ardupilot/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat

227 lines
5.1 KiB
Plaintext
Raw Normal View History

# LUMINOUS BEE 5.1
# hw definition file for processing by chibios_hwdef.py
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1029
# crystal frequency
OSCILLATOR_HZ 24000000
# flash size
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
FLASH_RESERVE_START_KB 128
define HAL_STORAGE_SIZE 16384
# only one I2C bus
I2C_ORDER I2C1
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# Battery & current control
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 VDD_5V_SENS ADC1 SCALE(2)
# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT #OPENDRAIN
# 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
# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
PB2 BOOT1 INPUT
#PB5 VDD_BRICK_VALID INPUT
PB5 VDD_BRICK_VALID INPUT PULLDOWN
# USART1 TX now as led strip control
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6
# PB6 USART1_TX USART1
PB7 USART1_RX USART1
# UWB DW1000
PB4 UWB_CS CS
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
#PC0 VBUS_VALID INPUT
PC0 VBUS_VALID INPUT PULLDOWN
#BMI088 CS
PC2 BMI088_ACCEL_CS CS
PC15 BMI088_GYRO_CS CS
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC5 VDD_PERIPH_EN OUTPUT HIGH
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
# Now setup the pins for the microSD card, if available.
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
PC13 SBUS_INV OUTPUT
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# USART2 serial2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD7 BARO_CS CS
# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
# The CS pin for FRAM (ramtron). This one is marked as using
# SPEED_VERYLOW, which matches the HAL_PX4 setup.
PD10 FRAM_CS CS SPEED_VERYLOW
PD15 20608_DRDY INPUT # IMU Luminous Bee
# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8
#set up SPI bus4 for UWB
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
PE3 VDD_SENSORS_EN OUTPUT HIGH
PE4 SPEKTRUM_PWR OUTPUT HIGH
# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PE12 MAG_DRDY INPUT
PE15 MAG_CS CS
# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
# SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
define HAL_STORAGE_SIZE 16384
# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
# fallback to flash is no FRAM fitted
#STORAGE_FLASH_PAGE 22
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# LED setup for PixracerLED driver
PB11 LED_RED OUTPUT GPIO(0)
PB1 LED_GREEN OUTPUT GPIO(1)
PB3 LED_BLUE OUTPUT GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
# battery setup
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define HAL_SERIAL5_BAUD 921600
# two IMUs
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# TWO barometer
BARO DPS280 SPI:dps310