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306 lines
7.1 KiB
306 lines
7.1 KiB
# hw definition file for processing by chibios_hwdef.py for CUAV-X7 |
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# MCU class and specific type |
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MCU STM32H7xx STM32H743xx |
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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 1010 |
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FLASH_SIZE_KB 2048 |
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# with 2M flash we can afford to optimize for speed |
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env OPTIMIZE -O2 |
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 2 |
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# bootloader takes first sector |
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FLASH_RESERVE_START_KB 128 |
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 USART2 USART6 USART1 UART4 UART8 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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# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS |
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PH15 USB_HS_ENABLE OUTPUT HIGH |
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define USB_HW_ENABLE_HS 0 |
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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 |
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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 |
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PG13 SPI6_SCK SPI6 |
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PG12 SPI6_MISO SPI6 |
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PA7 SPI6_MOSI SPI6 |
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# sensor |
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PF10 ADIS16470_CS CS |
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PF2 RM3100_CS CS |
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PG6 ICM20689_CS CS SPEED_VERYLOW |
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PI12 ICM20649_CS CS SPEED_VERYLOW |
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PF3 BMI088_A_CS CS |
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PF4 BMI088_G_CS CS |
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PF5 FRAM_CS CS SPEED_VERYLOW |
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PG10 MS5611_IMU_CS CS |
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PI8 MS5611_BOARD_CS CS |
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# external CS pins, SPI5 connector |
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PI4 EXT1_CS1 CS |
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PI10 EXT1_CS2 CS |
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PI13 EXT1_CS3 CS |
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# I2C buses |
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# I2C1 is on GPS port |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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# I2C2 on GPS2 connector |
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PF1 I2C2_SCL I2C2 |
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PF0 I2C2_SDA I2C2 |
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# I2C3 for onboard mag |
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PH7 I2C3_SCL I2C3 |
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PH8 I2C3_SDA I2C3 |
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# I2C4 is on BDMA on DMAMUX2 |
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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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define HAL_I2C_INTERNAL_MASK 1 |
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# enable pins |
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW |
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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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PD11 VDD_5V_HIPOWER_EN OUTPUT HIGH |
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PG4 VDD_5V_PERIPH_EN OUTPUT HIGH |
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PG5 VDD_5V_RC_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 DRDY1_ADIS16470 INPUT GPIO(93) |
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PH5 DRDY2_ICM20649 INPUT |
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PB14 DRDY3_BMI088_GYRO1 INPUT |
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PB15 DRDY4_BMI088_ACC1 INPUT |
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PJ0 DRDY5_ICM20689 INPUT |
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PC13 DRDY6_BMI088_GYRO2 INPUT |
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PI14 DRDY7_BMI088_ACC2 INPUT |
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PE4 DRDY8_RM3100 INPUT |
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# use GPIO(93) for data ready on ADIS16470 |
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define ADIS_DRDY_PIN 93 |
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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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# 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 telem2 |
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PG9 USART6_RX USART6 |
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PG14 USART6_TX USART6 |
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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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# SBUS, DSM port |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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# PWM AUX channels |
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PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) |
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PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51) |
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PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) |
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PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53) |
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) |
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) |
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) |
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) |
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) |
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) |
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PA10 TIM1_CH3 TIM1 PWM(11) GPIO(60) |
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) |
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PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA |
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PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA |
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# allow for 14 PWMs by default |
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define BOARD_PWM_COUNT_DEFAULT 14 |
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# PWM output for buzzer |
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PE5 TIM15_CH1 TIM15 GPIO(77) ALARM |
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# RC input |
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PB4 TIM3_CH1 TIM3 RCININT PULLUP LOW |
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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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# ADC3.3/ADC6.6 |
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PC4 SPARE1_ADC1 ADC1 SCALE(1) |
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PA4 SPARE2_ADC1 ADC1 SCALE(1) |
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PF12 RSSI_IN ADC1 SCALE(1) |
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PC5 VDD_5V_SENS ADC1 SCALE(2) |
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PC1 SCALED_V3V3 ADC1 SCALE(2) |
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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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# 2nd CAN bus. Cannot be used at same time as USB_HS |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 |
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# control for silent (no output) for CAN |
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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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# GPIOs |
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PA8 HEATER_EN OUTPUT LOW GPIO(80) |
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define HAL_HEATER_GPIO_PIN 80 |
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define HAL_HAVE_IMU_HEATER 1 |
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PG1 VDD_BRICK_VALID INPUT PULLUP |
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PG2 VDD_BRICK2_VALID INPUT PULLUP |
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PG0 nVBUS INPUT PULLUP |
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PJ3 VDD_5V_HIPOWER_OC INPUT PULLUP |
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PJ4 VDD_5V_PERIPH_OC INPUT PULLUP |
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PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH |
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# SPI devices |
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SPIDEV adis16470 SPI1 DEVID2 ADIS16470_CS MODE3 1*MHZ 2*MHZ |
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SPIDEV icm20689 SPI1 DEVID2 ICM20689_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV bmi088_a SPI4 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV bmi088_g SPI4 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV ms5611_imu SPI4 DEVID1 MS5611_IMU_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
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# RM3100 may be on SPI1 or SPI2 (not both). Later board revisions |
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# have the RM3100 on SPI2, to leave SPI1 free for ADIS1647x |
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SPIDEV rm3100-1 SPI1 DEVID1 RM3100_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV rm3100-2 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ |
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# two baro |
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BARO MS56XX SPI:ms5611_imu |
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BARO MS56XX SPI:ms5611_board |
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# three IMUs, only one of ICM20689 and ADIS16470 will be included |
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IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN |
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IMU Invensense SPI:icm20689 ROTATION_NONE |
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270 |
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IMU Invensensev2 SPI:icm20649 ROTATION_NONE |
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define HAL_DEFAULT_INS_FAST_SAMPLE 5 |
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# compasses |
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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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# probe for RM3100 on SPI1 or SPI2 |
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COMPASS RM3100 SPI:rm3100-1 false ROTATION_NONE |
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COMPASS RM3100 SPI:rm3100-2 false ROTATION_NONE |
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# microSD support |
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PC8 SDMMC1_D0 SDMMC1 |
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PC9 SDMMC1_D1 SDMMC1 |
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PC10 SDMMC1_D2 SDMMC1 |
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PC11 SDMMC1_D3 SDMMC1 |
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PC12 SDMMC1_CK SDMMC1 |
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PD2 SDMMC1_CMD SDMMC1 |
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# red LED marked as B/E |
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PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) |
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PI6 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1) |
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PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2) |
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define HAL_GPIO_A_LED_PIN 0 |
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define HAL_GPIO_B_LED_PIN 1 |
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define HAL_GPIO_C_LED_PIN 2 |
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define HAL_GPIO_LED_ON 0 |
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define HAL_GPIO_LED_OFF 1 |
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# use pixracer style 3-LED indicators |
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define HAL_HAVE_PIXRACER_LED |
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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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PE12 LED_SAFETY OUTPUT |
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PE10 SAFETY_IN INPUT PULLDOWN |
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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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DMA_PRIORITY ADC* SPI1* TIM*UP* |
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DMA_NOSHARE SPI1* TIM*UP* |
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# default to 45C target temp |
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define HAL_IMU_TEMP_DEFAULT 45
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