AP_HAL_ChibiOS: add KakuteH7-bdshot target

3 years ago · 222717cc88
2 changed files with 19 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-bdshot/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-bdshot/hwdef-bl.dat
@ -0,0 +1 @@
				@@ -0,0 +1 @@
+include ../KakuteH7/hwdef-bl.dat
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-bdshot/hwdef.dat
@ -0,0 +1,18 @@
				@@ -0,0 +1,18 @@
+# Bi-directional dshot version of KakuteH7
+
+include ../KakuteH7/hwdef.dat
+
+undef PB0 PB1 PB3 PB10 PC7
+
+# Must use USART6 for RCIN rather than RCINT as timer needed for bi-dir dshot
+PC7 USART6_RX USART6 NODMA
+
+define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define HAL_SERIAL6_BAUD 115
+define HAL_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
+define HAL_SERIAL7_BAUD 115
+
+PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
+PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51)
+PB3  TIM2_CH2 TIM2 PWM(3) GPIO(52) BIDIR
+PB10 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR
				`@ -0,0 +1 @@` @@ -0,0 +1 @@
				`include ../KakuteH7/hwdef-bl.dat`