mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
boards: mRo pixracer pro restore USART6, but RX only
This commit is contained in:
Daniel Agar
GitHub
@@ -11,12 +11,13 @@ px4_add_board(
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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TEL1:/dev/ttyS0
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TEL2:/dev/ttyS1
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GPS1:/dev/ttyS2
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#RC:/dev/ttyS3
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#CONSOLE:/dev/ttyS4
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#FRSKY:/dev/ttyS5
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#SPARE:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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GPS1:/dev/ttyS3
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#RC:/dev/ttyS4
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#CONSOLE:/dev/ttyS5
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#FRSKY:/dev/ttyS6
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DRIVERS
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adc/board_adc
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#barometer # all available barometer drivers
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@@ -105,6 +106,7 @@ px4_add_board(
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reboot
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reflect
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sd_bench
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serial_test
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system_time
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tests # tests and test runner
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top
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@@ -116,14 +118,15 @@ px4_add_board(
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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work_item
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#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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#rover_steering_control # Rover example app
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#uuv_example_app
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#work_item
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)
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10
boards/mro/pixracerpro/init/rc.board_extras
Normal file
10
boards/mro/pixracerpro/init/rc.board_extras
Normal file
@@ -0,0 +1,10 @@
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#!/bin/sh
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#
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# board specific extras init
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#------------------------------------------------------------------------------
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# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
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if param compare TEL_FRSKY_CONFIG 0
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then
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frsky_telemetry start -d /dev/ttyS6 -t 15
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fi
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@@ -237,8 +237,8 @@
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#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
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#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
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//#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
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//#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_USART6_TX 0 /* USART6 is RX-only */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
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#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
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@@ -252,7 +252,7 @@
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
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/* SPI */
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@@ -141,7 +141,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
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CONFIG_SCHED_LPWORKSTACKSIZE=1632
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CONFIG_SCHED_WAITPID=y
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CONFIG_SDCLONE_DISABLE=y
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CONFIG_SDMMC1_SDIO_MODE=y
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CONFIG_SDMMC1_SDIO_PULLUP=y
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CONFIG_SEM_NNESTPRIO=8
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CONFIG_SEM_PREALLOCHOLDERS=0
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CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
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@@ -198,6 +198,7 @@ CONFIG_STM32H7_UART8=y
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CONFIG_STM32H7_USART1=y
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CONFIG_STM32H7_USART2=y
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CONFIG_STM32H7_USART3=y
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CONFIG_STM32H7_USART6=y
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CONFIG_STM32H7_USART_BREAKS=y
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CONFIG_STM32H7_USART_INVERT=y
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CONFIG_STM32H7_USART_SINGLEWIRE=y
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@@ -227,6 +228,8 @@ CONFIG_USART3_IFLOWCONTROL=y
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CONFIG_USART3_OFLOWCONTROL=y
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CONFIG_USART3_RXBUFSIZE=600
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CONFIG_USART3_TXBUFSIZE=3000
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CONFIG_USART6_BAUD=57600
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CONFIG_USART6_RXBUFSIZE=600
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CONFIG_USBDEV=y
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -58,19 +58,19 @@
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/* PA2 */ GPIO_ADC12_INP14, \
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/* PA3 */ GPIO_ADC12_INP15, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PC1 */ GPIO_ADC123_INN10
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/* PC1 */ GPIO_ADC123_INP11
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/* Define Channel numbers must match above GPIO pin */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
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#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
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#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
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#define ADC_RSSI_IN_CHANNEL 10 /* PC1 */
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/* Define Channel numbers must match above GPIO pins */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
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#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
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#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
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#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL))
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(1 << ADC_RC_RSSI_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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@@ -108,7 +108,7 @@
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#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
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/* USB OTG FS */
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer3 for the HRT */
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@@ -118,7 +118,8 @@
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#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS3"
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#define RC_SERIAL_PORT "/dev/ttyS4"
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#define RC_SERIAL_SINGLEWIRE
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#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
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@@ -143,12 +144,11 @@
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
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#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
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#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
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#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_NUM_IO_TIMERS 3
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
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#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
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#define BOARD_ENABLE_CONSOLE_BUFFER
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