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226 lines
5.1 KiB
226 lines
5.1 KiB
# LUMINOUS BEE 5.1 |
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# hw definition file for processing by chibios_hwdef.py |
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# MCU class and specific type |
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MCU STM32H7xx STM32H743xx |
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# board ID for firmware load |
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APJ_BOARD_ID 1029 |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# flash size |
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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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FLASH_RESERVE_START_KB 128 |
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define HAL_STORAGE_SIZE 16384 |
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# only one I2C bus |
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I2C_ORDER I2C1 |
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define HAL_I2C_INTERNAL_MASK 0 |
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 |
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# UART4 is GPS |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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# Battery & current control |
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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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# SPI1 is sensors bus |
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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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# This is the pin that senses USB being connected. It is an input pin |
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# setup as OPENDRAIN. |
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PA9 VBUS INPUT #OPENDRAIN |
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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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# PWM output for buzzer |
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM |
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PB2 BOOT1 INPUT |
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#PB5 VDD_BRICK_VALID INPUT |
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PB5 VDD_BRICK_VALID INPUT PULLDOWN |
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# USART1 TX now as led strip control |
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PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 |
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# PB6 USART1_TX USART1 |
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PB7 USART1_RX USART1 |
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# UWB DW1000 |
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PB4 UWB_CS CS |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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# SPI2 is FRAM |
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PB10 SPI2_SCK SPI2 |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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#PC0 VBUS_VALID INPUT |
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PC0 VBUS_VALID INPUT PULLDOWN |
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#BMI088 CS |
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PC2 BMI088_ACCEL_CS CS |
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PC15 BMI088_GYRO_CS CS |
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PC3 LED_SAFETY OUTPUT |
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PC4 SAFETY_IN INPUT PULLDOWN |
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PC5 VDD_PERIPH_EN OUTPUT HIGH |
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC |
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# Now setup the pins for the microSD card, if available. |
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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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PC13 SBUS_INV OUTPUT |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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# USART2 serial2 telem1 |
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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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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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# The CS pin for FRAM (ramtron). This one is marked as using |
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# SPEED_VERYLOW, which matches the HAL_PX4 setup. |
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PD10 FRAM_CS CS SPEED_VERYLOW |
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PD15 20608_DRDY INPUT # IMU Luminous Bee |
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# UART8 serial4 FrSky |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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#set up SPI bus4 for UWB |
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PE2 SPI4_SCK SPI4 |
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PE5 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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PE3 VDD_SENSORS_EN OUTPUT HIGH |
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PE4 SPEKTRUM_PWR OUTPUT HIGH |
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# UART7 is debug |
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PE7 UART7_RX UART7 NODMA |
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PE8 UART7_TX UART7 NODMA |
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52 |
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PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50 |
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53 |
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PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51 |
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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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PE12 MAG_DRDY INPUT |
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PE15 MAG_CS CS |
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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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# SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ |
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#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ |
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SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ |
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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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# enable RAMTROM parameter storage |
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define HAL_WITH_RAMTRON 1 |
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# fallback to flash is no FRAM fitted |
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#STORAGE_FLASH_PAGE 22 |
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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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# pixracer has 3 LEDs, Red, Green, Blue |
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define HAL_HAVE_PIXRACER_LED |
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define HAL_GPIO_LED_ON 0 |
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define HAL_GPIO_LED_OFF 1 |
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# LED setup for PixracerLED driver |
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PB11 LED_RED OUTPUT GPIO(0) |
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PB1 LED_GREEN OUTPUT GPIO(1) |
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PB3 LED_BLUE OUTPUT 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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# battery setup |
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define HAL_BATT_VOLT_PIN 14 |
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define HAL_BATT_CURR_PIN 15 |
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define HAL_BATT_VOLT_SCALE 10.1 |
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define HAL_BATT_CURR_SCALE 17.0 |
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# setup serial port defaults for ESP8266 |
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define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink |
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define HAL_SERIAL5_BAUD 921600 |
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# two IMUs |
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#IMU Invensense SPI:icm20608 ROTATION_YAW_180 |
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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 1 |
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# 2 compasses. R15 has LIS3MDL instead of HMC5843 |
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 |
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#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE |
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#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90 |
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# also probe all types of external I2C compasses |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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# TWO barometer |
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BARO DPS280 SPI:dps310
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