2024-07-02 23:12:28 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for CUAV-7-Nano board
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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 7000
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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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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# flash size
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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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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# 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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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# telem2
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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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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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# uart6, RX only, RC input, if no IOMCU
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PC7 USART6_RX USART6
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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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#PG15 ETH_POWER_EN ETH1
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PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
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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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PB1 VDD_5V_SENS ADC1 SCALE(2)
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PC0 RSSI_IN ADC1 SCALE(1)
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PF12 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
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# analog in
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(9)
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PB0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(8)
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# pin7 on AD&IO, analog 12
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PF3 ADC3_6V6 ADC3 SCALE(2) ANALOG(12)
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# pin6 on AD&IO, analog 13
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PC3 ADC1_3V3 ADC1 SCALE(1) ANALOG(13)
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2024-07-29 06:16:48 -03:00
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define HAL_BATT_MONITOR_DEFAULT 4
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2024-07-02 23:12:28 -03:00
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define HAL_BATT_VOLT_PIN 9
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define HAL_BATT_CURR_PIN 8
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# SPI1 - IIM42652
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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 IIM42652_CS CS
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PF2 IIM42652_DRDY INPUT
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# SPI2 - BMI088
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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 BMI088_A_CS CS
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PG2 BMI088_G_CS CS
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PG3 BMI088_DRDY_GYR INPUT
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PA10 BMI088_DRDY_ACC INPUT
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# SPI4 - BMP581
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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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PD15 BMP581_CS CS
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PG1 BMP581_DRDY 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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# SPI devices
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SPIDEV bmi088_g SPI2 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI2 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV iim42652 SPI1 DEVID1 IIM42652_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV bmp581 SPI4 DEVID1 BMP581_CS MODE3 7.5*MHZ 12*MHZ
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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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PE11 TIM1_CH2 TIM1 PWM(7) GPIO(56)
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PE9 TIM1_CH1 TIM1 PWM(8) GPIO(57)
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PI6 TIM8_CH2 TIM8 PWM(9) GPIO(58)
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PI7 TIM8_CH3 TIM8 PWM(10) GPIO(59)
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PI5 TIM8_CH1 TIM8 PWM(11) GPIO(60)
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61)
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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(13) GPIO(62) NODMA
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PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
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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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PE2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PI8 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, IST8310
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4, ICM20100
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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PG5 DRDY1_ICP20100 INPUT
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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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# armed indication
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PE7 nARMED OUTPUT HIGH
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
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PH2 VDD_3V3_SENSORS3_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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PG10 VDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 VDD_5V_PERIPH_EN OUTPUT HIGH
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# power sensing
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v, 3.3v default
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PG8 PWM_VOLT_SEL OUTPUT LOW GPIO(80)
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define HAL_GPIO_PWM_VOLT_PIN 80
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define HAL_GPIO_PWM_VOLT_3v3 0
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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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# safety
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PD10 LED_SAFETY OUTPUT
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PF5 SAFETY_IN INPUT PULLDOWN
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# LEDs
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PE3 LED_RED OUTPUT GPIO(90) LOW
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PE4 LED_GREEN OUTPUT GPIO(91) LOW
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PE5 LED_BLUE OUTPUT GPIO(92) LOW
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# setup for "pixracer" RGB LEDs
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ID pins
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PG0 HW_VER_REV_DRIVE OUTPUT LOW
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# PH3 HW_VER_SENS ADC3 SCALE(1)
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# PH4 HW_REV_SENS ADC3 SCALE(1)
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# PWM output for buzzer
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PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
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# RC input
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PC6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
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# other I2C devices
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# 24LC64T eeprom 64Kbit, address 0x50 on I2C4
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BARO BMP581 SPI:bmp581
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BARO ICP201XX I2C:1:0x63
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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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# IMUs
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IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_90_YAW_90
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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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* SDMMC* USART6* ADC* UART* USART* SPI* 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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# 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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