hwdef: added Pixhawk6C support

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the HolybroV6C hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# USB setup
+USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
+USB_PRODUCT 0x0053
+USB_STRING_MANUFACTURER "Holybro"
+
+# board ID for firmware load
+APJ_BOARD_ID 53
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PC13 ICM42688_CS CS
+PC14 BMI055_G_CS CS
+PC15 BMI055_A_CS CS
+PD4 FRAM_CS CS
+
+# telem1
+PE8  UART7_TX UART7
+PE7  UART7_RX UART7
+
+# telem2
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# start peripheral power off
+PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PE2  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+
+# LEDs
+PD10 LED_ACTIVITY OUTPUT OPENDRAIN GPIO(90) HIGH # red
+PD11 LED_BOOTLOADER OUTPUT OPENDRAIN GPIO(92) HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the HolybroV6C hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# USB setup
+USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
+USB_PRODUCT 0x0053
+USB_STRING_MANUFACTURER "Holybro"
+
+# board ID for firmware load
+APJ_BOARD_ID 53
+
+FLASH_RESERVE_START_KB 128
+
+# to be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# telem1
+PE8  UART7_TX UART7
+PE7  UART7_RX UART7
+PE9  UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# telem2
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+PC8 UART5_RTS UART5
+PC9 UART5_CTS UART5
+
+# GPS1
+PB6  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# GPS2
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# uart2 telem3
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# USART6 is for IOMCU
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+IOMCU_UART USART6
+
+# ADC
+
+PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+PA4 VDD_5V_SENS  ADC1 SCALE(2)
+
+# SPI1 - IMUs
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PC13 ICM42688_CS CS
+PC14 BMI055_G_CS CS
+PC15 BMI055_A_CS CS
+PE4  BMI055_DRDY_A INPUT
+PE5  BMI055_DRDY_G INPUT
+PE6  ICM42688_DRDY INPUT
+
+# SPI2 - FRAM
+PD3 SPI2_SCK SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+PD4 FRAM_CS CS
+
+# PWM output pins
+PA8  TIM1_CH1 TIM1 PWM(1) GPIO(50)
+PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
+PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52)
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
+PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54)
+PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
+PA0  TIM5_CH1 TIM5 PWM(7) GPIO(56)
+PA1  TIM5_CH2 TIM5 PWM(8) GPIO(57)
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PB5  CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+
+# I2C buses
+
+# I2C1, GPS+MAG
+PB7 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+# I2C2, GPS2+MAG
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# I2C4 internal
+PD12 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C4 I2C1 I2C2
+define HAL_I2C_INTERNAL_MASK 1
+
+# heater
+PB9 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+# Setup the IMU heater
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+
+# power enable pins
+PB2 VDD_3V3_SENSORS1_EN OUTPUT HIGH
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PE2  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+
+# Control of Spektrum power pin
+PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
+define HAL_GPIO_SPEKTRUM_PWR 73
+
+# Spektrum Power is Active High
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+# power sensing
+PE3 VDD_5V_PERIPH_nOC INPUT PULLUP
+PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+
+PA15 VDD_BRICK_nVALID INPUT PULLUP
+PB12 VDD_BRICK2_nVALID INPUT PULLUP
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PB3  SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# LEDs
+PD10 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
+PD11 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
+
+# setup for BoardLED2
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 92
+define HAL_GPIO_LED_ON 0
+
+# ID pins
+PE12 HW_VER_REV_DRIVE OUTPUT LOW
+# PC0 HW_REV_SENS ADC1 SCALE(1)
+# PC1 HW_VER_SENS ADC1 SCALE(1)
+
+# PWM output for buzzer
+PB0 TIM3_CH3 TIM3 GPIO(77) ALARM
+
+# barometers
+BARO MS56XX I2C:0:0x76
+BARO MS56XX I2C:0:0x77
+BARO BMP388 I2C:0:0x77
+
+# prototypes may have no baro
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE
+
+# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+
+# SPI devices
+SPIDEV bmi055_g SPI1 DEVID1  BMI055_G_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi055_a SPI1 DEVID2  BMI055_A_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV icm42688 SPI1 DEVID3  ICM42688_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron  SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ
+
+# 2 IMUs
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
+IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin