Andy Piper
3 years ago
committed by
Andrew Tridgell
3 changed files with 8 additions and 325 deletions
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include ../Pixhawk4/hwdef-bl.dat |
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# hw definition file for processing by chibios_hwdef.py |
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# for Holybro Pixhawk4 hardware. |
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include ../fmuv5-bdshot/hwdef.dat |
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include ../Pixhawk4/hwdef.dat |
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# setup for supplied power brick |
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undef HAL_BATT_VOLT_SCALE |
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define HAL_BATT_VOLT_SCALE 18.182 |
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undef HAL_BATT_CURR_SCALE |
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define HAL_BATT_CURR_SCALE 36.364 |
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undef PA10 PE11 |
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# This gives bi-dir dshot on the first four channels and regular dshot on the next two |
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR |
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DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM* |
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# hw definition file for processing by chibios_hwdef.py |
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# for FMUv5 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4) |
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# MCU class and specific type. It is a F765, which is the same as F767 |
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# but without the TFT interface |
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MCU STM32F7xx STM32F767xx |
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 |
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define HAL_CHIBIOS_ARCH_FMUV5 1 |
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# board ID for firmware load |
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APJ_BOARD_ID 50 |
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FLASH_RESERVE_START_KB 32 |
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# flash size |
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FLASH_SIZE_KB 2048 |
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env OPTIMIZE -O2 |
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7 OTG2 |
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# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers |
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 |
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# now we define the pins that USB is connected on |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# SPI1 - internal sensors |
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PG11 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PD7 SPI1_MOSI SPI1 |
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# SPI2 - FRAM |
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PI1 SPI2_SCK SPI2 |
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PI2 SPI2_MISO SPI2 |
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PI3 SPI2_MOSI SPI2 |
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# SPI4 - sensors2 |
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PE2 SPI4_SCK SPI4 |
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PE13 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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# SPI5 - external1 (disabled to save DMA channels) |
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# PF7 SPI5_SCK SPI5 |
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# PF8 SPI5_MISO SPI5 |
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# PF9 SPI5_MOSI SPI5 |
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# SPI6 - external2 (disabled to save DMA channels) |
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# PG13 SPI6_SCK SPI6 |
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# PG12 SPI6_MISO SPI6 |
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# PB5 SPI6_MOSI SPI6 |
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# sensor CS |
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PF10 MS5611_CS CS |
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PF2 ICM20689_CS CS SPEED_VERYLOW |
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PF3 ICM20602_CS CS SPEED_VERYLOW |
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PF4 BMI055_G_CS CS |
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PG10 BMI055_A_CS CS |
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PF5 FRAM_CS CS SPEED_VERYLOW |
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# unusued CS pins |
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PF11 SPARE_CS CS |
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PH5 AUXMEM_CS CS |
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PI4 EXTERNAL1_CS1 CS |
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PI10 EXTERNAL1_CS2 CS |
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PI11 EXTERNAL1_CS3 CS |
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PI6 EXTERNAL2_CS1 CS |
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PI7 EXTERNAL2_CS2 CS |
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PI8 EXTERNAL2_CS3 CS |
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# I2C buses |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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PF1 I2C2_SCL I2C2 |
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PF0 I2C2_SDA I2C2 |
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PH7 I2C3_SCL I2C3 |
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PH8 I2C3_SDA I2C3 |
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PF14 I2C4_SCL I2C4 |
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PF15 I2C4_SDA I2C4 |
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# order of I2C buses |
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I2C_ORDER I2C3 I2C1 I2C2 I2C4 |
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# enable pins |
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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# start peripheral power off, then enable after init |
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# this prevents a problem with radios that use RTS for |
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# bootloader hold |
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PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH |
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH |
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PG5 VDD_5V_RC_EN OUTPUT HIGH |
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PG6 VDD_5V_WIFI_EN OUTPUT HIGH |
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PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH |
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# drdy pins |
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PE7 DRDY8_NC INPUT |
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PB4 DRDY1_ICM20689 INPUT |
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PB14 DRDY2_BMI055_GYRO INPUT |
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PB15 DRDY3_BMI055_ACC INPUT |
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PC5 DRDY4_ICM20602 INPUT |
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PC13 DRDY5_BMI055_GYRO INPUT |
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PD10 DRDY6_BMI055_ACC INPUT |
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PD15 DRDY7_EXTERNAL1 INPUT |
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# Control of Spektrum power pin |
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PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) |
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define HAL_GPIO_SPEKTRUM_PWR 73 |
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# Spektrum Power is Active High |
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define HAL_SPEKTRUM_PWR_ENABLED 1 |
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# UARTs |
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# USART2 is telem1 |
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PD6 USART2_RX USART2 |
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PD5 USART2_TX USART2 |
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PD3 USART2_CTS USART2 |
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PD4 USART2_RTS USART2 |
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# USART1 is GPS1 |
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PB7 USART1_RX USART1 NODMA |
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PB6 USART1_TX USART1 NODMA |
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# USART3 is telem2 |
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PD9 USART3_RX USART3 |
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PD8 USART3_TX USART3 |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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# UART4 GPS2 |
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PD0 UART4_RX UART4 NODMA |
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PD1 UART4_TX UART4 NODMA |
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# USART6 is telem3 |
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PG9 USART6_RX USART6 NODMA |
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# we leave PG14 as an input to prevent it acting as a pullup |
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# on the IOMCU SBUS input |
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# PG14 USART6_TX USART6 NODMA |
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PG15 USART6_CTS USART6 |
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PG8 USART6_RTS USART6 |
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# UART7 is debug |
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PF6 UART7_RX UART7 NODMA |
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PE8 UART7_TX UART7 NODMA |
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# UART8 is for IOMCU |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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# UART for IOMCU |
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IOMCU_UART UART8 |
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# PWM AUX channels |
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) |
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR |
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) NODMA |
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) NODMA |
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# we need to disable DMA on the last 2 FMU channels |
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# as timer 12 doesn't have a TIMn_UP DMA option |
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA |
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA |
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# PWM output for buzzer |
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PE5 TIM9_CH1 TIM9 GPIO(77) ALARM |
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# analog in |
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1) |
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PA3 BATT2_CURRENT_SENS ADC1 SCALE(1) |
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PC4 SPARE1_ADC1 ADC1 SCALE(1) |
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PA4 SPARE2_ADC1 ADC1 SCALE(1) |
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PB0 RSSI_IN ADC1 SCALE(1) |
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#PC3 HW_REV_SENS ADC1 SCALE(1) |
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#PC2 HW_VER_SENS ADC1 SCALE(1) |
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PC0 VDD_5V_SENS ADC1 SCALE(2) |
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PC1 SCALED_V3V3 ADC1 SCALE(2) |
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# setup scaling defaults for PixHackV5 power brick |
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define HAL_BATT_VOLT_SCALE 18.0 |
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define HAL_BATT_CURR_SCALE 24.0 |
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define HAL_BATT_VOLT_PIN 0 |
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define HAL_BATT_CURR_PIN 1 |
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define HAL_BATT2_VOLT_PIN 2 |
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define HAL_BATT2_CURR_PIN 3 |
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# CAN bus |
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PI9 CAN1_RX CAN1 |
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PH13 CAN1_TX CAN1 |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 |
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PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) |
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PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) |
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PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) |
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# GPIOs |
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PA7 HEATER_EN OUTPUT LOW GPIO(80) |
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define HAL_HEATER_GPIO_PIN 80 |
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PG1 VDD_BRICK_nVALID INPUT PULLUP |
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PG2 VDD_BRICK2_nVALID INPUT PULLUP |
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PG3 VBUS_nVALID INPUT PULLUP |
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP |
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP |
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PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH |
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# capture pins |
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PA5 FMU_CAP1 INPUT GPIO(58) |
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PB3 FMU_CAP2 INPUT GPIO(59) |
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PB11 FMU_CAP3 INPUT GPIO(60) |
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PI0 FMU_SPARE_4 INPUT GPIO(61) |
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# SPI devices |
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SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
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# up to 3 IMUs |
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IMU Invensense SPI:icm20689 ROTATION_NONE |
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IMU Invensense SPI:icm20602 ROTATION_NONE |
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# 3rd could be BMMI055 or BMI088 |
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IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 |
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IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 |
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define HAL_DEFAULT_INS_FAST_SAMPLE 1 |
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# probe external I2C compasses plus some internal IST8310 |
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# we also probe some external IST8310 with a non-standard orientation |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 |
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COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90 |
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# one baro |
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BARO MS56XX SPI:ms5611 |
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# microSD support |
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PC8 SDMMC_D0 SDMMC1 |
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PC9 SDMMC_D1 SDMMC1 |
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PC10 SDMMC_D2 SDMMC1 |
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PC11 SDMMC_D3 SDMMC1 |
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PC12 SDMMC_CK SDMMC1 |
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PD2 SDMMC_CMD SDMMC1 |
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# red LED marked as B/E |
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PB1 LED_RED OUTPUT OPENDRAIN GPIO(90) |
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# green LED marked as PWR. We leave this solid on, but allow |
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# for it to be controlled as a relay if needed |
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PC6 LED_GREEN OUTPUT GPIO(91) LOW |
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# blue LED marked as ACT |
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PC7 LED_BLUE OUTPUT GPIO(92) HIGH |
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# setup for BoardLED2 |
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define HAL_GPIO_A_LED_PIN 90 |
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define HAL_GPIO_B_LED_PIN 92 |
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define HAL_GPIO_LED_ON 0 |
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# enable RAMTROM parameter storage |
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define HAL_STORAGE_SIZE 16384 |
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define HAL_WITH_RAMTRON 1 |
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# allow to have have a dedicated safety switch pin |
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define HAL_HAVE_SAFETY_SWITCH 1 |
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM* |
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# define HAL_SPI_CHECK_CLOCK_FREQ 1 |
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# enable FAT filesystem support (needs a microSD defined via SDMMC) |
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define HAL_OS_FATFS_IO 1 |
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin |
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# uncomment block below to enable a 2nd MS5611 baro on SPI5 |
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#PF7 SPI5_SCK SPI5 |
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#PF8 SPI5_MISO SPI5 |
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#PF9 SPI5_MOSI SPI5 |
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#SPIDEV ms5611_spi5 SPI5 DEVID1 EXTERNAL1_CS1 MODE3 20*MHZ 20*MHZ |
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#undef PI10 |
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#PI10 EXTERNAL1_CS2 OUTPUT LOW |
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#BARO MS56XX SPI:ms5611_spi5 |
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