" />
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<module name="air_data" />
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<module name="send_imu_mag_current" />
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@@ -180,7 +180,7 @@ else ifeq ($(BOARD),$(filter $(BOARD),px4fmu))
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# PX4_PIXRACER
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else ifeq ($(BOARD),$(filter $(BOARD),px4_pixracer))
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include $(CFG_SHARED)/spi_master.makefile
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BARO_BOARD_CFLAGS += -DUSE_SPI1 -DUSE_SPI_SLAVE3
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BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
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BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
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BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
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@@ -3,7 +3,7 @@
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#define BOARD_PX4FMU_V4
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/* PX4FMU_V4 board has a 24MHz external clock and 168MHz internal. */
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/* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */
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/* STM32F4 STM32F427VIT6 */
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#define EXT_CLK 24000000 //OK
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@@ -49,7 +49,6 @@
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/* UART SCHTUFFFF*/
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/* -WiFi ESP Connector, it is just a serial port*/
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//OK
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#define UART1_GPIO_AF GPIO_AF7
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#define UART1_GPIO_PORT_RX GPIOB
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#define UART1_GPIO_RX GPIO7
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@@ -61,7 +60,6 @@
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//#define UART1_GPIO_CTS GPIO8
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/* -TELEM1 Connector */
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//OK
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#define UART2_GPIO_AF GPIO_AF7
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#define UART2_GPIO_PORT_RX GPIOD
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#define UART2_GPIO_RX GPIO6
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@@ -73,7 +71,6 @@
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//#define UART1_GPIO_CTS GPIO4 FIXME
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/* -TELEM2 Connector */
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//OK
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#define UART3_GPIO_AF GPIO_AF7
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#define UART3_GPIO_PORT_RX GPIOD
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#define UART3_GPIO_RX GPIO9
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@@ -85,7 +82,6 @@
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//#define UART1_GPIO_CTS GPIO12 FIXME
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/* -GPS Connector */
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//OK
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#define UART4_GPIO_AF GPIO_AF8
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#define UART4_GPIO_PORT_RX GPIOA
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#define UART4_GPIO_RX GPIO1
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@@ -93,7 +89,6 @@
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#define UART4_GPIO_TX GPIO0
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/* Serial Debugging Connector, not used with PPRZ, use JTAG, can be put to other good use */
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//OK
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#define UART7_GPIO_AF GPIO_AF8
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#define UART7_GPIO_PORT_RX GPIOE
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#define UART7_GPIO_RX GPIO7
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@@ -101,7 +96,6 @@
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#define UART7_GPIO_TX GPIO8
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/* Connector -FRS FrSky */
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//OK
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#define UART8_GPIO_AF GPIO_AF8
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#define UART8_GPIO_PORT_RX GPIOE
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#define UART8_GPIO_RX GPIO0
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@@ -137,6 +131,7 @@
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/* SPI */
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/* SPI1 for MPU and extra accel/gyro/mag */
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// OK
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_MISO GPIOA
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#define SPI1_GPIO_MISO GPIO6
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@@ -146,7 +141,8 @@
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#define SPI1_GPIO_SCK GPIO5
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/* SPI2 for FRAM, connects to BARO */
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#define SPI2_GPIO_AF GPIO_AF10
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// OK
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#define SPI2_GPIO_AF GPIO_AF5
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#define SPI2_GPIO_PORT_MISO GPIOB
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#define SPI2_GPIO_MISO GPIO14
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#define SPI2_GPIO_PORT_MOSI GPIOB
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@@ -173,7 +169,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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/* EXTRA_MAG_CS on SPI1 HMC5983*/
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//See https://docs.google.com/spreadsheets/d/1gVlKZBvRNTXldoxTXwipGaaHmtF9DNPaftDrzKA47mM/edit#gid=0
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//OK
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#define SPI_SELECT_SLAVE1_PORT GPIOE
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#define SPI_SELECT_SLAVE1_PIN GPIO15
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@@ -186,21 +181,19 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#define SPI_SELECT_SLAVE2_PORT GPIOC
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#define SPI_SELECT_SLAVE2_PIN GPIO2
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/* 5611 BARO_CS on SPI1 - FRAM*/
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/* MS5611 BARO_CS on SPI2 - FRAM*/
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//OK
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#define SPI_SELECT_SLAVE3_PORT GPIOD
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#define SPI_SELECT_SLAVE3_PIN GPIO7
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/* FRAM*/
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//ok
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/* FRAM on SPI2 */
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#define SPI_SELECT_SLAVE4_PORT GPIOD
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#define SPI_SELECT_SLAVE4_PIN GPIO10
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/* SPI3 NSS on microSD connector */
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/*
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#define SPI_SELECT_SLAVE4_PORT GPIOA
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#define SPI_SELECT_SLAVE4_PIN GPIO4
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*/
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//#define SPI_SELECT_SLAVE4_PORT GPIOA
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//#define SPI_SELECT_SLAVE4_PIN GPIO4
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/* SDIO to microSD card connector */
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#define SDIO_AF GPIO_AF12
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@@ -286,14 +279,10 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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/* I2C mapping */
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/* There is no second I2C connector but boards to split to multiple exit, reliability, who knows...*/
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//OK
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#define I2C1_GPIO_PORT GPIOB
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#define I2C1_GPIO_SCL GPIO8
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#define I2C1_GPIO_SDA GPIO9
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/* Maybe Don't Activate onboard baro by default */
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//TODO
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#ifndef USE_BARO_BOARD
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#define USE_BARO_BOARD 1
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#endif
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@@ -322,7 +311,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#define USE_PWM6 1
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/* -ESC Servo 1 */
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//OK
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#if USE_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_TIMER TIM1
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@@ -336,7 +324,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#endif
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/* -ESC Servo 2 */
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//OK
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#if USE_PWM2
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#define PWM_SERVO_2 1
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#define PWM_SERVO_2_TIMER TIM1
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@@ -350,7 +337,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#endif
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/* -ESC Servo 3 */
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//OK
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#if USE_PWM3
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#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2
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#define PWM_SERVO_3_TIMER TIM1
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@@ -364,7 +350,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#endif
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/* -ESC Servo 4 */
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//OK
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#if USE_PWM4
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#define PWM_SERVO_4 3
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#define PWM_SERVO_4_TIMER TIM1
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@@ -378,7 +363,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#endif
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/* -ESC Servo 5 */
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//OK
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#if USE_PWM5
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#define PWM_SERVO_5 4
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#define PWM_SERVO_5_TIMER TIM4
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@@ -392,7 +376,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#endif
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/* -ESC Servo 6 */
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//OK
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#if USE_PWM6
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#define PWM_SERVO_6 5
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#define PWM_SERVO_6_TIMER TIM4
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@@ -429,4 +412,4 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
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#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT)
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#endif /* CONFIG_PX4PR_1_0_H */
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#endif /* CONFIG_PX4FMU_4_0_H */
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