From 41b74ec014e2c9bf877a2430bfa1049392914a9d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 22 Feb 2020 10:07:10 +1100 Subject: [PATCH] HAL_ChibiOS: use DNA by default for all AP_Periph builds this makes multiple sensors of the same type on the bus easier --- libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat | 4 +++- libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat | 3 ++- libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef-bl.dat | 3 ++- libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat | 3 ++- libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef-bl.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef-bl.dat | 3 ++- libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat | 3 ++- libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef-bl.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef-bl.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat | 4 ++-- libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat | 4 ++-- 17 files changed, 35 insertions(+), 28 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat index 388605f3b9..1edd914cc5 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat @@ -96,8 +96,8 @@ define STM32_CAN_USE_CAN1 TRUE define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps" -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 116 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 # make bl baudrate match debug baudrate for easier debugging define BOOTLOADER_BAUDRATE 57600 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat index 6e6b1b06d0..51eccd1dde 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat @@ -144,8 +144,8 @@ PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define HAL_USE_CAN TRUE define STM32_CAN_USE_CAN1 TRUE -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 116 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat index 1cfe6c7f68..2c73e962b6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat @@ -17,7 +17,9 @@ env AP_PERIPH 1 define HAL_BOARD_AP_PERIPH_ZUBAXGNSS define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS" -define HAL_CAN_DEFAULT_NODE_ID 114 + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 # crystal frequency OSCILLATOR_HZ 16000000 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat index b29372c45c..c05304a3fc 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat @@ -156,7 +156,8 @@ BARO MS56XX SPI:ms5611 define HAL_BARO_ALLOW_INIT_NO_BARO -define HAL_CAN_DEFAULT_NODE_ID 114 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define HAL_NO_GCS define HAL_NO_LOGGING diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef-bl.dat index 8122650811..afd64aba59 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef-bl.dat @@ -2,5 +2,6 @@ include ../f103-periph/hwdef-bl.dat define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_adsb" -define HAL_CAN_DEFAULT_NODE_ID 116 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat index f318767e99..328ac1c59b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-ADSB/hwdef.dat @@ -5,7 +5,8 @@ include ../f103-periph/hwdef.dat define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_adsb" -define HAL_CAN_DEFAULT_NODE_ID 116 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define HAL_AIRSPEED_BUS_DEFAULT 0 define AIRSPEED_MAX_SENSORS 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef-bl.dat index f4e4b03fc0..38cbbcfd5f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef-bl.dat @@ -1,6 +1,6 @@ include ../f103-periph/hwdef-bl.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 117 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat index 0a59e0ff45..5b8026e6f1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat @@ -1,7 +1,7 @@ include ../f103-periph/hwdef.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 117 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef-bl.dat index 3d0788ef2f..c78e072e08 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef-bl.dat @@ -2,6 +2,7 @@ include ../f103-periph/hwdef-bl.dat define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_rangefinder" -define HAL_CAN_DEFAULT_NODE_ID 115 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat index cf8e275984..a49453db7a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat @@ -2,7 +2,8 @@ include ../f103-periph/hwdef.dat define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_rangefinder" -define HAL_CAN_DEFAULT_NODE_ID 115 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define HAL_AIRSPEED_BUS_DEFAULT 0 define AIRSPEED_MAX_SENSORS 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef-bl.dat index 24983c0316..f8564062cf 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef-bl.dat @@ -1,6 +1,6 @@ include ../f103-periph/hwdef-bl.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 113 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_trigger" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef.dat index 7c7ae65704..371426a728 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-Trigger/hwdef.dat @@ -2,8 +2,8 @@ include ../f103-periph/hwdef.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 113 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_trigger" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat index 9d33fd31bb..3de68eaae6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat @@ -1,6 +1,6 @@ include ../f303-periph/hwdef-bl.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 117 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat index ac2935e8c8..eda4af0e5c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat @@ -1,7 +1,7 @@ include ../f303-periph/hwdef.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 117 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef-bl.dat index 3822155ac4..4dd98ce2a6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef-bl.dat @@ -1,6 +1,6 @@ include ../f303-periph/hwdef-bl.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 112 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_universal" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat index 2ec6b37444..be9ca44bba 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat @@ -1,7 +1,7 @@ include ../f303-periph/hwdef.dat -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 112 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_universal" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat index 4bbf12676a..c44bc40455 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat @@ -96,7 +96,7 @@ PB6 STAY_IN_BOOTLOADER INPUT FLOATING # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 -# start with a fixed node ID so the board is usable without DNA -define HAL_CAN_DEFAULT_NODE_ID 117 +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps"