You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
174 lines
3.5 KiB
174 lines
3.5 KiB
# hw definition file for processing by chibios_hwdef.py |
|
# for FMUv3 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4) |
|
|
|
# MCU class and specific type. It is a F765, which is the same as F767 |
|
# but without the TFT interface |
|
MCU STM32F7xx STM32F767xx |
|
|
|
# crystal frequency |
|
OSCILLATOR_HZ 16000000 |
|
|
|
define STM32_LSECLK 32768U |
|
define STM32_LSEDRV (3U << 3U) |
|
define STM32_PLLSRC STM32_PLLSRC_HSE |
|
define STM32_PLLM_VALUE 8 |
|
define STM32_PLLN_VALUE 216 |
|
define STM32_PLLP_VALUE 2 |
|
define STM32_PLLQ_VALUE 9 |
|
|
|
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 |
|
define HAL_CHIBIOS_ARCH_FMUV5 1 |
|
|
|
# board ID for firmware load |
|
APJ_BOARD_ID 50 |
|
|
|
FLASH_RESERVE_START_KB 32 |
|
|
|
# board voltage |
|
STM32_VDD 330U |
|
|
|
# flash size |
|
FLASH_SIZE_KB 2048 |
|
|
|
# order of UARTs (and USB) |
|
UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 |
|
|
|
# now we define the pins that USB is connected on |
|
PA11 OTG_FS_DM OTG1 |
|
PA12 OTG_FS_DP OTG1 |
|
|
|
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe |
|
PA13 JTMS-SWDIO SWD |
|
PA14 JTCK-SWCLK SWD |
|
|
|
# SPI1 - internal sensors |
|
PG11 SPI1_SCK SPI1 |
|
PA6 SPI1_MISO SPI1 |
|
PD7 SPI1_MOSI SPI1 |
|
|
|
# SPI2 - FRAM |
|
PI1 SPI2_SCK SPI2 |
|
PI2 SPI2_MISO SPI2 |
|
PI3 SPI2_MOSI SPI2 |
|
|
|
# SPI4 - sensors2 |
|
PE2 SPI4_SCK SPI4 |
|
PE13 SPI4_MISO SPI4 |
|
PE6 SPI4_MOSI SPI4 |
|
|
|
# SPI5 - external1 |
|
PF7 SPI5_SCK SPI5 |
|
PF8 SPI5_MISO SPI5 |
|
PF9 SPI5_MOSI SPI5 |
|
|
|
# SPI6 - external2 |
|
PG13 SPI6_SCK SPI6 |
|
PG12 SPI6_MISO SPI6 |
|
PB5 SPI6_MOSI SPI6 |
|
|
|
# sensor CS |
|
PF10 MS5611_CS CS |
|
PF2 ICM20689_CS CS |
|
PF3 ICM20602_CS CS |
|
PF4 BMI055_G_CS CS |
|
PG10 BMI055_A_CS CS |
|
PF5 FRAM_CS CS SPEED_VERYLOW |
|
|
|
# I2C buses |
|
|
|
PB8 I2C1_SCL I2C1 |
|
PB9 I2C1_SDA I2C1 |
|
|
|
PF1 I2C2_SCL I2C2 |
|
PF0 I2C2_SDA I2C2 |
|
|
|
PH7 I2C3_SCL I2C3 |
|
PH8 I2C3_SDA I2C3 |
|
|
|
#PF14 I2C4_SCK I2C4 |
|
#PF15 I2C4_SDA I2C4 |
|
|
|
# order of I2C buses |
|
I2C_ORDER I2C2 I2C1 I2C3 |
|
|
|
|
|
# enable pins |
|
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH |
|
PF12 nVDD_5V_HIPOWER_EN OUTPUT LOW |
|
PG4 nVDD_5V_PERIPH_EN OUTPUT LOW |
|
PG5 VDD_5V_RC_EN OUTPUT HIGH |
|
PG6 VDD_5V_WIFI_EN OUTPUT HIGH |
|
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH |
|
|
|
# UARTs |
|
|
|
# USART2 is telem1 |
|
PD6 USART2_RX USART2 |
|
PD5 USART2_TX USART2 |
|
PD3 USART2_CTS USART2 |
|
PD4 USART2_RTS USART2 |
|
|
|
# USART1 is GPS1 |
|
PB7 USART1_RX USART1 NODMA |
|
PB6 USART1_TX USART1 NODMA |
|
|
|
# USART3 is telem2 |
|
PD9 USART3_RX USART3 |
|
PD8 USART3_TX USART3 |
|
PD11 USART3_CTS USART3 |
|
PD12 USART3_RTS USART3 |
|
|
|
# UART4 GPS2 |
|
PD0 UART4_RX UART4 NODMA |
|
PD1 UART4_TX UART4 NODMA |
|
|
|
# USART6 is telem3 |
|
PG9 USART6_RX USART6 NODMA |
|
PG14 USART6_TX USART6 NODMA |
|
PG15 USART6_CTS USART6 |
|
PG8 USART6_RTS USART6 |
|
|
|
# UART7 is debug |
|
PF6 UART7_RX UART7 NODMA |
|
PE8 UART7_TX UART7 NODMA |
|
|
|
# UART8 is for IOMCU |
|
PE0 UART8_RX UART8 |
|
PE1 UART8_TX UART8 |
|
|
|
# UART for IOMCU |
|
IOMCU_UART UART8 |
|
|
|
# enable RTSCTS support |
|
define AP_FEATURE_RTSCTS 1 |
|
|
|
# enable SBUS_OUT on IOMCU (if you have an IOMCU) |
|
define AP_FEATURE_SBUS_OUT 1 |
|
|
|
SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ |
|
SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE0 1*MHZ 8*MHZ |
|
SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE0 1*MHZ 8*MHZ |
|
SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 8*MHZ 8*MHZ |
|
SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 8*MHZ 8*MHZ |
|
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
|
|
|
# enable RAMTROM parameter storage |
|
define HAL_STORAGE_SIZE 16384 |
|
define HAL_WITH_RAMTRON 1 |
|
|
|
define STORAGE_FLASH_PAGE 11 |
|
|
|
define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
|
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
|
|
|
DMA_PRIORITY UART8* TIM* SPI* |
|
|
|
define CH_DBG_ENABLE_ASSERTS TRUE |
|
define CH_DBG_ENABLE_CHECKS TRUE |
|
define CH_DBG_SYSTEM_STATE_CHECK TRUE |
|
define CH_DBG_ENABLE_STACK_CHECK TRUE |
|
|
|
# define HAL_SPI_CHECK_CLOCK_FREQ 1 |
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin
|
|
|