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280 lines
6.3 KiB
280 lines
6.3 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for Modal AI FC v1 |
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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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# board ID for firmware load |
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APJ_BOARD_ID 41775 |
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# default to all pins low to avoid ESD issues |
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DEFAULTGPIO OUTPUT LOW PULLDOWN |
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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 UART7 UART5 USART1 UART4 USART2 USART6 USART3 OTG2 |
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# default the 2nd interface to MAVLink2 |
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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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PA9 VBUS INPUT |
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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 - ICM20602 |
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PA5 SPI1_SCK SPI1 |
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PB4 SPI1_MISO SPI1 |
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PB5 SPI1_MOSI SPI1 |
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# SPI2 - ICM42688 |
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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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# SPI5 - FRAM |
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PF7 SPI5_SCK SPI5 |
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PF8 SPI5_MISO SPI5 |
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PF11 SPI5_MOSI SPI5 |
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# SPI6 - BMI088 6DoF, disabled due to lack of DMA channels |
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#PB3 SPI6_SCK SPI6 |
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#PA6 SPI6_MISO SPI6 |
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#PG14 SPI6_MOSI SPI6 |
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# sensor CS |
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PI9 ICM20602_CS CS |
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PH5 ICM42688_CS CS |
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PA15 BMI088_G_CS CS |
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PI10 BMI088_A_CS CS |
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PG7 FRAM_CS CS SPEED_VERYLOW |
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# fsync pins |
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PA0 IMU_2_FSYNC INPUT FLOATING |
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PA1 IMU_3_FSYNC INPUT FLOATING |
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# interrupt pins |
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PF2 IMU_1_DRDY INPUT PULLDOWN |
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PH12 IMU_2_DRDY INPUT PULLDOWN |
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PG5 BARO_INT INPUT PULLDOWN |
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PF3 SPARE_INT INPUT PULLDOWN |
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PI6 IMU_3_ACCEL_INT INPUT PULLDOWN |
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PI7 IMU_3_GYRO_INT INPUT PULLDOWN |
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# LSE crystal, unused |
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PC14 LSE1 INPUT FLOATING |
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PC15 LSE2 INPUT FLOATING |
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# HWID pins, unused |
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PA4 HWID_DAC1 INPUT FLOATING |
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PF4 HW_VER_SENS INPUT FLOATING |
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PF5 HW_REV_SENS INPUT FLOATING |
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PG0 HW_VR_DRIVE INPUT FLOATING |
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# security module, A71CH |
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PH3 SEC_RESET INPUT PULLDOWN |
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# I2C buses |
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# I2C1, EXT_GPS_I2C |
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PB8 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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# I2C2, DISPLAY_I2C |
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PF1 I2C2_SCL I2C2 |
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PF0 I2C2_SDA I2C2 |
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# I2C3, EXP_I2C |
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PH7 I2C3_SCL I2C3 |
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PH8 I2C3_SDA I2C3 |
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# I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49) |
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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 I2C4 I2C3 I2C2 I2C1 |
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define HAL_I2C_INTERNAL_MASK 1 |
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# GPIOs |
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PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110) |
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# PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111) |
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# allow to have have a dedicated safety switch pin |
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# on PE4 |
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PE4 SAFETY_IN INPUT PULLDOWN |
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define HAL_HAVE_SAFETY_SWITCH 1 |
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define BOARD_SAFETY_ENABLE_DEFAULT 0 |
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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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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH |
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# UARTs |
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# USART1 is EXT_GPS |
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PB15 USART1_RX USART1 NODMA |
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PB14 USART1_TX USART1 |
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# USART2 is telem3, MSS_SPARE_4W |
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PA3 USART2_RX USART2 NODMA |
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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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# USART3, UART_2W_DEBUG |
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PD9 USART3_RX USART3 NODMA |
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PD8 USART3_TX USART3 |
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# UART4 GPS2, EXP_UART_2W |
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PH14 UART4_RX UART4 NODMA |
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PH13 UART4_TX UART4 |
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# UART5 Telem 2, MSS_UART_4W |
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PD2 UART5_RX UART5 |
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PB9 UART5_TX UART5 |
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PC8 UART5_RTS UART5 |
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PC9 UART5_CTS UART5 |
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# USART6, spektrum |
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PC7 USART6_RX USART6 NODMA GPIO(74) |
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PC6 USART6_TX USART6 |
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# RC input. Support all serial protocols on both PPM and spektrum |
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# ports. PPM protocol also supported on the PPM port |
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PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW |
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# setup for spektrum satellite bind |
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define HAL_GPIO_SPEKTRUM_RC 74 |
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PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) |
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define HAL_GPIO_SPEKTRUM_PWR 73 |
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define HAL_SPEKTRUM_PWR_ENABLED 1 |
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# setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and |
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# auto-switch inversion as needed |
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define HAL_SERIAL6_PROTOCOL 23 |
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define HAL_SERIAL6_BAUD 115200 |
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# UART7 Telem 1, TELEM_UART_4W |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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PE9 UART7_RTS UART7 |
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PE10 UART7_CTS UART7 |
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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) |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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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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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) |
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) |
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# PWM output for buzzer |
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#PE5 TIM9_CH1 TIM9 GPIO(77) ALARM |
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define HAL_USE_ADC FALSE |
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define HAL_DISABLE_ADC_DRIVER TRUE |
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# INA231 battery monitor |
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define HAL_BATTMON_INA231_BUS 1 |
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define HAL_BATTMON_INA231_ADDR 0x44 |
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define HAL_BATT_MONITOR_DEFAULT 21 |
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# on some units a LTC2946 is used |
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define HAL_BATTMON_LTC2946_BUS 1 |
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define HAL_BATTMON_LTC2946_ADDR 0x6a |
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PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10 |
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PC1 SCALED_V3V3 ADC1 SCALE(2) |
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define ANALOG_VCC_5V_PIN 10 |
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# CAN bus |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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#PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) |
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# SPI devices |
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SPIDEV icm42688 SPI2 DEVID1 ICM42688_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 ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
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# SPI6 disabled due to lack of DMA channels |
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#SPIDEV bmi088_g SPI6 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ |
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#SPIDEV bmi088_a SPI6 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ |
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# two IMUs enabled |
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 |
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IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90 |
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#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 |
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define HAL_DEFAULT_INS_FAST_SAMPLE 3 |
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# one baro on I2C4 |
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BARO BMP388 I2C:0:0x76 |
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# microSD support on SDMMC2 |
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PG9 SDMMC2_D0 SDMMC2 |
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PG10 SDMMC2_D1 SDMMC2 |
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PG11 SDMMC2_D2 SDMMC2 |
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PG12 SDMMC2_D3 SDMMC2 |
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PD6 SDMMC2_CK SDMMC2 |
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PD7 SDMMC2_CMD SDMMC2 |
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define FATFS_HAL_DEVICE SDCD2 |
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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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# red LED |
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PB0 LED_RED OUTPUT OPENDRAIN GPIO(90) |
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PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91) |
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PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92) |
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# 2nd bank of LEDs |
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PI0 LED_RED_2 OUTPUT OPENDRAIN LOW GPIO(93) |
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PA2 LED_BLUE_2 OUTPUT OPENDRAIN LOW GPIO(94) |
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PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95) |
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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_C_LED_PIN 91 |
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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 32768 |
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define HAL_WITH_RAMTRON 1 |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART* |
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