diff options
| author | px4dev <px4@purgatory.org> | 2013-07-03 00:08:12 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-03 00:08:12 -0700 |
| commit | be6ad7af3b65841d2b460e3064c166dc9167401f (patch) | |
| tree | b9b6e9d435196c5fbc71af7f046db17457de0a3d /src/drivers/boards | |
| parent | 3eb115c821461e57727f1a75a3b6ec60113d48dd (diff) | |
| download | px4-firmware-be6ad7af3b65841d2b460e3064c166dc9167401f.tar.gz px4-firmware-be6ad7af3b65841d2b460e3064c166dc9167401f.tar.bz2 px4-firmware-be6ad7af3b65841d2b460e3064c166dc9167401f.zip | |
Rework the FMU<->IO connection to use a simple fixed-size DMA packet; this should let us reduce overall latency and bump the bitrate up.
Will still require some tuning.
Diffstat (limited to 'src/drivers/boards')
| -rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu_internal.h | 11 | ||||
| -rwxr-xr-x | src/drivers/boards/px4iov2/px4iov2_internal.h | 9 |
2 files changed, 18 insertions, 2 deletions
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h index 78f6a2e65..1698336b4 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu_internal.h +++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h @@ -58,6 +58,17 @@ __BEGIN_DECLS ****************************************************************************************************/ /* Configuration ************************************************************************************/ +/* PX4IO connection configuration */ +#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX +#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX +#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ +#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 +#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2 +#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2 +#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + + /* PX4FMU GPIOs ***********************************************************************************/ /* LEDs */ diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h index 282ed7548..b8aa6d053 100755 --- a/src/drivers/boards/px4iov2/px4iov2_internal.h +++ b/src/drivers/boards/px4iov2/px4iov2_internal.h @@ -59,8 +59,13 @@ /****************************************************************************** * Serial ******************************************************************************/ -#define SERIAL_BASE STM32_USART1_BASE -#define SERIAL_VECTOR STM32_IRQ_USART1 +#define PX4FMU_SERIAL_BASE STM32_USART2_BASE +#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX +#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX +#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX +#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX +#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY +#define PX4FMU_SERIAL_BITRATE 1500000 /****************************************************************************** * GPIOS |