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hwdef: Back Port updated hwdefs for mRo boards

This commit is contained in:
pkocmoud 2021-02-16 16:29:46 -06:00 committed by Andrew Tridgell
parent 4ed19f5f0b
commit 46001d6915
14 changed files with 1174 additions and 93 deletions
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64
libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroClassic/hwdef-bl.dat Normal file
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###########################################################################################################################################################
# hw definition file for processing by chibios_hwdef.py
# STM32H743ZIT6
# mRo Control Zero Classic flight controller
# 12x PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic
# A Dual CAN based flight controller
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# Baro, FRAM (256kb), SDCARD Socket, JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 2x I2C
# Onboard 3 color LED and buzzer
# Identical case and connector layout to the original 3DR / mRo Pixhawk
# M10048B - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# USB setup
USB_STRING_MANUFACTURER "mRo"
# crystal frequency
OSCILLATOR_HZ 24000000
# board ID for firmware load
APJ_BOARD_ID 1022
FLASH_SIZE_KB 2048
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128
PB4 LED_BOOTLOADER OUTPUT
# define all 3 to make LED output White.
PB1 LED_ACTIVITY OUTPUT
PB3 LED_ACTIVITY2 OUTPUT
# PB11 LED_ACTIVITY3 OUTPUT
define HAL_LED_ON 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384
# Add CS pins to ensure they are high in bootloader
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW
PE15 ICM_20948_CS CS
PF0 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG3 ICM_20602_CS CS
PG9 EXT_SPI_CS CS
#PG10 EXT_SPI_CS CS

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libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroClassic/hwdef.dat Normal file
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###########################################################################################################################################################
# hw definition file for processing by chibios_hwdef.py
# STM32H743ZIT6
# mRo Control Zero Classic flight controller
# 12x PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic
# A Dual CAN based flight controller
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# Baro, FRAM (256kb), SDCARD Socket, JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 2x I2C
# Onboard 3 color LED and buzzer
# Identical case and connector layout to the original 3DR / mRo Pixhawk
# M10048B - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# USB setup
USB_STRING_MANUFACTURER "mRo"
# board ID for firmware load
APJ_BOARD_ID 1022
# crystal frequency
OSCILLATOR_HZ 24000000
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
# start on 2th sector (1st sector for bootloader)
FLASH_RESERVE_START_KB 128
# use FRAM for storage
define HAL_STORAGE_SIZE 16384
# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1
# RC Input set for Interrupt not DMA
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
# also USART6_RX for serial RC
# Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70
# Spektrum Power is Active Low
define HAL_SPEKTRUM_PWR_ENABLED 0
# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PG0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71
# Order of I2C buses
I2C_ORDER I2C1 I2C4
# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
# this board has no internal I2C busses
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs (and USB) and suggested usage
# USART2 Telem 1 (Flow Control)
# USART3 Telem 2 (Flow Control)
# UART4 GPS with I2C1
# UART7 GPS2 with I2C4
# UART8 FRSKY Telem
# USART1 Additional UART
# UART6 RC input (Only RX pin is connected)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART7 UART8 USART1 OTG2
# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
# USART3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
# UART4 GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# UART7 GPS2
PE7 UART7_RX UART7
PE8 UART7_TX UART7
# UART8 FrSky Telemetry
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# USART1 Spektrum RX
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# This is the pin to enable the 3.3v sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it high by default.
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH GPIO(72)
# This is the pin to enable the 1.8v sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it high by default.
PC13 VDD_1V8_SENSORS_EN OUTPUT HIGH GPIO(73)
# This defines more ADC inputs.
PB0 AUX_ADC1 ADC1 SCALE(1)
PB1 AUX_ADC2 ADC1 SCALE(1)
# And the analog input for airspeed (rarely used these days).
PC5 PRESSURE_SENS ADC1 SCALE(2)
# RSSI Analog Input
PC0 RSSI_IN ADC1
# Safety Switch Input
PA10 SAFETY_IN INPUT
PE6 LED_SAFETY OUTPUT
PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
# Now the VDD sense pin. This is used to sense primary board voltage.
PA4 VDD_5V_SENS ADC1 SCALE(2)
# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 4
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
#SPI1 ICM_20602 / ICM_20948
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
#SPI2 FRAM / DPS310
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
#SPI5 BMI088
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5
#SPI6 EXTERNAL
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN
# Pins that USB is connected to.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PWM output for buzzer
# PF6 TIM16_CH1 TIM16 GPIO(74) ALARM
# Now setup the pins for the microSD card, if available.
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
# More CS pins for more sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW
PE15 ICM_20948_CS CS
PF0 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG3 ICM_20602_CS CS
PG9 EXT_SPI_CS CS
PG10 EXT2_SPI_CS CS
# the first CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PF11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(75)
# the second CAN bus
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PF12 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(76)
# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56)
PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
PB11 TIM2_CH4 TIM2 PWM(9) GPIO(58)
PE5 TIM15_CH1 TIM15 PWM(10) GPIO(59)
PC6 TIM8_CH1 TIM8 PWM(11) GPIO(60)
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
define BOARD_PWM_COUNT_DEFAULT 12
# This is the invensense data-ready pin. We don't use it in the
# default driver.
PG2 MPU_DRDY INPUT
# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(77)
define HAL_GPIO_PWM_VOLT_PIN 77
define HAL_GPIO_PWM_VOLT_3v3 0
# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PC1 VDD_BRICK_nVALID INPUT PULLUP
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
SPIDEV dps280 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
# Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
# Control Zero has a TriColor LED, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# LED setup for PixracerLED driver
PB4 LED_R OUTPUT HIGH GPIO(0)
PB5 LED_G OUTPUT HIGH GPIO(1)
PB3 LED_B OUTPUT HIGH GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
# 3 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
# 1 baro
BARO DPS280 SPI:dps280
# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

7
libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/defaults.parm Normal file
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@ -0,0 +1,7 @@
#Default Parameters for the mRo Control Zero F7
CAN_P1_DRIVER 1
CAN_SLCAN_CPORT 1
SERIAL6_PROTOCOL 22

24
libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat
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@ -1,5 +1,18 @@
# hw definition file for processing by chibios_hwdef.py ###########################################################################################################################################################
# for F777 bootloader # mRo Control Zero F7 Flight Controller
# STM32F777IIK6
# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
# Front and Rear Connectors: 30pin Molex PicoClasp
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 1x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 5.3g (.19oz)
# Width: 20mm (.79in)
# Length: 32mm (1.26in)
# M10058 - Initial Release
###########################################################################################################################################################
# MCU class and specific type # MCU class and specific type
MCU STM32F7xx STM32F777xx MCU STM32F7xx STM32F777xx
@ -30,13 +43,8 @@ PB3 LED_ACTIVITY2 OUTPUT
define HAL_LED_ON 0 define HAL_LED_ON 0
# order of UARTs (and USB) # order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 SERIAL_ORDER OTG1
# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PA11 OTG_FS_DM OTG1 PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1 PA12 OTG_FS_DP OTG1

109
libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
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@ -1,8 +1,29 @@
# hw definition file for processing by chibios_hwdef.py ###########################################################################################################################################################
# mRo Control Zero F7 Flight Controller
# STM32F777IIK6
# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
# Front and Rear Connectors: 30pin Molex PicoClasp
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 1x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 5.3g (.19oz)
# Width: 20mm (.79in)
# Length: 32mm (1.26in)
# M10058 - Initial Release
###########################################################################################################################################################
# MCU class and specific type # MCU class and specific type
MCU STM32F7xx STM32F777xx MCU STM32F7xx STM32F777xx
# ChibiOS system timer
# this is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer, so Timers 2 or 5 on the STM32F777.
# See hal_st_lld.c in ChibiOS for details
STM32_ST_USE_TIMER 5
# board ID for firmware load # board ID for firmware load
APJ_BOARD_ID 141 APJ_BOARD_ID 141
@ -17,23 +38,18 @@ env OPTIMIZE -O2
# start on 4th sector (1st sector for bootloader, 2 for extra storage) # start on 4th sector (1st sector for bootloader, 2 for extra storage)
FLASH_RESERVE_START_KB 96 FLASH_RESERVE_START_KB 96
# use FRAM for storage
define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1
# fallback storage in case FRAM is not populated # fallback storage in case FRAM is not populated
define STORAGE_FLASH_PAGE 1 define STORAGE_FLASH_PAGE 1
# this is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer, so Timers 2 or 5 on the STM32F777.
# See hal_st_lld.c in ChibiOS for details
# ChibiOS system timer
STM32_ST_USE_TIMER 5
define HAL_STORAGE_SIZE 32768
# USB setup # USB setup
USB_STRING_MANUFACTURER "mRo" USB_STRING_MANUFACTURER "mRo"
# RC Input set for Interrupt not DMA # RC Input set for Interrupt not DMA also USART6_RX for serial RC
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # also USART6_RX for serial RC PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
# Control of Spektrum power pin # Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
@ -52,21 +68,15 @@ I2C_ORDER I2C1
# this board only has a single I2C bus so make it external # this board only has a single I2C bus so make it external
define HAL_I2C_INTERNAL_MASK 0 define HAL_I2C_INTERNAL_MASK 0
# OEM Only
# I2C_ORDER I2C1, I2C2, I2C3
# order of UARTs (and USB) # order of UARTs (and USB)
# UART4 GPS # UART4 GPS
# USART2 FC # USART2 Telem 1 (Flow Control)
# USART3 FC # USART3 Telem 2 (Flow Control)
# UART8 FRSKY Telem # UART8 FRSKY Telem
# USART6 FC # USART6 RC input (Only RX pin is connected)
# UART7 DEBUG # UART7 Additional UART
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART6 UART7 OTG2 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
# Another USART, this one for telem1. This one has RTS and CTS lines. # Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1 # USART2 telem1
@ -86,11 +96,7 @@ PD12 USART3_RTS USART3
PA0 UART4_TX UART4 PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA PA1 UART4_RX UART4 NODMA
# USART6 Spare or can be configured as SPI6 # UART7 Spare or Debug Console
PG14 USART6_TX USART6 NODMA
PG9 USART6_RX USART6 NODMA
# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). Debug Console
PE7 UART7_RX UART7 NODMA PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA PE8 UART7_TX UART7 NODMA
@ -125,12 +131,20 @@ PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5 PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5 PF9 SPI5_MOSI SPI5
# GPIOs
# This defines general purpose outputs, mapped to GPIO
# numbers 1 thru 4 for users.
PG9 EXTERN_GPIO1 GPIO(1)
PG13 EXTERN_GPIO2 GPIO(2)
PG12 EXTERN_GPIO3 GPIO(3)
PG14 EXTERN_GPIO4 GPIO(4)
# This is the pin that senses USB being connected. It is an input pin # This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN. # setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN PA9 VBUS INPUT OPENDRAIN
# This input pin is used to detect that power is valid on USB. # This input pin is used to detect that power is valid on USB.
PC0 VBUS_VALID INPUT PC0 VBUS_VALID INPUT PULLDOWN
# Now we define the pins that USB is connected on. # Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1 PA11 OTG_FS_DM OTG1
@ -148,14 +162,6 @@ PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
PB8 I2C1_SCL I2C1 PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1 PB9 I2C1_SDA I2C1
# the 2nd I2C bus, OEM Only
# PB10 I2C2_SCL I2C2
# PB11 I2C2_SDA I2C2
# the 3nd I2C bus, OEM Only
# PB6 I2C4_SCL I2C4
# PB7 I2C4_SDA I2C4
# Now setup the pins for the microSD card, if available. # Now setup the pins for the microSD card, if available.
PC8 SDMMC_D0 SDMMC1 PC8 SDMMC_D0 SDMMC1
PC9 SDMMC_D1 SDMMC1 PC9 SDMMC_D1 SDMMC1
@ -168,8 +174,6 @@ PD2 SDMMC_CMD SDMMC1
# match the SPI device table later in this file. # match the SPI device table later in this file.
PC2 ICM_20602_CS CS PC2 ICM_20602_CS CS
PD7 BARO_CS CS PD7 BARO_CS CS
# The CS pin for FRAM (ramtron). This one is marked as using
# SPEED_VERYLOW, which matches the HAL_PX4 setup.
PD10 FRAM_CS CS SPEED_VERYLOW NODMA PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS PE15 ICM_20948_CS CS
PF10 BMI088_GYRO_CS CS PF10 BMI088_GYRO_CS CS
@ -181,10 +185,6 @@ PD1 CAN1_TX CAN1
PF5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) PF5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
# This defines the pins for the 2nd CAN interface, OEM Only.
# PB6 CAN2_TX CAN2
# PB4 CAN2_RX CAN2
# Now we start defining some PWM pins. We also map these pins to GPIO # Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM # values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as # outputs on the primary MCU are setup as PWM and how many as
@ -213,14 +213,14 @@ PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
# Power flag pins: these tell the MCU the status of the various power # Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the # supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp. # names used in AnalogIn.cpp.
PB5 VDD_BRICK_VALID INPUT PULLUP PB5 VDD_BRICK_nVALID INPUT PULLUP
SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ SPIDEV dps280 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 5*MHZ 5*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 5*MHZ 5*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 4*MHZ
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
# Now some defines for logging and terrain data files. # Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
@ -229,9 +229,6 @@ define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# allow to have have a dedicated safety switch pin # allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1 define HAL_HAVE_SAFETY_SWITCH 1
# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1
# Enable FAT filesystem support (needs a microSD defined via SDMMC). # Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1 define HAL_OS_FATFS_IO 1
@ -258,16 +255,16 @@ define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_C_LED_PIN 2
DMA_PRIORITY SDMMC* DMA_PRIORITY SDMMC*
#DMA_NOSHARE SPI1* *
#DMA_NOSHARE SPI5* *
# 3 IMUs # 3 IMUs
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 7
# 1 baro # 1 baro
BARO DPS280 SPI:dps310 BARO DPS280 SPI:dps280
# 1 compass # 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180

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#Default Parameters for the mRo Control Zero H7
CAN_P1_DRIVER 1
CAN_SLCAN_CPORT 1
SERIAL6_PROTOCOL 22

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###########################################################################################################################################################
# mRo Control Zero H7 Flight Controller
# STM32H743IIK6
# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
# Front and Rear Connectors: 30pin Molex PicoClasp
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 1x CAN, 1x SPI, 1x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 5.3g (.19oz)
# Width: 20mm (.79in)
# Length: 32mm (1.26in)
# M10058 - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# USB setup
USB_STRING_MANUFACTURER "mRo"
# crystal frequency
OSCILLATOR_HZ 24000000
# board ID for firmware load
APJ_BOARD_ID 1023
FLASH_SIZE_KB 2048
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128
PB11 LED_BOOTLOADER OUTPUT
# define all 3 to make LED output White.
PB1 LED_ACTIVITY OUTPUT
PB3 LED_ACTIVITY2 OUTPUT
# PB11 LED_ACTIVITY3 OUTPUT
define HAL_LED_ON 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384
# Add CS pins to ensure they are high in bootloader
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS
PF6 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG9 EXTERNAL CS

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###########################################################################################################################################################
# mRo Control Zero H7 Flight Controller
# STM32H743IIK6
# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
# Front and Rear Connectors: 30pin Molex PicoClasp
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 1x CAN, 1x SPI, 1x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 5.3g (.19oz)
# Width: 20mm (.79in)
# Length: 32mm (1.26in)
# M10058 - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1023
# crystal frequency
OSCILLATOR_HZ 24000000
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
# start on 2th sector (1st sector for bootloader)
FLASH_RESERVE_START_KB 128
define HAL_STORAGE_SIZE 32768
# USB setup
USB_STRING_MANUFACTURER "mRo"
# RC Input set for Interrupt not DMA
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
# GPIO(70) # also USART6_RX for serial RC
# Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70
# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 0
# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71
# Order of I2C buses
I2C_ORDER I2C1
# this board has no internal I2C buses so them all external
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs and suggested uses
# USART2 TELEM1
# USART3 TELEM2
# UART4 GPS
# UART8 FRSKY Telem
# UART7 DEBUG
# USART6 RC input (Only RX pin is connected)
# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
# USART3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
# UART4 GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# UART7
PE8 UART7_TX UART7
PE7 UART7_RX UART7
# UART8 FrSky Telemetry (Single wire serial connects to the TX pin only)
PE1 UART8_TX UART8
PE0 UART8_RX UART8
# RSSI Analog Input
PC1 RSSI_IN ADC1
# Safety Switch Input
PC4 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1
# Battery Analog Sense Pins
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
# Now the VDD sense pin. This is used to sense primary board voltage.
PA4 VDD_5V_SENS ADC1 SCALE(2)
# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
#SPI1 ICM_20602 / ICM_20948
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
#SPI2 FRAM / DPS310
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
#SPI5 BMI088
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5
#SPI6 External
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN
# This input pin is used to detect that power is valid on USB.
PC0 VBUS_VALID INPUT PULLDOWN
# Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
# First I2C bus.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# microSD card
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
# CS pins for SPI sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS
PF6 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG9 EXTERNAL CS
# CAN Busses
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# CAN Silent Pin LOW Enable
PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56)
PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57)
define BOARD_PWM_COUNT_DEFAULT 8
# This is the invensense 20602 data-ready pin.
PD15 MPU_DRDY INPUT
# Power Supply Enable
PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH
# Power Supply Enable 3.3v Periph/Spektrum
PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH
# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PB5 VDD_BRICK_VALID INPUT PULLDOWN
SPIDEV dps280 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 5*MHZ 5*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 5*MHZ 5*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 4*MHZ
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
# Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
# Control Zero has a TriColor LED, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# LED setup for PixracerLED driver
PB11 LED_R OUTPUT HIGH GPIO(0)
PB1 LED_G OUTPUT HIGH GPIO(1)
PB3 LED_B OUTPUT HIGH GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
# 3 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 7
# 1 baro
BARO DPS280 SPI:dps280
# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

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#Default Parameters for the mRo Control Zero OEM H7
CAN_P1_DRIVER 1
CAN_P2_DRIVER 2
CAN_SLCAN_CPORT 1
SERIAL6_PROTOCOL 22

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###########################################################################################################################################################
# mRo Control Zero OEM H7 Flight Controller
# STM32H743IIK6
# 8x PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 3.66g (13.oz)
# Width: 20mm (.79in)
# Length: 34mm (1.34in)
# M10059C - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# USB setup
USB_STRING_MANUFACTURER "mRo"
# crystal frequency
OSCILLATOR_HZ 24000000
# board ID for firmware load
APJ_BOARD_ID 1024
FLASH_SIZE_KB 2048
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128
PB11 LED_BOOTLOADER OUTPUT
# define all 3 to make LED output White.
PB1 LED_ACTIVITY OUTPUT
PB3 LED_ACTIVITY2 OUTPUT
# PB11 LED_ACTIVITY3 OUTPUT
define HAL_LED_ON 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384
# Add CS pins to ensure they are high in bootloader
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS
PF6 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG9 EXTERNAL CS

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###########################################################################################################################################################
# mRo Control Zero OEM H7 Flight Controller
# STM32H743IIK6
# 8x PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 3.66g (13.oz)
# Width: 20mm (.79in)
# Length: 34mm (1.34in)
# M10059C - Initial Release
###########################################################################################################################################################
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1024
# crystal frequency
OSCILLATOR_HZ 24000000
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
# start on 2th sector (1st sector for bootloader)
FLASH_RESERVE_START_KB 128
define HAL_STORAGE_SIZE 16384
# USB setup
USB_STRING_MANUFACTURER "mRo"
# RC Input set for Interrupt not DMA
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
# GPIO(70) # also USART6_RX for serial RC
# Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70
# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 0
# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71
# Order of I2C buses
I2C_ORDER I2C1 I2C3 I2C4
# this board has no internal I2C buses so them all external
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs and suggested uses
# USART2 TELEM1
# USART3 TELEM2
# UART4 GPS
# UART8 FRSKY Telem
# UART7 DEBUG
# USART6 RC input (Only RX pin is connected)
# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
# USART3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
# UART4 GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# UART7
PE8 UART7_TX UART7
PE7 UART7_RX UART7
# UART8 FrSky Telemetry (Single wire serial connects to the TX pin only)
PE1 UART8_TX UART8
PE0 UART8_RX UART8
# RSSI Analog Input
PC1 RSSI_IN ADC1
# Safety Switch Input
PC4 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1
# Battery Analog Sense Pins
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
# Now the VDD sense pin. This is used to sense primary board voltage.
PA4 VDD_5V_SENS ADC1 SCALE(2)
# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
#SPI1 ICM_20602 / ICM_20948
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
#SPI2 FRAM / DPS310
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
#SPI5 BMI088
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5
#SPI6 External
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN
# This input pin is used to detect that power is valid on USB.
PC0 VBUS_VALID INPUT PULLDOWN
# Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
# First I2C bus.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# Second I2C bus.
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
# Third I2C bus.
PB6 I2C4_SCL I2C4
PB7 I2C4_SDA I2C4
# microSD card
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
# CS pins for SPI sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS
PF6 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG9 EXTERNAL CS
# CAN Busses
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PB13 CAN2_TX CAN2
PB12 CAN2_RX CAN2
# CAN Silent Pins LOW Enable
PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56)
PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57)
define BOARD_PWM_COUNT_DEFAULT 8
# This is the invensense 20602 data-ready pin.
PD15 MPU_DRDY INPUT
# Power Supply Enable
PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH
# Power Supply Enable 3.3v Periph/Spektrum
PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH
# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PB5 VDD_BRICK_VALID INPUT PULLDOWN
SPIDEV dps280 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 5*MHZ 5*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 5*MHZ 5*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 4*MHZ
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
# Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
# Control Zero has a TriColor LED, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# LED setup for PixracerLED driver
PB11 LED_R OUTPUT HIGH GPIO(0)
PB1 LED_G OUTPUT HIGH GPIO(1)
PB3 LED_B OUTPUT HIGH GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
# DMA_PRIORITY SDMMC*
# 3 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 7
# 1 baro
BARO DPS280 SPI:dps280
# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

7
libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/defaults.parm Normal file
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@ -0,0 +1,7 @@
#Default Parameters for the mRo Pixracer Pro
CAN_P1_DRIVER 1
CAN_P2_DRIVER 2
CAN_SLCAN_CPORT 1
SERIAL6_PROTOCOL 22

23
libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef-bl.dat
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@ -1,13 +1,18 @@
########################################################################################################################################################### ###########################################################################################################################################################
# mRo Pixracer Pro Flight Controller # mRo Pixracer Pro Flight Controller
# STM32H753IIK6 # STM32H743IIK6
# 8 PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic # 8 PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Exposed JST GH Connectors: GPS UART+I2C connector, 5 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, Power with analog current and voltage sense # Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Exposed JST GH Connectors: GPS UART+I2C connector, 6 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, I2C, Power with analog current and voltage sense
# 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF) # 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF)
# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG # Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG, USB-C
# Onboard 3 color LED and buzzer # Onboard 3 color LED and buzzer
# 36mm x 36mm, 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners # Uncased weight and dimensions:
# M10064B - Initial Release # Weight (with headers): 11.3g (.40oz)
# Length: 36mm (1.42in)
# Width: 36mm (1.42in)
# Mounting holes: 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners
# M10064C - Initial Release
########################################################################################################################################################### ###########################################################################################################################################################
# MCU class and specific type # MCU class and specific type
@ -40,11 +45,7 @@ PB3 LED_ACTIVITY2 OUTPUT
define HAL_LED_ON 0 define HAL_LED_ON 0
# order of UARTs (and USB) # order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 SERIAL_ORDER OTG1
# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PA11 OTG_FS_DM OTG1 PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1 PA12 OTG_FS_DP OTG1

44
libraries/AP_HAL_ChibiOS/hwdef/mRoPixracerPro/hwdef.dat
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@ -1,15 +1,23 @@
########################################################################################################################################################### ###########################################################################################################################################################
# mRo Pixracer Pro Flight Controller # mRo Pixracer Pro Flight Controller
# STM32H753IIK6 # STM32H743IIK6
# 8 PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic # 8 PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Exposed JST GH Connectors: GPS UART+I2C connector, 5 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, Power with analog current and voltage sense # Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Exposed JST GH Connectors: GPS UART+I2C connector, 6 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, I2C, Power with analog current and voltage sense
# 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF) # 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF)
# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG # Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG, USB-C
# Onboard 3 color LED and buzzer # Onboard 3 color LED and buzzer
# 36mm x 36mm, 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners # Uncased weight and dimensions:
# M10064B - Initial Release # Weight (with headers): 11.3g (.40oz)
# Length: 36mm (1.42in)
# Width: 36mm (1.42in)
# Mounting holes: 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners
# M10064C - Initial Release
########################################################################################################################################################### ###########################################################################################################################################################
# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN
# MCU class and specific type # MCU class and specific type
MCU STM32H7xx STM32H743xx MCU STM32H7xx STM32H743xx
@ -34,8 +42,8 @@ define HAL_WITH_RAMTRON 1
# USB setup # USB setup
USB_STRING_MANUFACTURER "mRo" USB_STRING_MANUFACTURER "mRo"
# RC Input set for Interrupt not DMA # RC Input set for Interrupt also USART6_RX for serial RC
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # also USART6_RX for serial RC PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
# Control of Spektrum power pin # Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
@ -55,14 +63,15 @@ I2C_ORDER I2C1
define HAL_I2C_INTERNAL_MASK 0 define HAL_I2C_INTERNAL_MASK 0
# order of UARTs (and USB) and suggested usage # order of UARTs (and USB) and suggested usage
# UART4 GPS
# USART2 Telem 1 (Flow Control) # USART2 Telem 1 (Flow Control)
# USART3 Telem 2 (Flow Control) # USART3 Telem 2 (Flow Control)
# UART4 GPS
# UART8 FRSKY Telem # UART8 FRSKY Telem
# USART6 RC input (Only RX pin is connected)
# USART1 Additional UART # USART1 Additional UART
# UART7 Additional UART # UART7 Additional UART
# USART6 RC input (Only RX pin is connected)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 OTG2 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 OTG2
# default the 2nd interface to MAVLink2 # default the 2nd interface to MAVLink2
@ -209,8 +218,10 @@ PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
# 1.8V Sensor Level Shifter Output Enable. We pull it high by default. # 1.8V Sensor Level Shifter Output Enable. We pull it high by default.
PI3 VDD_1V8_SENSORS_EN OUTPUT HIGH PI3 VDD_1V8_SENSORS_EN OUTPUT HIGH
# Set Output Logic Level, Default is 3.3v # Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
PG6 nSERVO_OUTPUT_3v3 OUTPUT LOW GPIO(74) PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(74)
define HAL_GPIO_PWM_VOLT_PIN 74
define HAL_GPIO_PWM_VOLT_3v3 0
# Power flag pins: these tell the MCU the status of the various power # Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the # supplies that are available. The pin names need to exactly match the
@ -219,7 +230,7 @@ PB5 VDD_BRICK_VALID INPUT PULLUP
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ SPIDEV dps280 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
@ -256,18 +267,15 @@ define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_C_LED_PIN 2
# DMA_PRIORITY SDMMC*
# DMA_NOSHARE SPI1* SPI2* SPI3*
# 3 IMUs # 3 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90 IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90 IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 5 define HAL_DEFAULT_INS_FAST_SAMPLE 7
# 1 baro # 1 baro
BARO DPS280 SPI:dps310 BARO DPS280 SPI:dps280
# 1 compass # 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180