mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 11:13:58 -04:00
308 lines
6.7 KiB
Plaintext
308 lines
6.7 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for the SULILGH7_P1 hardware
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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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# 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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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_SULILGH7-P1-P2
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FLASH_RESERVE_START_KB 128
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# flash size
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FLASH_SIZE_KB 2048
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# to be compatible with the px4 bootloader we need
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# to use a different RAM_MAP
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env USE_ALT_RAM_MAP 1
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MCU_CLOCKRATE_MHZ 480
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART8 UART7 OTG2
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# telem1
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PD5 USART2_TX USART2
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PA3 USART2_RX USART2
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PD4 USART2_RTS USART2
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PD3 USART2_CTS USART2
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# telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD12 USART3_RTS USART3
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PD11 USART3_CTS USART3
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# GPS1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# GPS2
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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# USART6 is for IOMCU
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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IOMCU_UART USART6
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# DEBUG
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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# SBUS/CRSF
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
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# Ethernet
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PG13 ETH_RMII_TXD0 ETH1
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PG12 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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define BOARD_PHY_ID MII_LAN8742A_ID
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define BOARD_PHY_RMII
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# ADC
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PA0 SCALED1_V3V3 ADC1 SCALE(2)
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PA4 SCALED2_V3V3 ADC1 SCALE(2)
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PB0 SCALED3_V3V3 ADC1 SCALE(2)
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PC0 SCALED4_V3V3 ADC1 SCALE(2)
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PB1 VDD_5V_SENS ADC1 SCALE(2.02)
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PF13 ADC1_6V6 ADC2 SCALE(2)
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PF12 ADC1_3V3 ADC1 SCALE(1)
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# SPI1 - IMU3 ICM20689
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PA5 SPI1_SCK SPI1
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PB5 SPI1_MOSI SPI1
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PG9 SPI1_MISO SPI1
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PI9 ICM20689_CS CS
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# SPI2 -BARO1 BMP581
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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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PH5 BMP_581_CS CS
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PA10 DRDY6_BMP581 INPUT
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# SPI3 -IMU1 BMI088
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PB2 SPI3_MOSI SPI3
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PI4 BMI088_A_CS CS
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PI8 BMI088_G_CS CS
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DRDY1_BMI088_ACC1 INPUT
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DRDY2_BMI088_ACC2 INPUT
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DRDY3_BMI088_GYRO1 INPUT
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DRDY4_BMI088_GYRO2 INPUT
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# SPI4 - IMU2
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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PH15 ICM_42688_CS CS
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PF3 DRDY5_ICM_42688 INPUT
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# SPI5 - FRAM
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PF7 SPI5_SCK SPI5
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PH7 SPI5_MISO SPI5
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PF11 SPI5_MOSI SPI5
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PG7 FRAM_CS CS
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# SPI6 - external1
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PB3 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PC2 EXT1_CS CS
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PC3 EXT2_CS CS
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# PWM output pins
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PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
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PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
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PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
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PH10 TIM5_CH1 TIM5 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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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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# 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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PB13 CAN2_TX CAN2
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# control for silent (no output) for CAN
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PC12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PG2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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# I2C buses
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# I2C1, GPS+MAG
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2, GPS2+MAG
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C3
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 (ICP20100)
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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 0
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# power enable pins
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PG3 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PG6 VDD_3V3_IMU_EN OUTPUT HIGH
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PE6 VDD_3V3_IMU2_EN OUTPUT HIGH
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PD15 VDD_I2C_BATT1_EN OUTPUT HIGH
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PF10 VDD_I2C_CAN_EN OUTPUT HIGH
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# start peripheral power on
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PE2 HIPOWER_EN OUTPUT HIGH
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PD2 PERIPH_EN OUTPUT HIGH
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# power sensing
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PA15 PERIPH_OC INPUT PULLUP
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PE10 HIPOWER_OC INPUT PULLUP
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#Not in use, but reserved
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PB10 VDD_BRICKA_nVALID INPUT PULLUP
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PE15 VDD_BRICKB_nVALID INPUT PULLUP
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PE11 VDD_BRICKC_nVALID INPUT PULLUP
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# ID pins
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PG0 HW_VER_REV_DRIVE OUTPUT LOW
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# safety
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PD10 LED_SAFETY OUTPUT
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PF5 SAFETY_IN INPUT PULLDOWN
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# heater
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PG15 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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# Setup the IMU heater
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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# LED
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PE3 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
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PE4 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
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PE5 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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# use pixracer style 3-LED indicators
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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# compass
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
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define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
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define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
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COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
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# IMU devices for SULILGH7_P1
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SPIDEV bmi088_a SPI3 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI3 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm42688 SPI4 DEVID2 ICM_42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20689 SPI1 DEVID2 ICM20689_CS MODE3 2*MHZ 8*MHZ
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SPIDEV bmp581 SPI2 DEVID1 BMP_581_CS MODE3 7.5*MHZ 12*MHZ
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# SULILGH7_P1 3 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
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IMU Invensense SPI:icm20689 ROTATION_PITCH_180_YAW_90
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define HAL_INS_HIGHRES_SAMPLE 7
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# barometers
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BARO BMP581 SPI:bmp581
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BARO ICP201XX I2C:1:0x63
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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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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART*
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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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# enable DFU reboot for installing bootloader
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# note that if firmware is build with --secure-bl then DFU is
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# disabled
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ENABLE_DFU_BOOT 1
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# build ABIN for flash-from-bootloader support:
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env BUILD_ABIN True
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
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ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
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define HAL_WITH_IO_MCU_DSHOT 1
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