add software toggle CAN termination to holybro product

vincentpoont2 · Dec 13, 2024 · 2f2c1c6 · 2f2c1c6
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commit 2f2c1c6
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diff --git a/Tools/bootloaders/HolybroF4_PMU_bl.bin b/Tools/bootloaders/HolybroF4_PMU_bl.bin
diff --git a/Tools/bootloaders/HolybroF4_PMU_bl.hex b/Tools/bootloaders/HolybroF4_PMU_bl.hex
diff --git a/Tools/bootloaders/HolybroG4_Airspeed_bl.bin b/Tools/bootloaders/HolybroG4_Airspeed_bl.bin
diff --git a/Tools/bootloaders/HolybroG4_Airspeed_bl.hex b/Tools/bootloaders/HolybroG4_Airspeed_bl.hex
diff --git a/Tools/bootloaders/HolybroG4_Compass_bl.bin b/Tools/bootloaders/HolybroG4_Compass_bl.bin
diff --git a/Tools/bootloaders/HolybroG4_Compass_bl.hex b/Tools/bootloaders/HolybroG4_Compass_bl.hex
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef-bl.dat
@@ -33,6 +33,7 @@ PC11  USART3_RX USART3
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
 
 define HAL_USE_CAN TRUE
 define STM32_CAN_USE_CAN1 TRUE

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef.dat
@@ -61,6 +61,7 @@ env ROMFS_UNCOMPRESSED True
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
 
 # use DNA for node allocation
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef-bl.dat
@@ -74,6 +74,7 @@ define HAL_DISABLE_LOOP_DELAY
 PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN2_TERM OUTPUT PUSHPULL SPEED_LOW LOW
 
 # make bl baudrate match debug baudrate for easier debugging
 define BOOTLOADER_BAUDRATE 57600

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Airspeed/hwdef.dat
@@ -75,6 +75,7 @@ define HAL_DISABLE_LOOP_DELAY
 PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 PB2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN2_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
 
 define HAL_NO_MONITOR_THREAD
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef-bl.dat
@@ -64,6 +64,7 @@ define DMA_RESERVE_SIZE 0
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
 
 # make bl baudrate match debug baudrate for easier debugging
 define BOOTLOADER_BAUDRATE 57600

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
@@ -80,6 +80,7 @@ define DMA_RESERVE_SIZE 0
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB4 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
 
 define HAL_DEVICE_THREAD_STACK 768