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AP_Hal_ChibiOS: Matek F765-Wing new alt configs for extra GPIOs #18873

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Oct 25, 2021
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AP_Hal_ChibiOS: Matek F765-Wing new alt configs for extra GPIOs #18873

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fcba83e
AP_HAL_ChibiOS: add alt config GPIO to Matek F765-Wing
kniuk Oct 8, 2021
536d0ea
AP_HAL_ChibiOS: hwdef.py: allow same GPIO pin in multiple alt configs
IamPete1 Oct 16, 2021
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14 changes: 13 additions & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
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Original file line number Diff line number Diff line change
Expand Up @@ -119,17 +119,29 @@ PB8 UART5_RX UART5 NODMA
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
PC6 USART6_TX USART6 NODMA

# as an alternative config setup the RX6 pin as a uart. This allows
# as an alternative config setup the RX6 pin as an uart. This allows
# for bi-directional UART based receiver protocols such as FPort
# without any extra hardware
PC7 USART6_RX USART6 NODMA ALT(1)
PC7 USART6_RX USART6 NODMA ALT(3)

# UART7 (telem1)
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE10 UART7_CTS UART7
PE9 UART7_RTS UART7

# telem1-UART7 RTS and CTS as GPIO in alternative configs
PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(2) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it)
PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(2) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it)
PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(3) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it)
PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(3) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it)

# alternative configs:
# 1: bidirectional receiver protocol on RX6 pin
# 2: extra GPIOs instead of Cts/Rts on UART7_CTS
# 3: both 1 and 2 combined, GPIO numbers differ to avoid "Duplicate GPIO value" error while generating hwdef.h

# UART8 (spare)
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA
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7 changes: 6 additions & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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Expand Up @@ -1846,7 +1846,12 @@ def write_GPIO_config(f):
if gpio is None:
continue
if gpio in gpioset:
error("Duplicate GPIO value %u" % gpio)
# check existing entry
existing_gpio = [item for item in gpios if item[0] == gpio]
if (existing_gpio[0][4].label == p.label) and (existing_gpio[0][3] == p.pin) and (existing_gpio[0][2] == p.port):
# alt item is identical to exiting, do not add again
continue
error("Duplicate GPIO value %u, %s != %s" % (gpio, p, existing_gpio[0][4]))
pwm = p.extra_value('PWM', type=int, default=0)
if pwm != 0:
error("PWM not supported for alt config: %s" % p)
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