added the cube red hardware definition

libraries/AP_HAL_ChibiOS/hwdef/cube-red/hwdef.dat

@@ -0,0 +1,245 @@
+# hw definition file for processing by chibios_hwdef.py
+# for ProfiCNC/Hex CUBE RED hardware
+
+# MCU class and specific type
+MCU STM32F7xx STM32F769xx
+
+# board ID for firmware load
+APJ_BOARD_ID 9
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board voltage
+STM32_VDD 330U
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# serial port for stdout
+STDOUT_SERIAL SD7
+STDOUT_BAUDRATE 57600
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x1002
+USB_STRING_MANUFACTURER "Hex Technology Limited"
+USB_STRING_PRODUCT "ProfiCNC CUBE F7 FMU"
+USB_STRING_SERIAL  "100"
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C1
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 UART4 USART2 USART3 UART8
+
+# UART for IOMCU
+IOMCU_UART USART6
+
+# UART4 serial GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+PA8 CAN3_RX CAN3
+PA9 VBUS INPUT OPENDRAIN
+PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+PA15 CAN3_TX CAN3
+
+
+PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
+PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
+PB2 BOOT1 INPUT
+PB3 FMU_SW0 INPUT
+PB4 PWM_VOLT_SELECT OUTPUT LOW
+PB5 SPI6_MOSI SPI6
+PB6 CAN2_TX CAN2
+#PB7
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+PB12 CAN2_RX CAN2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+
+PC0 HW_VERSION_SENSE INPUT
+PC1 HW_REV_SENSE INPUT
+#PC2 
+#PC3 
+#PC4 
+#PC5 
+#  USART6 to IO
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+PC8 SDIO_D0 SDIO
+PC9 SDIO_D1 SDIO
+PC10 SDIO_D2 SDIO
+PC11 SDIO_D3 SDIO
+PC12 SDIO_CK SDIO
+PC13 GYRO_EXT_CS CS
+PC14 32KHz_IN
+PC15 32KHz_OUT
+
+
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 SDIO_CMD SDIO
+# USART2 serial2 telem1
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+PD7 BARO_CS CS
+
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD10 FRAM_CS CS
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+PD15 MPU_DRDY INPUT
+
+
+# UART8 serial4 GPS2
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+PE2 SPI4_SCK SPI4
+PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
+PE4 ICM20948_CS CS
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+# UART7 debug console
+PE7 UART7_RX UART7
+
+PE8 UART7_TX UART7
+PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
+#PE10 
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PE12 FMU_LED_AMBER OUTPUT GPIO(0)
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PE15 VDD_5V_PERIPH_OC INPUT
+
+#PF0
+#PF1
+PF2 ICM20649_CS CS
+PF3 FMU_AUX_POWER ADC1 SCALE(1)
+PF4 FMU_AUX_ADC2 ADC1 SCALE(1)
+PF5 PRESSURE_SENS ADC1 SCALE(1)
+#PF6
+#PF7
+
+#PF8
+#PF9
+PF10 SPI4_MS5611_CS CS
+PF11 SPI4_SPARE_CS CS
+#PF12
+PF13 VDD_5V_HIPOWER_OC
+#PF14
+#PF15
+
+#PG0
+PG1 VDD_BRICK_VALID INPUT
+PG2 VBUS_VALID INPUT
+PG3 VDD_BACKUP_VALID INPUT
+PG4 VDD_5V_PERIPH_EN OUTPUT LOW
+#PG5
+#PG6
+#PG7
+
+PG8 SPI6_CS CS
+#PG9
+#PG10
+PG11 SPI6_CS2 CS
+PG12 SPI6_MISO SPI6
+PG13 SPI6_SCK SPI6
+#PG14
+#PG15
+
+#PH0 OSC_IN 24MHz
+#PH1 OSC_OUT 24MHz
+PH2 HW_VER_DRIVE OUTPUT HIGH
+PH3 HW_REV_DRIVE OUTPUT HIGH
+#PH4
+#PH5
+#PH6
+#PH7
+
+#PH8
+PH9 ALARM
+#PH10
+#PH11
+#PH12
+#PH13
+#PH14
+#PH15
+
+#PI0
+#PI1
+#PI2
+#PI3
+#PI4
+PI5 PPM_IN
+#PI6
+#PI7
+
+#PI8
+#PI9
+#PI10
+#PI11
+
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+
+#sensors on Main FMU board
+SPIDEV ms5611         SPI1 DEVID3  SPI1_MS5611_CS  MODE3 20*MHZ 20*MHZ 
+SPIDEV ICM20649       SPI1 DEVID   ICM20649_CS     MODE3  1*MHZ  8*MHZ
+
+#Sensors on the isolated IMU Board
+SPIDEV ICM20602       SPI4 DEVID   ICM20602_CS     MODE3  1*MHZ  8*MHZ
+SPIDEV ms5611_ext     SPI4 DEVID2  SPI4_MS5611_CS  MODE3 20*MHZ 20*MHZ
+SPIDEV ICM20948       SPI4 DEVID   ICM20948_CS     MODE3  1*MHZ  8*MHZ 
+
+#FRAM
+SPIDEV ramtron        SPI2 DEVID10 FRAM_CS         MODE3  8*MHZ  8*MHZ 
+
+#Spare CS Pins for external SPI devices (SPI6)
+SPIDEV EXTERNAL_DEV1  SPI6 DEVID   SPI6_CS         MODE0  2*MHZ  2*MHZ
+SPIDEV EXTERNAL_DEV2  SPI6 DEVID   SPI6_CS2        MODE1  2*MHZ  2*MHZ
+
+define HAL_CHIBIOS_ARCH_CUBE_RED 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE 16384
+
+# fallback storage location is flash if no FRAM fitted
+define STORAGE_FLASH_PAGE 22
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# Cube Red has an IMU header
+define HAL_HAVE_IMU_HEATER 1
+
+# enable FAT filesystem
+define HAL_OS_FATFS_IO 1