mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 09:53:33 +08:00
Ramon RocheandJulian Oes
1e4919d252
* hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing --------- Co-authored-by: Julian Oes <julian@oes.ch>
53 lines
2.3 KiB
C++
53 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020, 2022 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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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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#include <nuttx/spi/spi.h>
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin8}),
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initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin9})
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}),
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initSPIBus(SPI::Bus::SPI2, {
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initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
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}),
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initSPIBus(SPI::Bus::SPI3, {
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initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin12}),
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}),
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};
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static constexpr bool unused = validateSPIConfig(px4_spi_buses);
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