From 5df3d64c0c69e6bbb642db7cc470062886bc6d36 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Wed, 11 Dec 2024 16:12:48 -0900 Subject: [PATCH] added defaults.parm --- .../hwdef/ARK_FPV/defaults.parm | 17 +++++++++ .../AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat | 16 ++++----- .../AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat | 35 +++++++++---------- 3 files changed, 40 insertions(+), 28 deletions(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm new file mode 100644 index 0000000000000..834a26c016aac --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm @@ -0,0 +1,17 @@ +# CAN +CAN_P1_DRIVER 1 # Enables the use of CAN + +# Onboard OSD +OSD_TYPE 5 # MSP +OSD_CELL_COUNT 0 # auto based on voltage at start + +# Serial ports +SERIAL1_PROTOCOL 2 # Mavlink +SERIAL2_PROTOCOL 42 # DisplayPort +SERIAL3_PROTOCOL 5 # GPS +SERIAL4_PROTOCOL 0 # TODO: DJI HDL? +SERIAL5_PROTOCOL 16 # ESC telemetry +SERIAL6_PROTOCOL 23 # RCIN +SERIAL7_PROTOCOL 22 # SLCAN + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat index bdde76cb59ad3..5e96b7c25a9ee 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat @@ -1,16 +1,15 @@ -# processed by chibios_hwdef.py +# Processed by chibios_hwdef.py include common.inc -# bootloader is installed at zero offset +# Bootloader is installed at zero offset FLASH_RESERVE_START_KB 0 -# the location where the bootloader will put the firmware +# Location where the bootloader will put the firmware FLASH_BOOTLOADER_LOAD_KB 128 env OPTIMIZE -Os -# order of UARTs (and USB) SERIAL_ORDER OTG1 UART7 UART5 USART3 # CS pins @@ -19,17 +18,13 @@ PI9 IMU1_CS CS # SPI6 - external PI10 EXT1_CS CS -# telem1 +# Telem1 - Telem PE8 UART7_TX UART7 PF6 UART7_RX UART7 PF8 UART7_RTS UART7 PE10 UART7_CTS UART7 -# telem2 -PC12 UART5_TX UART5 -PD2 UART5_RX UART5 - -# armed indication +# Armed indication PE6 nARMED OUTPUT HIGH # 12V peripheral enable @@ -40,5 +35,6 @@ PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue define HAL_LED_ON 0 +# No param flash storage for bootloader define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat index e6b743945a884..17eadb388d260 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat @@ -1,20 +1,19 @@ -# processed by chibios_hwdef.py +# Processed by chibios_hwdef.py include common.inc # ChibiOS system timer STM32_ST_USE_TIMER 2 - -# bootloader takes first sector +# Bootloader takes first sector FLASH_RESERVE_START_KB 128 -# use last 2 pages for flash storage +# Use last 2 pages for flash storage # H743 has 16 pages of 128k each define HAL_STORAGE_SIZE 32768 STORAGE_FLASH_PAGE 14 -# to be compatible with the px4 bootloader we need +# To be compatible with the px4 bootloader we need # to use a different RAM_MAP env USE_ALT_RAM_MAP 1 @@ -22,11 +21,11 @@ env OPTIMIZE -O2 SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2 -# debug console +# Debug console STDOUT_SERIAL SD3 STDOUT_BAUDRATE 57600 -# default to all pins low to avoid ESD issues +# Default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN # Telem1 - Telem @@ -58,8 +57,7 @@ PC7 USART6_RX USART6 # ADCs PA0 SCALED1_V3V3 ADC1 SCALE(2) PB1 VDD_5V_SENS ADC1 SCALE(2) - -# TODO: 12V +# TODO: 12V monitor # PA4 SCALED2_V3V3 ADC1 SCALE(2) PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1) @@ -85,14 +83,14 @@ PG9 SPI1_MISO SPI1 PI9 IMU1_CS CS PF2 IMU1_DRDY INPUT -# SPI6 - external +# SPI6 - external (SPI OSD or IMU) PB3 SPI6_SCK SPI6 PA6 SPI6_MISO SPI6 PG14 SPI6_MOSI SPI6 PI10 EXT1_CS CS PD11 DRDY_ADIS16507 INPUT GPIO(93) -# use GPIO(93) for data ready on ADIS16507 +# GPIO(93) for data ready on ADIS16507 # define ADIS_DRDY_PIN 93 # Motors @@ -139,10 +137,10 @@ define HAL_IMUHEAT_I_DEFAULT 0.07 # TODO: should we use this? # define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 -# armed indication +# Armed indication PE6 nARMED OUTPUT HIGH -# power enable pins +# Power enable pins PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH @@ -151,7 +149,7 @@ PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH # bootloader hold PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH -# power sensing +# Power sensing PE15 VDD_5V_PERIPH_nOC INPUT PULLUP PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP PG1 VDD_BRICK_nVALID INPUT PULLUP @@ -196,17 +194,18 @@ IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270 define HAL_DEFAULT_INS_FAST_SAMPLE 1 +# Prioritze SD logging and IMU DMA_PRIORITY SDMMC* SPI* +# Bidir DShot timers cannot share DMA DMA_NOSHARE SPI* TIM5* TIM8* -# enable FAT filesystem support (needs a microSD defined via SDMMC) +# Enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 - -# bootloader embedding / bootloader flashing not available +# Bootloader embedding / bootloader flashing not available define AP_BOOTLOADER_FLASHING_ENABLED 0 -# setup for OSD +# Setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport