mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: JFB110 board definition
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
jfbblue0922
Andrew Tridgell
parent
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# JFB-110 Flight Controller
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The JFB-110 flight controller is sold by [JAE](https://www.jae.com/Motion_Sensor_Control/eVTOL/FlightController/)
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## Features
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- STM32H755 microcontroller
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- Three IMUs: SCHA63T and IIM42652 x2
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- Two BAROs: MS5611 SPI barometer x2
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- builtin I2C IST8310 magnetometer
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- microSD card slot
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- 5 UARTs plus USB, RCIN, SBUS_OUT
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- 16 PWM outputs
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- Four I2C and two CAN ports
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- External Buzzer (Open/Drain and 33V Out)
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- external safety Switch
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- voltage monitoring for servo rail and Vcc
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- two dedicated power input ports for external power bricks
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART7 (Telem1)
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- SERIAL2 -> UART5 (Telem2)
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- SERIAL3 -> USART1 (GPS)
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- SERIAL4 -> UART4 (GPS2, marked UART/I2CB)
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- SERIAL5 -> USART6 (RCIN)
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- SERIAL6 -> UART8 (SBUS_OUT)
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- SERIAL7 -> USART3 (debug)
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- SERIAL8 -> USB (SLCAN)
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
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have RTS/CTS.
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The USART3 connector is labelled debug, but is available as a general
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purpose UART with ArduPilot.
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## RC Input
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RC input is configured on the port marked DSM/SBUS RC. This connector
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supports all RC protocols. Two cables are available for this port. To
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use software binding of Spektrum satellite receivers you need to use
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the Spektrum satellite cable.
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## PWM Output
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The JFB-110 supports up to 16 PWM outputs.
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These are directly attached to the STM32H755 and support all
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PWM protocols.
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The 16 PWM outputs are in 6 groups:
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- PWM 1 and 2 in group1 (TIM15)
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- PWM 3 and 4 in group2 (TIM3)
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- PWM 5, 11 ,12 and 13 in group3 (TIM4)
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- PWM 6 ,9 and 10 in group4 (TIM1)
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- PWM 7 ,8 and 15 in group5 (TIM5)
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- PWM 14 and 16 in group6 (TIM12)
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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## Battery Monitoring
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The board has two dedicated power monitor ports on 8 pin
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connectors. The correct battery setting parameters are dependent on
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the type of power brick which is connected.
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Recomended input voltage is 4.9 to 5.5 volt.
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## Compass
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The JFB-110 has a builtin IST8310 compass. Due to potential
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interference the board is usually used with an external I2C compass as
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part of a GPS/Compass combination.
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## GPIOs
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The 16 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
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use them you need to limit the number of these pins that is used for
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PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
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if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
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use as GPIOs.
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The numbering of the GPIOs for PIN variables in ArduPilot is:
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- PWM(1) 50
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- PWM(2) 51
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- PWM(3) 52
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- PWM(4) 53
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- PWM(5) 54
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- PWM(6) 55
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- PWM(7) 56
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- PWM(8) 57
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- PWM(9) 58
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- PWM(10) 59
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- PWM(11) 60
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- PWM(12) 61
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- PWM(13) 62
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- PWM(14) 63
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- PWM(15) 64
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- PWM(16) 65
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- FMU_CAP1 66
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- FMU_CAP2 67
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## Analog inputs
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The JFB-110 has 9 analog inputs
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- ADC Pin16 -> Battery Voltage
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- ADC Pin18 -> Battery Current Sensor
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- ADC Pin9 -> Battery Voltage 2
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- ADC Pin6 -> Battery Current Sensor 2
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- ADC Pin5 -> ADC 5V Sense
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- ADC Pin11 -> ADC 3.3V Sense
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- ADC Pin10 -> RSSI voltage monitoring
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- ADC Pin12 -> ADC SPARE 1
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- ADC Pin13 -> ADC SPARE 2
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## I2C Buses
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The JFB-110 has 4 I2C interfaces.
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I2C 3 is for internal only.
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- the internal I2C port is bus 3 in ArduPilot (I2C3 in hardware)
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- the port labelled I2CA is bus 4 in ArduPilot (I2C4 in hardware)
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- the port labelled I2CB is bus 2 in ArduPilot (I2C2 in hardware)
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- the port labelled GPS is bus 1 in ArduPilot (I2C1 in hardware)
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## CAN
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The JFB-110 has two independent CAN buses, with the following pinouts.
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## Debug
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The JFB-110 supports SWD debugging on the debug port
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader,
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allowing the loading of *.apj firmware files with any ArduPilot
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compatible ground station.
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@ -0,0 +1,28 @@
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# board setting
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BRD_VBUS_MIN 4.9
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# setup SERIAL4 for BPort
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SERIAL4_BAUD 57
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SERIAL4_PROTOCOL -1
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SERIAL4_OPTIONS 0
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# setup SERIAL5 to RCIN
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SERIAL5_BAUD 100
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SERIAL5_PROTOCOL 23
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SERIAL5_OPTIONS 3
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# setup SERIAL6 to SBUS OUT
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SERIAL6_BAUD 100
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SERIAL6_PROTOCOL 15
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SERIAL6_OPTIONS 3
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# setup SERIAL7 for debug console
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SERIAL7_BAUD 921
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SERIAL7_PROTOCOL 0
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SERIAL7_OPTIONS 0
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#Three IMU Setting
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EK3_IMU_MASK 7
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INS_ENABLE_MASK 7
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#RSSI Setting
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RSSI_TYPE 1
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RSSI_ANA_PIN 10
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# hw definition file for processing by chibios_hwdef.py
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# for the JFB110 hardware
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# board ID for firmware load
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APJ_BOARD_ID 1110
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# MCU class and specific type
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MCU STM32H7xx STM32H755xx
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define CORE_CM7
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#define SMPS_PWR
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# crystal frequency 24MHz
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OSCILLATOR_HZ 24000000
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# the location where the bootloader will put the firmware
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the H755 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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# with 2M flash we can afford to optimize for speed
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FLASH_SIZE_KB 2048
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HAL_STORAGE_SIZE 32768
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env OPTIMIZE -Os
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# USB setup
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# USB_VENDOR 0x0A8E # JAE
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# USB_PRODUCT 0x8888 # This is temp Number
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USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd."
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USB_STRING_PRODUCT "JFB-110"
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART3
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# serial port for stdout, set SERIAL7_PROTOCOL 0(none) when using
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# The value for STDOUT_SERIAL is a serial device name, and must be for a
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# serial device for which pins are defined in this file. For example, SD3
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# is for USART3 (SD3 == "serial device 3" in ChibiOS).
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 921600
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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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# USB OTG1 SERIAL0
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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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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# CS pins
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PH3 SCHA63T_G_CS CS # SPI1_CS1
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PH4 SCHA63T_A_CS CS # SPI1_CS2
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PH5 MS5611_2_CS CS # SPI1_CS3
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PG6 AT25512_CS CS # SPI1_CS4
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PG7 FRAM_CS CS # SPI3_CS1
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PF10 IIM42652_1_CS CS # SPI3_CS2
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PH15 MS5611_1_CS CS # SPI4_CS1
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PG15 IIM42652_2_CS CS # SPI4_CS2
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# telem1
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PE8 UART7_TX UART7
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PE10 UART7_CTS UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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# telem2
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PC12 UART5_TX UART5
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PC9 UART5_CTS UART5
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PD2 UART5_RX UART5
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PC8 UART5_RTS UART5
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# debug uart
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3 NODMA
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# armed indication
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PB10 nARMED OUTPUT HIGH # TP8
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# This defines an output pin which will default to output HIGH. It is
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# a pin that enables peripheral power on this board. It starts in the
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# off state, then is pulled low to enable peripherals in
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# peripheral_power_enable()
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PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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PG12 VDD_3V3_SENSORS_EN OUTPUT LOW
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PD4 VDD_3V3_SENSORS2_EN OUTPUT LOW
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PD3 VDD_3V3_SENSORS3_EN OUTPUT LOW
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#VDD_3V3_SENSORS4_EN OUTPUT LOW
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#VDD_3V3_SD_CARD_EN OUTPUT LOW
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# PWM output pins
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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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PA2 PWMOUT1 OUTPUT LOW
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PE6 PWMOUT2 OUTPUT LOW
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PA7 PWMOUT3 OUTPUT LOW
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PA6 PWMOUT4 OUTPUT LOW
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PD15 PWMOUT5 OUTPUT LOW
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PE9 PWMOUT6 OUTPUT LOW
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PH11 PWMOUT7 OUTPUT LOW
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PH10 PWMOUT8 OUTPUT LOW
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PA10 PWMOUT9 OUTPUT LOW
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PA9 PWMOUT10 OUTPUT LOW
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PD14 PWMOUT11 OUTPUT LOW
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PD13 PWMOUT12 OUTPUT LOW
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PD12 PWMOUT13 OUTPUT LOW
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PH9 PWMOUT14 OUTPUT LOW
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PH12 PWMOUT15 OUTPUT LOW
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PH6 PWMOUT16 OUTPUT LOW
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PD11 PWM_OE OUTPUT HIGH
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PD5 PWM_OE2 OUTPUT HIGH
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# controlled manually
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PG13 GPIO_CAN1_SILENT OUTPUT PUSHPULL HIGH
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PG8 GPIO_CAN2_SILENT OUTPUT PUSHPULL HIGH
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# Control of Spektrum power pin
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PH2 SPEKTRUM_PWR OUTPUT LOW GPIO(69)
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# LEDs
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#PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH
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##PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW
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##PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) LOW
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PE4 LED_BOOTLOADER OUTPUT HIGH
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PE5 LED_ACTIVITY OUTPUT HIGH
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define HAL_LED_ON 0
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#define HAL_USE_EMPTY_STORAGE 1
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#define HAL_STORAGE_SIZE 32768
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# enable DFU by default
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#ENABLE_DFU_BOOT 1
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@ -0,0 +1,352 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the JFB110 hardware
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# board ID for firmware load
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APJ_BOARD_ID 1110
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# MCU class and specific type
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MCU STM32H7xx STM32H755xx
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define CORE_CM7
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#define SMPS_PWR
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# crystal frequency 24MHz
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OSCILLATOR_HZ 24000000
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# the H755 has 128k sectors
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# bootloader is installed at 128kb offset
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FLASH_BOOTLOADER_LOAD_KB 128
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FLASH_RESERVE_START_KB 128
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FLASH_SIZE_KB 2048
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HAL_STORAGE_SIZE 32768
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# USB setup
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# USB_VENDOR 0x0A8E # JAE
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USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd."
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USB_STRING_PRODUCT "JFB-110"
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# enable board sub-type detection
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define CONFIG_HAL_BOARD HAL_BOARD_CHIBIOS
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#define HAL_CHIBIOS_ARCH_FMUV6 1
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#define AP_FEATURE_BOARD_DETECT 1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
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#define HAL_CHIBIOS_ARCH_FMUV5 1
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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# SERIAL | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART6 UART8 USART3 OTG2
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#USART6 is RX only for SBUS_IN
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#UART8 is TX only for SBUS_OUT
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# serial port for stdout, set SERIAL7_PROTOCOL 5(GPS) when using
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# The value for STDOUT_SERIAL is a serial device name, and must be for a
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# serial device for which pins are defined in this file. For example, SD3
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# is for USART3 (SD3 == "serial device 3" in ChibiOS).
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 921600
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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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# USB OTG1 SERIAL0
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# default the 2nd interface to MAVLink2
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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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 SPEED_VERYLOW
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PE10 UART7_CTS UART7 SPEED_VERYLOW
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PF6 UART7_RX UART7 SPEED_VERYLOW
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PF8 UART7_RTS UART7 SPEED_VERYLOW
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# telem2
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PC12 UART5_TX UART5 SPEED_VERYLOW
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PC9 UART5_CTS UART5 SPEED_VERYLOW
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PD2 UART5_RX UART5 SPEED_VERYLOW
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PC8 UART5_RTS UART5 SPEED_VERYLOW
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# telem3 for future use
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#PD5 TP14 OUTPUT LOW #TP14
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# GPS1
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PB6 USART1_TX USART1 SPEED_VERYLOW
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PB7 USART1_RX USART1 SPEED_VERYLOW
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# uart4
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PH13 UART4_TX UART4 SPEED_VERYLOW
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PH14 UART4_RX UART4 SPEED_VERYLOW
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# TX Only, for SBUS OUT
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PE0 UART8_RX UART8 SPEED_VERYLOW #TP3
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PE1 UART8_TX UART8 SPEED_VERYLOW
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# RX only, for RC input
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#PG14 USART6_TX USART6 SPEED_VERYLOW #TP10
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PC7 USART6_RX USART6 SPEED_VERYLOW
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# debug uart
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PD8 USART3_TX USART3 SPEED_VERYLOW NODMA
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PD9 USART3_RX USART3 SPEED_VERYLOW NODMA
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# ADC
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_16
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PF12 BATT_CURRENT_SENS ADC1 SCALE(1) # ADC1_6
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PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_9
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PA4 BATT2_CURRENT_SENS ADC1 SCALE(1) # ADC1_18
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# setup scaling defaults for supplied power brick
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define HAL_BATT_VOLT_SCALE 1 #18.182
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define HAL_BATT_CURR_SCALE 1 #36.364
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define HAL_BATT2_VOLT_SCALE 1 #18.182
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define HAL_BATT2_CURR_SCALE 1 #36.364
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define HAL_BATT_VOLT_PIN 16
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define HAL_BATT_CURR_PIN 6
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define HAL_BATT2_VOLT_PIN 9
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define HAL_BATT2_CURR_PIN 18
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PB1 VDD_5V_SENS ADC1 SCALE(2) # ADC1_5
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define ANALOG_VCC_5V_PIN 5
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define HAL_HAVE_BOARD_VOLTAGE 1
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PB3 VBUS_RESERVED INPUT
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# JFB110 has SERVORAIL ADC
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# Set SENSOR_3.3V power signal insted.
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PC1 SCALED_V3V3 ADC1 SCALE(2) # ADC1_11
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PA3 FMU_SERVORAIL_VCC ADC1 SCALE(2) # ADC1_15
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define FMU_SERVORAIL_ADC_PIN 15
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define HAL_HAVE_SERVO_VOLTAGE 1
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PC0 RSSI_IN ADC1 SCALE(1) # ADC1_10
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define RSSI_ANA_PIN 10
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PC2 ADC1_6V6 ADC1 SCALE(2) # ADC1_12
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PC3 ADC1_3V3 ADC1 SCALE(1) # ADC1_13
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# This defines an output pin which will default to output HIGH. It is
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# a pin that enables peripheral power on this board. It starts in the
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||||
# off state, then is pulled low to enable peripherals in
|
||||
# peripheral_power_enable()
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PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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PG12 VDD_3V3_SENSORS_EN OUTPUT LOW
|
||||
PD4 VDD_3V3_SENSORS2_EN OUTPUT LOW
|
||||
PD3 VDD_3V3_SENSORS3_EN OUTPUT LOW
|
||||
#VDD_3V3_SENSORS4_EN OUTPUT LOW
|
||||
#VDD_3V3_SD_CARD_EN OUTPUT LOW
|
||||
|
||||
# controlled manually
|
||||
PG13 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW
|
||||
PG8 GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW
|
||||
|
||||
# Control of Spektrum power pin
|
||||
# no SPEKTRUM_RC pin so this is controlled
|
||||
# manually
|
||||
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(69)
|
||||
define HAL_GPIO_SPEKTRUM_PWR 69
|
||||
define HAL_SPEKTRUM_PWR_ENABLED 1
|
||||
|
||||
#Checked in Analogin.cpp -> MAV_POWER_STATUS
|
||||
PG1 VDD_BRICK_nVALID INPUT
|
||||
PG2 VDD_BRICK2_nVALID INPUT
|
||||
PG3 VBUS_nVALID INPUT
|
||||
PE15 VDD_5V_PERIPH_nOC INPUT
|
||||
PF13 VDD_5V_HIPOWER_nOC INPUT
|
||||
|
||||
# ID pins
|
||||
PG0 HW_VER_REV_DRIVE OUTPUT LOW SPEED_VERYLOW
|
||||
PC4 HW_VER_SENS ADC1 SCALE(1) # ADC1_4
|
||||
PC5 HW_REV_SENS ADC1 SCALE(1) # ADC1_8
|
||||
|
||||
# SPI1 - IMU1(murata),MS5611(BARO),EEPROM
|
||||
PA5 SPI1_SCK SPI1 SPEED_VERYLOW
|
||||
PB5 SPI1_MOSI SPI1 SPEED_VERYLOW
|
||||
PG9 SPI1_MISO SPI1 SPEED_VERYLOW
|
||||
PH3 SCHA63T_A_CS CS SPEED_VERYLOW # SPI1_CS1
|
||||
PH4 SCHA63T_G_CS CS SPEED_VERYLOW # SPI1_CS2
|
||||
PH5 MS5611_1_CS CS SPEED_VERYLOW # SPI1_CS3
|
||||
PG6 AT25512_CS CS SPEED_VERYLOW # SPI1_CS4
|
||||
|
||||
# SPI2
|
||||
|
||||
# SPI3 - FRAM,IMU2(42652)
|
||||
PB2 SPI3_MOSI SPI3 SPEED_VERYLOW
|
||||
PC10 SPI3_SCK SPI3 SPEED_VERYLOW
|
||||
PC11 SPI3_MISO SPI3 SPEED_VERYLOW
|
||||
PG7 FRAM_CS CS SPEED_VERYLOW # SPI3_CS1
|
||||
PF10 IIM42652_CS CS SPEED_VERYLOW # SPI3_CS2
|
||||
|
||||
# SPI4 - MS5611(BARO),IMU3(42652),
|
||||
PE12 SPI4_SCK SPI4 SPEED_VERYLOW
|
||||
PE13 SPI4_MISO SPI4 SPEED_VERYLOW
|
||||
PE14 SPI4_MOSI SPI4 SPEED_VERYLOW
|
||||
PH15 MS5611_2_CS CS SPEED_VERYLOW # SPI4_CS1
|
||||
PG15 IIM42652_2_CS CS SPEED_VERYLOW # SPI4_CS2
|
||||
|
||||
# SPI5 - External SPI I/F
|
||||
#PF7 SPI5_SCK SPI5 SPEED_VERYLOW
|
||||
#PH7 SPI5_MISO SPI5 SPEED_VERYLOW
|
||||
#PF11 SPI5_MOSI SPI5 SPEED_VERYLOW
|
||||
#PE2 SPI5_CS1 CS SPEED_VERYLOW
|
||||
|
||||
# IMU Device Ready Signal Input
|
||||
PF3 DRDY1_IIM42652_1 INPUT
|
||||
PF2 DRDY2_IIM42652_1 INPUT
|
||||
PA15 DRDY1_IIM42652_2 INPUT
|
||||
PA1 DRDY2_IIM42652_2 INPUT
|
||||
|
||||
PE7 SCHA63T_RESET OUTPUT LOW
|
||||
|
||||
# SPI devices
|
||||
SPIDEV scha63t_g SPI1 DEVID1 SCHA63T_G_CS MODE0 10*MHZ 10*MHZ
|
||||
SPIDEV scha63t_a SPI1 DEVID2 SCHA63T_A_CS MODE0 10*MHZ 10*MHZ
|
||||
SPIDEV ms5611_1 SPI1 DEVID3 MS5611_1_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV at25512 SPI1 DEVID4 AT25512_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV ramtron SPI3 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
SPIDEV iim42652_1 SPI3 DEVID2 IIM42652_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV ms5611_2 SPI4 DEVID1 MS5611_2_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV iim42652_2 SPI4 DEVID2 IIM42652_2_CS MODE3 2*MHZ 8*MHZ
|
||||
#define HAL_SPI_CHECK_CLOCK_FREQ
|
||||
|
||||
# JFB110 has 3 IMUs
|
||||
# IMU devices for JFB110. The JFB110 board has a SCHA63T, two ICM42652,
|
||||
# the SCHA63T and ICM42652_1 are on the same SPI buses and CS pins.
|
||||
# The IIM42652_2 is on a different bus
|
||||
IMU SCHA63T SPI:scha63t_a SPI:scha63t_g ROTATION_NONE
|
||||
IMU Invensensev3 SPI:iim42652_1 ROTATION_NONE
|
||||
IMU Invensensev3 SPI:iim42652_2 ROTATION_NONE
|
||||
|
||||
# JFB110 has 2 BAROs
|
||||
BARO MS56XX SPI:ms5611_1
|
||||
BARO MS56XX SPI:ms5611_2
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
# PWM output pins
|
||||
# we need to disable DMA on the last 2 FMU channels
|
||||
# as timer 12 doesn't have a TIMn_UP DMA option
|
||||
PA2 TIM15_CH1 TIM15 PWM(1) GPIO(50) SPEED_VERYLOW
|
||||
PE6 TIM15_CH2 TIM15 PWM(2) GPIO(51) SPEED_VERYLOW
|
||||
PA7 TIM3_CH2 TIM3 PWM(3) GPIO(52) SPEED_VERYLOW
|
||||
PA6 TIM3_CH1 TIM3 PWM(4) GPIO(53) SPEED_VERYLOW
|
||||
PD15 TIM4_CH4 TIM4 PWM(5) GPIO(54) SPEED_VERYLOW
|
||||
PE9 TIM1_CH1 TIM1 PWM(6) GPIO(55) SPEED_VERYLOW
|
||||
PH11 TIM5_CH2 TIM5 PWM(7) GPIO(56) SPEED_VERYLOW
|
||||
PH10 TIM5_CH1 TIM5 PWM(8) GPIO(57) SPEED_VERYLOW
|
||||
PA10 TIM1_CH3 TIM1 PWM(9) GPIO(58) SPEED_VERYLOW
|
||||
PA9 TIM1_CH2 TIM1 PWM(10) GPIO(59) SPEED_VERYLOW
|
||||
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) SPEED_VERYLOW
|
||||
PD13 TIM4_CH2 TIM4 PWM(12) GPIO(61) SPEED_VERYLOW
|
||||
PD12 TIM4_CH1 TIM4 PWM(13) GPIO(62) SPEED_VERYLOW
|
||||
PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) SPEED_VERYLOW NODMA
|
||||
PH12 TIM5_CH3 TIM5 PWM(15) GPIO(64) SPEED_VERYLOW
|
||||
PH6 TIM12_CH1 TIM12 PWM(16) GPIO(65) SPEED_VERYLOW NODMA
|
||||
PD11 PWM_OE OUTPUT HIGH
|
||||
PD5 PWM_OE2 OUTPUT HIGH
|
||||
|
||||
# GPIOs
|
||||
PE11 FMU_CAP1 INPUT GPIO(66)
|
||||
PB11 FMU_CAP2 INPUT GPIO(67)
|
||||
|
||||
# CAN bus
|
||||
PD0 CAN1_RX CAN1 SPEED_VERYLOW
|
||||
PD1 CAN1_TX CAN1 SPEED_VERYLOW
|
||||
PB12 CAN2_RX CAN2 SPEED_VERYLOW
|
||||
PB13 CAN2_TX CAN2 SPEED_VERYLOW
|
||||
|
||||
# I2C buses
|
||||
# I2C1, GPS+MAG
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# I2C2, GPS2+MAG
|
||||
PF1 I2C2_SCL I2C2
|
||||
PF0 I2C2_SDA I2C2
|
||||
|
||||
# I2C3, IST8310 Internal
|
||||
PA8 I2C3_SCL I2C3 SPEED_VERYLOW
|
||||
PH8 I2C3_SDA I2C3 SPEED_VERYLOW
|
||||
|
||||
# I2C4 external
|
||||
PF14 I2C4_SCL I2C4
|
||||
PF15 I2C4_SDA I2C4
|
||||
|
||||
# order of I2C buses
|
||||
I2C_ORDER I2C3 I2C1 I2C2 I2C4
|
||||
define HAL_I2C_INTERNAL_MASK 1
|
||||
|
||||
# this board is very tight on DMA channels. To allow for more UART DMA
|
||||
# we disable DMA on I2C. This also prevents a problem with DMA on I2C
|
||||
# interfering with IMUs
|
||||
NODMA I2C*
|
||||
define STM32_I2C_USE_DMA FALSE
|
||||
|
||||
# builtin compass on JAE JFB110
|
||||
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270
|
||||
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
|
||||
|
||||
# armed indication
|
||||
PB10 nARMED OUTPUT HIGH # TP8
|
||||
|
||||
# microSD support
|
||||
PD6 SDMMC2_CK SDMMC2 SPEED_VERYLOW
|
||||
PD7 SDMMC2_CMD SDMMC2 SPEED_VERYLOW
|
||||
PB14 SDMMC2_D0 SDMMC2 SPEED_VERYLOW
|
||||
PB15 SDMMC2_D1 SDMMC2 SPEED_VERYLOW
|
||||
PG11 SDMMC2_D2 SDMMC2 SPEED_VERYLOW
|
||||
PB4 SDMMC2_D3 SDMMC2 SPEED_VERYLOW
|
||||
define FATFS_HAL_DEVICE SDCD2
|
||||
PC13 SD_CARD_EN INPUT
|
||||
|
||||
# safety
|
||||
PD10 LED_SAFETY OUTPUT
|
||||
PF5 SAFETY_IN INPUT PULLDOWN
|
||||
|
||||
# LEDs
|
||||
PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH SPEED_VERYLOW
|
||||
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW SPEED_VERYLOW
|
||||
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) HIGH SPEED_VERYLOW
|
||||
|
||||
# setup for "AP_BoardLED" RGB LEDs
|
||||
define HAL_GPIO_A_LED_PIN 72
|
||||
define HAL_GPIO_B_LED_PIN 70
|
||||
#define HAL_GPIO_C_LED_PIN 71
|
||||
define HAL_GPIO_LED_ON 0
|
||||
|
||||
# PWM output for buzzer
|
||||
PF9 TIM14_CH1 TIM14 GPIO(73) ALARM SPEED_VERYLOW
|
||||
|
||||
# RC input (PPM)
|
||||
PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
|
||||
|
||||
# enable RAMTRON parameter storage
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
define HAL_WITH_RAMTRON 1
|
||||
|
||||
# allow to have a dedicated safety switch pin
|
||||
define HAL_HAVE_SAFETY_SWITCH 1
|
||||
|
||||
DMA_PRIORITY SDMMC* UART* USART* ADC* SPI* TIM*
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
# enable DFU reboot for installing bootloader
|
||||
# note that if firmware is build with --secure-bl then DFU is
|
||||
# disabled
|
||||
ENABLE_DFU_BOOT 1
|
||||
|
||||
# External watchdog gpio
|
||||
PG5 EXT_WDOG OUTPUT SPEED_VERYLOW
|
||||
define EXT_WDOG_INTERVAL_MS 50
|
||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue