mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add VUAV-V7pro
This commit is contained in:
caijie
Peter Barker
parent
1d91962b96
commit
42c82f6c5d
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@ -0,0 +1,608 @@
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# VUAV-V7pro Flight Controller
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The VUAV-V7pro flight controller is manufactured and sold by [VIEWPRO](http://www.viewprotech.com/).
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## Features
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- STM32H743 microcontroller
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- Three IMUs: ADIS16470,ICM42688,ICM42688
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- Internal vibration isolation for IMUs
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- Internal RM3100 SPI magnetometer
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- Internal two MS5611 SPI barometer
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- Internal RGB LED
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- MicroSD card slot port
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- 1 Analog power port
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- 1 CAN power port
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- 5 UARTs and 1 USB ports
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- 1 RS232 port
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- 14 PWM output ports
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- 4 I2C and 2 CAN ports
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- Safety switch port
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- Buzzer port
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- RC IN port
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1) (DMA enabled)
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- SERIAL2 -> UART6 (Telem2) (DMA enabled)
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- SERIAL3 -> UART1 (GPS1)
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- SERIAL4 -> UART3 (GPS2)
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- SERIAL5 -> UART8 (USER) TX only on pin, RX is tied to RCIN
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- SERIAL6 -> UART4 (RS232)
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- SERIAL7 -> USB2 (virtual port on same connector)
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- SERIAL8 -> UART7 (DEBUG)
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The Telem1,Telem2 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
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## Connectors
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### TELEM1 ,TELEM2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>CTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>RTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS1/I2C4 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL I2C4</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA I2C4</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>6</td>
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<td>SafetyButton</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>7</td>
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<td>SafetyLED</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>8</td>
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<td>-</td>
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<td>-</td>
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</tr>
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<tr>
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<td>9</td>
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<td>Buzzer</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>10</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS2/I2C3 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL I2C3</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA I2C3</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### CAN1,CAN2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>CAN_H</td>
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<td>+24V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN_L</td>
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<td>+24V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### I2C1,I2C2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>SCL</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SDA</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### USB Ex
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>D_minus</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>D_plus</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### RSSI
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>RSSI</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>UART8_TX (OUT)</td>
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<td>+3.3</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### RS232
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### DEBUG
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SWDIO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SWCLK</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>ADC_3V3</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>ADC_6V6</td>
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<td>up to +6.6V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### POWER1
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CURRENT</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>VOLTAGE</td>
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<td>up to +3.3V</td>
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</tr>
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<td>5</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### POWER2(CAN1)
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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||||
</tr>
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<tr>
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||||
<td>1</td>
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<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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||||
<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN1_H</td>
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<td>+24V</td>
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</tr>
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<tr>
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<td>4</td>
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||||
<td>CAN1_L</td>
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<td>+24V</td>
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</tr>
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<td>5</td>
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||||
<td>GND</td>
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||||
<td>GND</td>
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</tr>
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<td>6</td>
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||||
<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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## RC Input
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||||
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||||
RC input is configured on the RCIN pin, at one end of the servo rail. This pin supports all unidirectional RC protocols. For bi-directional protocols, such as CRSF/ELRS, UART8 can be set to protocol "23" and the reciever tied to RCIN (shared with UART8 RX) and UART8 TX. In this case, the RC_PROTOCOLS parameter should be set to the expected protocol type to avoid accidental erroneous detection by the RCIN path.
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## PWM Output
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||||
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||||
The VUAV-V7pro supports up to 14 PWM outputs,support all PWM protocols. Outputs 1-12 support DShot. Outputs 1-8 support bi-directional Dshot. All 14 PWM outputs have GND on the top row, 5V on the middle row and signal on the bottom row.
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||||
The 14 PWM outputs are in 4 groups:
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||||
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||||
- PWM 1, 2, 3 and 4 in group1
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||||
- PWM 5, 6, 7 and 8 in group2
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||||
- PWM 9, 10, 11 and 12 in group3
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||||
- PWM 13, 14 in group4
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||||
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||||
Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
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||||
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## GPIOs
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||||
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||||
All 14 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
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The pin numbers for these PWM channels in ArduPilot are shown below:
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||||
<table border="1" class="docutils">
|
||||
<tbody>
|
||||
<tr>
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||||
<th>PWM Channels</th>
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||||
<th>Pin</th>
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||||
<th>PWM Channels</th>
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||||
<th>Pin</th>
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||||
</tr>
|
||||
<tr>
|
||||
<td>PWM1</td>
|
||||
<td>50</td>
|
||||
<td>PWM8</td>
|
||||
<td>57</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM2</td>
|
||||
<td>51</td>
|
||||
<td>PWM9</td>
|
||||
<td>58</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM3</td>
|
||||
<td>52</td>
|
||||
<td>PWM10</td>
|
||||
<td>59</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM4</td>
|
||||
<td>53</td>
|
||||
<td>PWM11</td>
|
||||
<td>60</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM5</td>
|
||||
<td>54</td>
|
||||
<td>PWM12</td>
|
||||
<td>61</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM6</td>
|
||||
<td>55</td>
|
||||
<td>PWM13</td>
|
||||
<td>62</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>PWM7</td>
|
||||
<td>56</td>
|
||||
<td>PWM14</td>
|
||||
<td>63</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
## Analog inputs
|
||||
|
||||
The VUAV-V7pro flight controller has 5 Analog inputs
|
||||
|
||||
- ADC Pin2-> Battery Current
|
||||
- ADC Pin16 -> Battery Voltage
|
||||
- ADC Pin19 -> ADC 3V3 Sense
|
||||
- ADC Pin3 -> ADC 6V6 Sense
|
||||
- ADC Pin9 -> RSSI voltage monitoring
|
||||
|
||||
## Battery Monitor Configuration
|
||||
|
||||
The board has voltage and current inputs sensor on the POWER1 ADC and POWER2 CAN connector.
|
||||
|
||||
The correct battery setting parameters are:
|
||||
|
||||
Enable Battery1 monitor:
|
||||
- BATT_MONITOR 4
|
||||
- BATT_VOLT_PIN 16
|
||||
- BATT_CUR_PIN 2
|
||||
- BATT_VOLT_MULT 15.7 (may need adjustment if supplied monitor is not used)
|
||||
- BATT_AMP_PERVLT 60.61 (may need adjustment if supplied monitor is not used)
|
||||
|
||||
Enable Battery2 monitor (if used):
|
||||
- BATT2_MONITOR 8
|
||||
|
||||
## Loading Firmware
|
||||
|
||||
The VUAV-V7pro flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of \*.apj firmware files with any ArduPilot compatible ground station.
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 55 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 112 KiB |
|
|
@ -0,0 +1,5 @@
|
|||
BRD_HEAT_TARG 45
|
||||
BRD_HEAT_P 50
|
||||
BRD_HEAT_I 0.07
|
||||
|
||||
CAN_P1_DRIVER 1
|
||||
|
|
@ -0,0 +1,70 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H743 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 7100
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# bootloader is installed at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
FLASH_BOOTLOADER_LOAD_KB 128
|
||||
|
||||
PI5 LED_RED OUTPUT OPENDRAIN HIGH # red
|
||||
PI7 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
|
||||
PI6 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
|
||||
define HAL_LED_ON 0
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 UART7
|
||||
|
||||
# UART7 is debug
|
||||
PF6 UART7_RX UART7 NODMA
|
||||
PF7 UART7_TX UART7 NODMA
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
define BOOTLOADER_DEBUG SD7
|
||||
|
||||
# support flashing from SD card:
|
||||
# power enable pins
|
||||
PG7 VDD_3V3_SD_CARD_EN OUTPUT LOW
|
||||
|
||||
# microSD support
|
||||
PC8 SDMMC1_D0 SDMMC1
|
||||
PC9 SDMMC1_D1 SDMMC1
|
||||
PC10 SDMMC1_D2 SDMMC1
|
||||
PC11 SDMMC1_D3 SDMMC1
|
||||
PC12 SDMMC1_CK SDMMC1
|
||||
PD2 SDMMC1_CMD SDMMC1
|
||||
|
||||
define FATFS_HAL_DEVICE SDCD1
|
||||
|
||||
DMA_PRIORITY SDMMC*
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
|
||||
|
||||
# Add CS pins to ensure they are high in bootloader
|
||||
PG10 IMU1_CS CS
|
||||
PJ2 IMU2_CS CS
|
||||
PI4 IMU3_CS CS
|
||||
PE8 RM3100_CS CS
|
||||
PE4 BAROMETER1_CS CS
|
||||
PI9 BAROMETER2_CS CS
|
||||
PK2 FRAM_CS CS
|
||||
PE10 RESERVE_CS1 CS
|
||||
PI14 RESERVE_CS2 CS
|
||||
PI15 RESERVE_CS3 CS
|
||||
|
|
@ -0,0 +1,285 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 7100
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# with 2M flash we can afford to optimize for speed
|
||||
env OPTIMIZE -O2
|
||||
|
||||
# bootloader takes first sector
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 5
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART6 USART1 USART3 UART8 UART4 OTG2 UART7
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# UARTs
|
||||
# USART2 is telem1
|
||||
PD6 USART2_RX USART2
|
||||
PD5 USART2_TX USART2
|
||||
PD3 USART2_CTS USART2
|
||||
PD4 USART2_RTS USART2
|
||||
|
||||
# USART6 is telem2
|
||||
PC7 USART6_RX USART6
|
||||
PC6 USART6_TX USART6
|
||||
PG15 USART6_CTS USART6
|
||||
PG8 USART6_RTS USART6
|
||||
|
||||
# USART1 is GPS1
|
||||
PB15 USART1_RX USART1 NODMA
|
||||
PB14 USART1_TX USART1 NODMA
|
||||
|
||||
# UART3 is GPS2
|
||||
PD9 USART3_RX USART3 NODMA
|
||||
PD8 USART3_TX USART3 NODMA
|
||||
|
||||
# SBUS, DSM port
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8
|
||||
|
||||
# RS232
|
||||
PH14 UART4_RX UART4 NODMA
|
||||
PH13 UART4_TX UART4 NODMA
|
||||
|
||||
# UART7 is debug
|
||||
PF6 UART7_RX UART7 NODMA
|
||||
PF7 UART7_TX UART7 NODMA
|
||||
|
||||
# debug pins
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# SPI1 - sensors1
|
||||
PG11 SPI1_SCK SPI1
|
||||
PG9 SPI1_MISO SPI1
|
||||
PD7 SPI1_MOSI SPI1
|
||||
|
||||
# SPI2 - compass
|
||||
PI1 SPI2_SCK SPI2
|
||||
PI2 SPI2_MISO SPI2
|
||||
PI3 SPI2_MOSI SPI2
|
||||
|
||||
# SPI4 - sensors2 - baro1
|
||||
PE12 SPI4_SCK SPI4
|
||||
PE13 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
|
||||
# SPI6 - sensors3 - baro2
|
||||
PG13 SPI6_SCK SPI6
|
||||
PB4 SPI6_MISO SPI6
|
||||
PG14 SPI6_MOSI SPI6
|
||||
|
||||
# SPI5 - FRAM
|
||||
PK0 SPI5_SCK SPI5
|
||||
PJ11 SPI5_MISO SPI5
|
||||
PJ10 SPI5_MOSI SPI5
|
||||
|
||||
# sensor CS
|
||||
PG10 IMU1_CS CS
|
||||
PJ2 IMU2_CS CS
|
||||
PI4 IMU3_CS CS
|
||||
PE8 RM3100_CS CS
|
||||
PE4 BAROMETER1_CS CS
|
||||
PI9 BAROMETER2_CS CS
|
||||
PK2 FRAM_CS CS
|
||||
|
||||
# RESERVE CS
|
||||
PE10 RESERVE_CS1 CS
|
||||
PI14 RESERVE_CS2 CS
|
||||
PI15 RESERVE_CS3 CS
|
||||
|
||||
# drdy pins
|
||||
PH4 DRDY1_ADIS16470 INPUT GPIO(93)
|
||||
PH10 DRDY2_ICM42688 INPUT
|
||||
PE9 DRDY3_RM3100 INPUT
|
||||
PH5 DRDY4_ICM42688 INPUT
|
||||
|
||||
# use GPIO(93) for data ready on ADIS16470
|
||||
define ADIS_DRDY_PIN 93
|
||||
|
||||
# I2C buses
|
||||
|
||||
# I2C1 is on I2C1 port
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# I2C2 on I2C2 port
|
||||
PF1 I2C2_SCL I2C2
|
||||
PF0 I2C2_SDA I2C2
|
||||
|
||||
# I2C3 is on GPS2 port
|
||||
PH7 I2C3_SCL I2C3
|
||||
PH8 I2C3_SDA I2C3
|
||||
|
||||
# I2C4 is on GPS1 port
|
||||
PF14 I2C4_SCL I2C4
|
||||
PF15 I2C4_SDA I2C4
|
||||
|
||||
# order of I2C buses
|
||||
I2C_ORDER I2C1 I2C2 I2C3 I2C4
|
||||
|
||||
NODMA I2C*
|
||||
define STM32_I2C_USE_DMA FALSE
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# enable pins
|
||||
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
|
||||
|
||||
# start peripheral power off, then enable after init
|
||||
# this prevents a problem with radios that use RTS for
|
||||
# bootloader hold
|
||||
PD11 VDD_5V_HIPOWER_EN OUTPUT LOW
|
||||
PG4 VDD_5V_PERIPH_EN OUTPUT LOW
|
||||
|
||||
PD10 VDD_5V_RC_EN OUTPUT HIGH
|
||||
PG7 VDD_3V3_SD_CARD_EN OUTPUT LOW
|
||||
|
||||
# PWM AUX channels
|
||||
PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
|
||||
PB3 TIM2_CH2 TIM2 PWM(2) GPIO(51)
|
||||
PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52) BIDIR
|
||||
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
|
||||
PK1 TIM1_CH1 TIM1 PWM(5) GPIO(54) BIDIR
|
||||
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
|
||||
PJ9 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR
|
||||
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)
|
||||
PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
|
||||
PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
|
||||
|
||||
# PWM output for buzzer
|
||||
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
||||
|
||||
# RC input
|
||||
PB1 TIM3_CH4 TIM3 RCININT PULLDOWN LOW
|
||||
|
||||
# analog in
|
||||
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PF11 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
|
||||
PA5 SPARE1_ADC1 ADC1 SCALE(1)
|
||||
PA6 SPARE2_ADC1 ADC1 SCALE(2)
|
||||
|
||||
PB0 RSSI_IN ADC1 SCALE(1)
|
||||
|
||||
PC0 VDD_5V_SENS ADC1 SCALE(2)
|
||||
PC2 SCALED_V3V3 ADC1 SCALE(2)
|
||||
|
||||
PF12 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
|
||||
|
||||
# CAN bus
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
PB5 CAN2_RX CAN2
|
||||
PB6 CAN2_TX CAN2
|
||||
|
||||
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
||||
PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
|
||||
|
||||
# GPIOs
|
||||
PA8 HEATER_EN OUTPUT LOW GPIO(80)
|
||||
define HAL_HEATER_GPIO_PIN 80
|
||||
define HAL_HAVE_IMU_HEATER 1
|
||||
|
||||
PG1 VDD_BRICK_nVALID INPUT PULLUP
|
||||
PG2 VDD_BRICK2_nVALID INPUT PULLUP
|
||||
PG0 VBUS_nVALID INPUT PULLUP
|
||||
PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
|
||||
# SPI devices
|
||||
SPIDEV adis16470 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 2*MHZ
|
||||
SPIDEV imu1_res SPI1 DEVID2 RESERVE_CS1 MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE3 1*MHZ 1*MHZ
|
||||
SPIDEV imu2 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV baro1 SPI4 DEVID2 BAROMETER1_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
SPIDEV imu3 SPI6 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV baro2 SPI6 DEVID2 BAROMETER2_CS MODE3 20*MHZ 20*MHZ
|
||||
|
||||
# two baro
|
||||
BARO MS56XX SPI:baro1
|
||||
BARO MS56XX SPI:baro2
|
||||
|
||||
# three IMUs
|
||||
IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
|
||||
IMU Invensensev3 SPI:imu1_res ROTATION_PITCH_180_YAW_270
|
||||
IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_270
|
||||
IMU Invensensev3 SPI:imu3 ROTATION_PITCH_180
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
# compasses
|
||||
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
|
||||
|
||||
# microSD support
|
||||
PC8 SDMMC1_D0 SDMMC1
|
||||
PC9 SDMMC1_D1 SDMMC1
|
||||
PC10 SDMMC1_D2 SDMMC1
|
||||
PC11 SDMMC1_D3 SDMMC1
|
||||
PC12 SDMMC1_CK SDMMC1
|
||||
PD2 SDMMC1_CMD SDMMC1
|
||||
|
||||
# red LED marked as B/E
|
||||
PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
|
||||
PI6 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
|
||||
PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
|
||||
|
||||
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
|
||||
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
|
||||
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
|
||||
|
||||
# use pixracer style 3-LED indicators
|
||||
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
||||
|
||||
# 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
|
||||
PE2 LED_SAFETY OUTPUT
|
||||
PI13 SAFETY_IN INPUT PULLDOWN
|
||||
|
||||
# build ABIN for flash-from-bootloader support:
|
||||
env BUILD_ABIN False
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
DMA_PRIORITY ADC* SPI1* TIM*UP*
|
||||
DMA_NOSHARE SPI1* TIM*UP*
|
||||
|
||||
# Enable Sagetech MXS ADSB transponder
|
||||
define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED
|
||||
|
||||
# define default battery setup
|
||||
define HAL_BATT_MONITOR_DEFAULT 4
|
||||
define HAL_BATT_CURR_PIN 2
|
||||
define HAL_BATT_VOLT_PIN 16
|
||||
define HAL_BATT_CURR_SCALE 60.61
|
||||
define HAL_BATT_VOLT_SCALE 15.7
|
||||
|
||||
# setup the parameter for the ADC rssi
|
||||
define BOARD_RSSI_ANA_PIN 9
|
||||
Loading…
Reference in New Issue