hwdef: added more PWM options in MatekL431-Dshot

3 years ago · 71b9e80c04
2 changed files with 23 additions and 3 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-DShot/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-DShot/defaults.parm
@ -1,16 +1,20 @@
				@@ -1,16 +1,20 @@
-# up to 5 motors
+# up to 9 motors/servos

 OUT1_FUNCTION 33
 OUT2_FUNCTION 34
 OUT3_FUNCTION 35
 OUT4_FUNCTION 36
-OUT5_FUNCTION 37
+OUT5_FUNCTION 51
+OUT6_FUNCTION 52
+OUT7_FUNCTION 53
+OUT8_FUNCTION 54
+OUT9_FUNCTION 55

 # DShot 600
 ESC_PWM_TYPE 7
 OUT_BLH_OTYPE 6

-OUT_BLH_MASK 31
+OUT_BLH_MASK 15

 # DShot telem on RX1
 ESC_TELEM_PORT 0
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-DShot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-DShot/hwdef.dat
@ -4,6 +4,12 @@ define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-DShot"
				@@ -4,6 +4,12 @@ define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-DShot"

 define HAL_USE_ADC FALSE

+undef SERIAL_ORDER
+undef USART2 USART2_TX USART2_RX
+undef PA2 PA3
+
+SERIAL_ORDER USART1 EMPTY USART3
+
 # --------------------- PWM -----------------------
 PA8   TIM1_CH1  TIM1 PWM(1) GPIO(50)
 PA9   TIM1_CH2  TIM1 PWM(2) GPIO(51)
@ -11,6 +17,16 @@ PA10  TIM1_CH3  TIM1 PWM(3) GPIO(52)
				@@ -11,6 +17,16 @@ PA10  TIM1_CH3  TIM1 PWM(3) GPIO(52)
 PA11  TIM1_CH4  TIM1 PWM(4) GPIO(53)
 PA15  TIM2_CH1  TIM2 PWM(5) GPIO(54)

+# TX2/RX2 -- PWM6/7
+PA2   TIM2_CH3  TIM2 PWM(6) GPIO(55)
+PA3   TIM2_CH4  TIM2 PWM(7) GPIO(56)
+
+# "curr" pin -- PWM8
+PA1   TIM2_CH2  TIM2 PWM(8) GPIO(57)
+
+# "beeper" pin -- PWM9
+PA6   TIM16_CH1 TIM16  PWM(9)  GPIO(58) NODMA
+
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY