2021-10-28 18:46:39 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for SmartAP AIRLink hardware
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# MCU class and specific type
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MCU STM32F7xx STM32F767xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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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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# board ID for firmware load
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APJ_BOARD_ID 55
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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 UART8 USART3 OTG2
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# default the 2nd interface to MAVLink2
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define HAL_OTG1_PROTOCOL SerialProtocol_MAVLink2
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# USB support
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# debugging support
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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 - MPU9250 FPC
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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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# SPI3 - MPU9250 Board
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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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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# sensor CS
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PI9 ICM20602_CS CS SPEED_VERYLOW
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PH5 MPU_FPC_CS CS
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PI8 MPU_BOARD_CS CS
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PG7 FRAM_CS CS SPEED_VERYLOW
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# I2C buses
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PB8 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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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 I2C4 I2C1 I2C2
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define HAL_I2C_INTERNAL_MASK 3
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# enable sensors power pins
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PI11 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PD15 VDD_3V3_SENSORS2_EN OUTPUT HIGH
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PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
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PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
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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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# drdy pins
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PF2 DRDY4_ICM20602 INPUT
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PH12 MPU_FPC_DRDY INPUT
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PI6 MPU_BOARD_DRDY INPUT
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# UART for IOMCU
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IOMCU_UART USART6
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# UARTs
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# USART2 is telem3
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PA3 USART2_RX USART2 NODMA
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PD5 USART2_TX USART2 NODMA
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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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PB15 USART1_RX USART1 NODMA
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PB14 USART1_TX USART1 NODMA
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# USART3 is debug
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PD9 USART3_RX USART3 NODMA
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PD8 USART3_TX USART3 NODMA
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#PD11 USART3_CTS USART3
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#PD12 USART3_RTS USART3
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# UART4 is ext
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PH14 UART4_RX UART4 NODMA
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PH13 UART4_TX UART4 NODMA
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# UART5 is telem2
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PD2 UART5_RX UART5
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PB9 UART5_TX UART5
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# USART6 for IOMCU
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART7 is telem1
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PF6 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 is for gps2
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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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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# we need to disable DMA on the last 2 FMU channels
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# as timer 12 doesn't have a TIMn_UP DMA option
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
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# PWM output for buzzer
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PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
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# analog in
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
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PB0 RSSI_IN ADC1 SCALE(1)
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#PF5 HW_REV_SENS ADC3 SCALE(1)
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#PF4 HW_VER_SENS ADC3 SCALE(1)
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2022-01-23 06:56:21 -04:00
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PB1 VDD_5V_SENS ADC1 SCALE(3)
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2021-10-28 18:46:39 -03:00
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PA0 SCALED_V3V3 ADC1 SCALE(2)
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undef HAL_HAVE_SAFETY_SWITCH 0
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# setup scaling defaults for power brick
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define HAL_BATT_VOLT_SCALE 18.0
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define HAL_BATT_CURR_SCALE 24.0
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define HAL_BATT_VOLT_PIN 0
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define HAL_BATT_CURR_PIN 1
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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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PB12 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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# GPIOs
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PB10 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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# heater is on when pulled low
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define HAL_HEATER_GPIO_ON 0
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# SPI devices
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SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV mpu9250_fpc SPI2 DEVID1 MPU_FPC_CS MODE3 4*MHZ 8*MHZ
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SPIDEV mpu9250_board SPI3 DEVID1 MPU_BOARD_CS MODE3 4*MHZ 8*MHZ
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# up to 3 IMUs
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IMU Invensense SPI:icm20602 ROTATION_YAW_270
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IMU Invensense SPI:mpu9250_fpc ROTATION_YAW_180
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IMU Invensense SPI:mpu9250_board ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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BARO MS56XX I2C:0:0x77
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BARO BMP388 I2C:1:0x76
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COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
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COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
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# also problem all external compass types
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# microSD support
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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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# red LED marked as B/E
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PE5 LED_RED OUTPUT OPENDRAIN GPIO(90)
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# green LED marked as PWR. We leave this solid on, but allow
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# for it to be controlled as a relay if needed
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PE4 LED_GREEN OUTPUT GPIO(91) LOW
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# blue LED marked as ACT
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PE3 LED_BLUE OUTPUT GPIO(92) HIGH
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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_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_COMPASS_AUTO_ROT_DEFAULT 2
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DMA_PRIORITY SDMMC* USART6* ADC* SPI* TIM*
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# we can't share IO UART (USART6)
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DMA_NOSHARE USART6_TX USART6_RX ADC1
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DMA_PRIORITY USART6* UART5_RX
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define FATFS_HAL_DEVICE SDCD2
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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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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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