2021-10-17 19:20:22 -03:00
|
|
|
# hw definition file for processing by chibios_hwdef.py for Qiotek ZealotH743
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1036
|
|
|
|
|
|
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
|
|
|
|
|
# with 2M flash we can afford to optimize for speed
|
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
|
|
|
|
|
|
# ChibiOS system timer
|
|
|
|
|
STM32_ST_USE_TIMER 2
|
|
|
|
|
|
|
|
|
|
# bootloader takes first sector
|
|
|
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
|
|
|
|
|
|
# order of UARTs (and USB)
|
2022-03-28 13:37:39 -03:00
|
|
|
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 OTG2
|
2021-10-17 19:20:22 -03:00
|
|
|
|
|
|
|
|
# now we define the pins that USB is connected on
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
PA9 VBUS INPUT
|
|
|
|
|
|
|
|
|
|
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# SPI1 - internal sensors and OSD
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
|
|
|
|
|
# SPI2 - FRAM and SmartCard
|
|
|
|
|
PD3 SPI2_SCK SPI2
|
|
|
|
|
PC2 SPI2_MISO SPI2
|
|
|
|
|
PC3 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
# SPI3 - ADIS16470 sensor
|
|
|
|
|
PB3 SPI3_SCK SPI3
|
|
|
|
|
PB4 SPI3_MISO SPI3
|
|
|
|
|
PB5 SPI3_MOSI SPI3
|
|
|
|
|
|
|
|
|
|
# sensor
|
|
|
|
|
|
|
|
|
|
PB2 IMU1_CS CS
|
|
|
|
|
PE10 IMU2_CS CS
|
|
|
|
|
PE12 IMU3_CS CS
|
|
|
|
|
PE3 BARO1_CS CS
|
|
|
|
|
PD7 BARO2_CS CS
|
|
|
|
|
PA8 AT7456_CS CS
|
|
|
|
|
PA10 FRAM_CS CS
|
|
|
|
|
PC10 FLASH_CS CS
|
|
|
|
|
PA15 ADIS16470_CS CS
|
|
|
|
|
|
|
|
|
|
# use GPIO(93) for data ready on ADIS16470
|
|
|
|
|
define ADIS_DRDY_PIN 93
|
|
|
|
|
|
|
|
|
|
# define the order that I2C buses
|
|
|
|
|
I2C_ORDER I2C2 I2C1
|
|
|
|
|
|
|
|
|
|
# I2C1 is on GPS port
|
|
|
|
|
PB6 I2C1_SCL I2C1
|
|
|
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
|
|
|
|
|
|
# I2C2
|
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
|
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
|
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
|
|
|
|
|
# define UARTs
|
|
|
|
|
|
|
|
|
|
# USART1 is telem1
|
|
|
|
|
PB15 USART1_RX USART1
|
|
|
|
|
PB14 USART1_TX USART1
|
|
|
|
|
|
|
|
|
|
# USART2 is telem2
|
|
|
|
|
PD6 USART2_RX USART2
|
|
|
|
|
PD5 USART2_TX USART2
|
|
|
|
|
|
|
|
|
|
# USART3 is GPS1
|
|
|
|
|
PD9 USART3_RX USART3
|
|
|
|
|
PD8 USART3_TX USART3 NODMA
|
|
|
|
|
|
|
|
|
|
# USART4 is GPS2
|
|
|
|
|
PB8 UART4_RX UART4 NODMA
|
|
|
|
|
PB9 UART4_TX UART4 NODMA
|
|
|
|
|
|
|
|
|
|
# UART7 is debug
|
|
|
|
|
PE7 UART7_RX UART7 NODMA
|
|
|
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
|
|
|
|
|
|
# PWM AUX channels
|
|
|
|
|
PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50)
|
|
|
|
|
PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
|
|
|
|
|
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
|
|
|
|
|
PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53)
|
|
|
|
|
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
|
|
|
|
|
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
|
|
|
|
|
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
|
|
|
|
|
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
|
|
|
|
|
|
|
|
|
|
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
|
|
|
|
|
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
|
|
|
|
|
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
|
|
|
|
|
PC6 TIM3_CH1 TIM3 PWM(13) GPIO(62) NODMA
|
|
|
|
|
PC7 TIM3_CH2 TIM3 PWM(14) GPIO(63) NODMA
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# PWM output for buzzer
|
|
|
|
|
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
|
|
|
|
|
|
|
|
|
# RC input
|
|
|
|
|
PC8 TIM8_CH3 TIM8 RCININT PULLUP LOW
|
|
|
|
|
|
|
|
|
|
# analog in
|
|
|
|
|
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(2)
|
|
|
|
|
PA1 BATT_CURRENT_SENS ADC1 SCALE(2)
|
|
|
|
|
PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
|
|
|
|
|
PC1 BATT2_CURRENT_SENS ADC1 SCALE(2)
|
|
|
|
|
|
|
|
|
|
# Board VCC and servo rail VCC
|
|
|
|
|
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
|
PC4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
|
|
|
|
|
|
|
|
|
|
# analog in ADC6.6
|
|
|
|
|
PC5 PRESSURE_SENS ADC1 SCALE(2)
|
|
|
|
|
PB1 RSSI_IN ADC1 SCALE(2)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# CAN bus
|
|
|
|
|
PD0 CAN1_RX CAN1
|
|
|
|
|
PD1 CAN1_TX CAN1
|
|
|
|
|
|
|
|
|
|
# 2nd CAN bus
|
|
|
|
|
PB12 CAN2_RX CAN2
|
|
|
|
|
PB13 CAN2_TX CAN2
|
|
|
|
|
|
|
|
|
|
# control for silent (no output) for CAN
|
|
|
|
|
PD11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
|
PD10 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# SPI devices
|
|
|
|
|
SPIDEV adis16470 SPI3 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ
|
|
|
|
|
SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
SPIDEV baro1 SPI1 DEVID2 BARO1_CS MODE3 5*MHZ 5*MHZ
|
|
|
|
|
SPIDEV baro2 SPI1 DEVID1 BARO2_CS MODE3 5*MHZ 5*MHZ
|
|
|
|
|
SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
|
SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
|
SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 10*MHZ
|
|
|
|
|
|
|
|
|
|
|
2021-10-30 02:19:51 -03:00
|
|
|
# four IMUs, adi16740 is used, then imu3 will be removed
|
|
|
|
|
IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 ADIS_DRDY_PIN
|
|
|
|
|
IMU Invensense SPI:imu1 ROTATION_ROLL_180
|
|
|
|
|
IMU Invensensev3 SPI:imu1 ROTATION_YAW_270
|
|
|
|
|
IMU Invensense SPI:imu2 ROTATION_ROLL_180
|
|
|
|
|
IMU Invensensev3 SPI:imu2 ROTATION_YAW_270
|
|
|
|
|
IMU Invensense SPI:imu3 ROTATION_ROLL_180
|
2021-10-17 19:20:22 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
# two Baro sensors
|
|
|
|
|
BARO DPS280 SPI:baro1
|
|
|
|
|
BARO DPS280 SPI:baro2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# look for I2C compass
|
|
|
|
|
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
|
|
|
|
|
COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
|
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# LED setup is similar to PixRacer
|
|
|
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
|
PE2 LED_RED OUTPUT GPIO(10)
|
|
|
|
|
PE1 LED_GREEN OUTPUT GPIO(11)
|
|
|
|
|
PE0 LED_BLUE OUTPUT GPIO(12)
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 10
|
|
|
|
|
define HAL_GPIO_B_LED_PIN 11
|
|
|
|
|
define HAL_GPIO_C_LED_PIN 12
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
|
|
|
|
#define GPIOs
|
|
|
|
|
|
|
|
|
|
PE15 HEATER_EN OUTPUT LOW GPIO(80)
|
|
|
|
|
define HAL_HEATER_GPIO_PIN 80
|
|
|
|
|
define HAL_HAVE_IMU_HEATER 1
|
|
|
|
|
|
|
|
|
|
PC11 EXTERN_GPIO1 OUTPUT GPIO(1)
|
|
|
|
|
PC12 EXTERN_GPIO2 OUTPUT GPIO(2)
|
|
|
|
|
PD2 EXTERN_GPIO3 OUTPUT GPIO(3)
|
|
|
|
|
PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
|
|
|
|
|
|
|
|
|
|
# enable FAT filesystem support
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
|
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
|
|
|
|
|
|
# enable RAMTROM parameter storage
|
|
|
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
|
|
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
|
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
|
PC13 LED_SAFETY OUTPUT
|
|
|
|
|
PE4 SAFETY_IN INPUT PULLDOWN
|
|
|
|
|
|
|
|
|
|
# setup for OSD
|
|
|
|
|
define OSD_ENABLED 1
|
|
|
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
|
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
|
|
2021-10-30 02:19:51 -03:00
|
|
|
DMA_PRIORITY SPI1* SPI3* TIM*UP*
|
2021-10-17 19:20:22 -03:00
|
|
|
DMA_NOSHARE SPI1* TIM*UP*
|
