mirror of https://github.com/ArduPilot/ardupilot
239 lines
5.3 KiB
Plaintext
239 lines
5.3 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for the RadiolinkPIX6 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 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1410
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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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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART7 OTG2
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# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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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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# SPI1 - internal sensors
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PB3 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 - FRAM
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PA9 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4 - sensors2
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PE2 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# sensor CS
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PB12 BMI088_A_CS CS
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PB4 ICM42688_CS CS SPEED_VERYLOW
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PD10 FRAM_CS CS SPEED_VERYLOW
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PA8 AT7456_CS CS
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PE12 BMI088_G_CS CS
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PC14 EXTERNAL1_CS1 CS
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PC15 EXTERNAL1_CS2 CS
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# I2C buses
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# order of I2C buses
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I2C_ORDER I2C1 I2C2
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# enable pins
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PE3 VDD_3V3_SENSORS_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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PD13 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# drdy pins
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PD15 DRDY7_EXTERNAL1 INPUT
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# Control of Spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# UARTs
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# USART2 is telem1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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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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PB7 USART1_RX USART1
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PB6 USART1_TX USART1
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# USART3 is telem2
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 GPS2
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PA1 UART4_RX UART4 NODMA
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PA0 UART4_TX UART4 NODMA
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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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# UART8 is for IOMCU
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# UART for IOMCU
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IOMCU_UART UART8
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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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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
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PA7 TIM3_CH2 TIM3 PWM(6) GPIO(55)
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PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56)
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PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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# PWM output for buzzer
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PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
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# analog in
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA5 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC3 SPARE1_ADC1 ADC1 SCALE(1)
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PA4 SPARE2_ADC1 ADC1 SCALE(1)
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PC0 VDD_5V_SENS ADC1 SCALE(2)
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PC2 SCALED_V3V3 ADC1 SCALE(2)
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# setup scaling defaults for PixHackV5 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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PB5 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# GPIOs
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PC5 VDD_BRICK_nVALID INPUT PULLUP
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PB1 VDD_BRICK2_nVALID INPUT PULLUP
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PB2 VBUS_nVALID INPUT PULLUP
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PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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# SPI devices
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SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu2 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV osd SPI2 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# up to 2 IMUs
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IMU Invensensev3 SPI:imu2 ROTATION_YAW_90
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# probe external I2C compasses plus some internal IST8310
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# we also probe some external IST8310 with a non-standard orientation
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
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define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
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COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180
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# one baro
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BARO SPL06 I2C:0:0x76
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# microSD support
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PC8 SDMMC_D0 SDMMC1
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PC9 SDMMC_D1 SDMMC1
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PC10 SDMMC_D2 SDMMC1
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PC11 SDMMC_D3 SDMMC1
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PC12 SDMMC_CK SDMMC1
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PD2 SDMMC_CMD SDMMC1
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# red LED marked as B/E
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PD14 LED_RED OUTPUT 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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PC1 LED_GREEN OUTPUT GPIO(91)
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# blue LED marked as ACT
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PC7 LED_BLUE OUTPUT GPIO(92)
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# setup for "pixracer" RGB LEDs
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 91
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define HAL_GPIO_C_LED_PIN 92
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define HAL_HAVE_PIXRACER_LED
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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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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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DMA_PRIORITY SDMMC* UART8* ADC* USART3_RX TIM1_UP USART2_RX USART1_RX TIM1_CH3 SPI4* SPI1_RX SPI2* TIM1_CH1 SPI1_TX TIM*
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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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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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