From 008671f16afab52d86af369eaa3191da178db21b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 18 Apr 2022 11:57:49 +1000 Subject: [PATCH] hwdef: added FlyingMoonF407 board support --- .../hwdef/FlyingMoonF407/hwdef-bl.dat | 42 ++++ .../hwdef/FlyingMoonF407/hwdef.dat | 182 ++++++++++++++++++ 2 files changed, 224 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef-bl.dat new file mode 100644 index 0000000000..1eda0170a8 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef-bl.dat @@ -0,0 +1,42 @@ +# hw definition file for processing by chibios_hwdef.py +# for FlyingmoonF407 hardware + +MCU STM32F4xx STM32F407xx + +APJ_BOARD_ID 1067 + +OSCILLATOR_HZ 8000000 + +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 1024 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART5 + +PE3 LED_BOOTLOADER OUTPUT +PE2 LED_ACTIVITY OUTPUT +define HAL_LED_ON 1 + +PA9 VBUS INPUT + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA + +FLASH_USE_MAX_KB 16 +FLASH_RESERVE_START_KB 0 + +# location of application code +FLASH_BOOTLOADER_LOAD_KB 16 + +# Add CS pins to ensure they are high in bootloader +PA4 ICM20689_CS CS +PB12 FRAM_CS CS SPEED_VERYLOW +PE15 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef.dat new file mode 100644 index 0000000000..61cbe1a94f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingMoonF407/hwdef.dat @@ -0,0 +1,182 @@ +# hw definition file for processing by chibios_hwdef.py +# for FlyingmoonF407 hardware + +# MCU class and specific type +MCU STM32F4xx STM32F407xx + +# board ID for firmware load +APJ_BOARD_ID 1067 + +FLASH_SIZE_KB 1024 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# this is the STM32 timer that ChibiOS will use for the low level +# driver. This must be a 32 bit timer. We currently only support +# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# this is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN +PA9 VBUS INPUT OPENDRAIN + +# The normal usage of this ordering is: +# 1) SERIAL0: console (primary mavlink, USB) +# 2) SERIAL1: telem1 +# 3) SERIAL2: telem2 +# 3) SERIAL3: GPS1 +# 4) SERIAL4: GPS2 + +SERIAL_ORDER OTG1 USART2 UART4 USART3 USART1 + +# telem1 +PD5 USART2_TX USART2 NODMA +PD6 USART2_RX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# UART4 for telem2 +PC10 UART4_TX UART4 NODMA +PC11 UART4_RX UART4 NODMA + +# USART3 for GPS1 +PD8 USART3_TX USART3 NODMA +PD9 USART3_RX USART3 + +# USART1 for GPS2 +PB6 USART1_TX USART1 +PB7 USART1_RX USART1 + +define HAL_STORAGE_SIZE 16384 + +# CAN Busses +# PD0 CAN1_RX CAN1 +# PD1 CAN1_TX CAN1 + +#SPI1 for MPU +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA4 ICM20689_CS CS + +# SPI bus for dataflash AND SD +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +PB12 FRAM_CS CS SPEED_VERYLOW +PE15 FLASH_CS CS + +# SPI3 bus for reserve +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 + +SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ + +# one IMU +IMU Invensense SPI:icm20689 ROTATION_YAW_270 + +# one baro +BARO MS56XX I2C:1:0x77 + +# look for I2C RM3100 compass +COMPASS RM3100 I2C:1:0x20 false ROTATION_NONE + +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +# enable RAMTROM parameter storage +define HAL_WITH_RAMTRON 1 +# enable FAT filesystem support +define HAL_OS_FATFS_IO 1 +# now some defines for logging and terrain data files +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# define the order that I2C buses +I2C_ORDER I2C1 I2C2 + +# 2nd bus is internal +define HAL_I2C_INTERNAL_MASK 2 + +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# PWM out pins +PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) +PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) +PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52) +PA3 TIM2_CH4 TIM2 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) + +PE4 EXTERN_GPIO1 OUTPUT GPIO(1) +PC13 EXTERN_GPIO2 OUTPUT GPIO(2) +PC14 EXTERN_GPIO3 OUTPUT GPIO(3) +PE6 EXTERN_GPIO4 OUTPUT GPIO(4) +PC15 EXTERN_GPIO5 OUTPUT GPIO(5) +define RELAY1_PIN_DEFAULT 1 +define RELAY2_PIN_DEFAULT 2 +define RELAY3_PIN_DEFAULT 3 +define RELAY4_PIN_DEFAULT 4 +define RELAY5_PIN_DEFAULT 5 + +# also USART6_RX for serial RC +PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW DMA_CH0 + +# LED setup is similar to PixRacer +define HAL_HAVE_PIXRACER_LED +PE3 LED_RED OUTPUT GPIO(10) +PE2 LED_GREEN OUTPUT GPIO(11) +PE1 LED_BLUE OUTPUT GPIO(12) +PE0 LED_YELOW OUTPUT GPIO(13) + +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 + +# analog in +PC0 PRESSURE_SENS ADC1 SCALE(2) +PC1 RSSI_IN ADC1 SCALE(2) + +# define the primary battery connectors. +PC2 BATT_CURRENT_SENS ADC1 SCALE(2) +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2) +PC4 VDD_5V_SENS ADC1 SCALE(2) +PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2) + +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_VOLT_SCALE 20 +define HAL_BATT_CURR_SCALE 17 + +PE5 TIM9_CH1 TIM9 ALARM + +# IRQ for MPU6000 +PB0 DRDY_ICM20689 INPUT PULLUP +PB1 DRDY_IST8310 INPUT PULLUP + +define AP_FEATURE_BRD_PWM_COUNT_PARAM 1