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245 lines
4.4 KiB
245 lines
4.4 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for ProfiCNC/Hex CUBE RED hardware |
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# MCU class and specific type |
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MCU STM32F7xx STM32F769xx |
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# board ID for firmware load |
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APJ_BOARD_ID 9 |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# board voltage |
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STM32_VDD 330U |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# serial port for stdout |
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STDOUT_SERIAL SD7 |
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STDOUT_BAUDRATE 57600 |
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# USB setup |
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE |
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USB_PRODUCT 0x1002 |
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USB_STRING_MANUFACTURER "Hex Technology Limited" |
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USB_STRING_PRODUCT "ProfiCNC CUBE F7 FMU" |
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USB_STRING_SERIAL "%SERIAL%" |
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# order of I2C buses |
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I2C_ORDER I2C2 I2C1 |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 UART4 USART2 USART3 UART8 |
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# UART for IOMCU |
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IOMCU_UART USART6 |
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# UART4 serial GPS |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PA4 VDD_5V_SENS ADC1 SCALE(2) |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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PA8 CAN3_RX CAN3 |
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PA9 VBUS INPUT OPENDRAIN |
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PA10 IO-debug-console |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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PA15 CAN3_TX CAN3 |
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PB0 EXTERN_GPIO1 OUTPUT GPIO(1) |
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PB1 EXTERN_GPIO2 OUTPUT GPIO(2) |
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PB2 BOOT1 INPUT |
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PB3 FMU_SW0 INPUT |
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PB4 PWM_VOLT_SELECT OUTPUT LOW |
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PB5 SPI6_MOSI SPI6 |
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PB6 CAN2_TX CAN2 |
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#PB7 |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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PB12 CAN2_RX CAN2 |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PC0 HW_VERSION_SENSE INPUT |
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PC1 HW_REV_SENSE INPUT |
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#PC2 |
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#PC3 |
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#PC4 |
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#PC5 |
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# USART6 to IO |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 |
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PC8 SDIO_D0 SDIO |
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PC9 SDIO_D1 SDIO |
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PC10 SDIO_D2 SDIO |
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PC11 SDIO_D3 SDIO |
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PC12 SDIO_CK SDIO |
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PC13 GYRO_EXT_CS CS |
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PC14 32KHz_IN |
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PC15 32KHz_OUT |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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PD2 SDIO_CMD SDIO |
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# USART2 serial2 telem1 |
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PD3 USART2_CTS USART2 |
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PD4 USART2_RTS USART2 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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PD7 BARO_CS CS |
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# USART3 serial3 telem2 |
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PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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PD10 FRAM_CS CS |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) |
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) |
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PD15 MPU_DRDY INPUT |
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# UART8 serial4 GPS2 |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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PE2 SPI4_SCK SPI4 |
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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PE4 ICM20948_CS CS |
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PE5 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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# UART7 debug console |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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#PE10 |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PE12 FMU_LED_AMBER OUTPUT GPIO(0) |
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) |
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) |
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PE15 VDD_5V_PERIPH_OC INPUT |
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#PF0 |
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#PF1 |
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PF2 ICM20649_CS CS |
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PF3 FMU_AUX_POWER ADC1 SCALE(1) |
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PF4 FMU_AUX_ADC2 ADC1 SCALE(1) |
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PF5 PRESSURE_SENS ADC1 SCALE(1) |
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#PF6 |
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#PF7 |
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#PF8 |
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#PF9 |
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PF10 SPI4_MS5611_CS CS |
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PF11 SPI4_SPARE_CS CS |
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#PF12 |
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PF13 VDD_5V_HIPOWER_OC |
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#PF14 |
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#PF15 |
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#PG0 |
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PG1 VDD_BRICK_VALID INPUT |
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PG2 VBUS_VALID INPUT |
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PG3 VDD_BACKUP_VALID INPUT |
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PG4 VDD_5V_PERIPH_EN OUTPUT LOW |
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#PG5 |
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#PG6 |
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#PG7 |
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PG8 SPI6_CS CS |
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#PG9 |
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#PG10 |
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PG11 SPI6_CS2 CS |
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PG12 SPI6_MISO SPI6 |
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PG13 SPI6_SCK SPI6 |
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#PG14 |
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#PG15 |
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#PH0 OSC_IN 24MHz |
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#PH1 OSC_OUT 24MHz |
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PH2 HW_VER_DRIVE OUTPUT HIGH |
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PH3 HW_REV_DRIVE OUTPUT HIGH |
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#PH4 |
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#PH5 |
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#PH6 |
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#PH7 |
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#PH8 |
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PH9 ALARM |
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#PH10 |
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#PH11 |
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#PH12 |
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#PH13 |
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#PH14 |
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#PH15 |
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#PI0 |
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#PI1 |
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#PI2 |
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#PI3 |
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#PI4 |
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PI5 PPM_IN |
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#PI6 |
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#PI7 |
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#PI8 |
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#PI9 |
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#PI10 |
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#PI11 |
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# SPI device table. The DEVID values are chosen to match the PX4 port |
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# of ArduPilot so users don't need to re-do their accel and compass calibrations |
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# when moving to ChibiOS |
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#sensors on Main FMU board |
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SPIDEV ms5611 SPI1 DEVID3 SPI1_MS5611_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV ICM20649 SPI1 DEVID ICM20649_CS MODE3 1*MHZ 8*MHZ |
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#Sensors on the isolated IMU Board |
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SPIDEV ICM20602 SPI4 DEVID ICM20602_CS MODE3 1*MHZ 8*MHZ |
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SPIDEV ms5611_ext SPI4 DEVID2 SPI4_MS5611_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV ICM20948 SPI4 DEVID ICM20948_CS MODE3 1*MHZ 8*MHZ |
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#FRAM |
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ |
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#Spare CS Pins for external SPI devices (SPI6) |
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SPIDEV EXTERNAL_DEV1 SPI6 DEVID SPI6_CS MODE0 2*MHZ 2*MHZ |
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SPIDEV EXTERNAL_DEV2 SPI6 DEVID SPI6_CS2 MODE1 2*MHZ 2*MHZ |
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define HAL_CHIBIOS_ARCH_CUBE_RED 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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define HAL_STORAGE_SIZE 16384 |
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# fallback storage location is flash if no FRAM fitted |
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define STORAGE_FLASH_PAGE 22 |
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# enable RAMTROM parameter storage |
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define HAL_WITH_RAMTRON 1 |
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# Cube Red has an IMU header |
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define HAL_HAVE_IMU_HEATER 1 |
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# enable FAT filesystem |
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define HAL_OS_FATFS_IO 1
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