AP_Hal_ChibiOS: Test rangefinder f303

ukmook · May 13, 2020 · d822e89 · d822e89
1 parent ab0f1aa
commit d822e89
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Showing 2 changed files with 17 additions and 14 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
@@ -6,24 +6,27 @@ define HAL_CAN_DEFAULT_NODE_ID 0
 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_universal"
 
 # and support all external compass and baro types
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-define HAL_PROBE_EXTERNAL_I2C_BAROS
+# define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+# define HAL_PROBE_EXTERNAL_I2C_BAROS
 
 # enable all features
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_ENABLE_MAG
-define HAL_PERIPH_ENABLE_BARO
-define HAL_PERIPH_ENABLE_AIRSPEED
-define HAL_PERIPH_ENABLE_ADSB
-define HAL_PERIPH_ENABLE_NCP5623_LED
+# define HAL_PERIPH_ENABLE_GPS
+# define HAL_PERIPH_ENABLE_MAG
+# define HAL_PERIPH_ENABLE_BARO
+# define HAL_PERIPH_ENABLE_AIRSPEED
+# define HAL_PERIPH_ENABLE_ADSB
+# define HAL_PERIPH_ENABLE_NCP5623_LED
 define HAL_PERIPH_ENABLE_RANGEFINDER
 
+define HAL_SERIAL5_PROTOCOL SerialProtocol_Rangefinder
+define HAL_SERIAL5_BAUD 115200
+
+
 define RANGEFINDER_MAX_INSTANCES 1
-define ADSB_PORT hal.uartB
+# define ADSB_PORT hal.uartB
 
-define HAL_AIRSPEED_BUS_DEFAULT 0
-define AIRSPEED_MAX_SENSORS 1
+# define HAL_AIRSPEED_BUS_DEFAULT 0
+# define AIRSPEED_MAX_SENSORS 1
 
 # default ADSB off by setting 0 baudrate
-define HAL_PERIPH_ADSB_BAUD_DEFAULT 0
-
+# define HAL_PERIPH_ADSB_BAUD_DEFAULT 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat
@@ -30,7 +30,7 @@ FLASH_SIZE_KB 256
 
 
 # order of UARTs
-SERIAL_ORDER USART2 EMPTY EMPTY USART1
+SERIAL_ORDER USART2 EMPTY EMPTY EMPTY EMPTY USART1
 
 # a LED to flash
 PA4 LED OUTPUT LOW