diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE.JPG b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE.JPG new file mode 100644 index 0000000000..caf14d3eaf Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE.JPG differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE2.JPG b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE2.JPG new file mode 100644 index 0000000000..6499c48989 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/ARK_CANNODE2.JPG differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef-bl.dat new file mode 100644 index 0000000000..e46f2696da --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef-bl.dat @@ -0,0 +1,72 @@ +# hw definition file for processing by chibios_pins.py +# hardware repository: https://github.com/ARK-Electronics/ARK_CANNODE + +# MCU class and specific type +# note: the device is STM32F412CE, not all F412 pins are available +MCU STM32F4xx STM32F412Rx + +# board ID for firmware load +APJ_BOARD_ID 83 + +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +FLASH_RESERVE_START_KB 0 +# two sectors for bootloader, two for storage +FLASH_BOOTLOADER_LOAD_KB 64 + +# 1Mb flash +FLASH_SIZE_KB 1024 + +# order of UARTs +SERIAL_ORDER USART1 USART2 + +# USART1 GPS +PA15 USART1_TX USART1 +PB3 USART1_RX USART1 + +# USART2 in debug connector +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# LEDs +PA8 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) +PA9 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1) +PA10 LED_B1 OUTPUT OPENDRAIN LOW GPIO(2) + +define HAL_GPIO_A_LED_PIN 0 +define HAL_GPIO_B_LED_PIN 1 +define HAL_GPIO_C_LED_PIN 2 + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + +# use pixracer style 3-LED indicators +define HAL_HAVE_PIXRACER_LED + +# CAN bus +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PC14 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PC15 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW + +# pins for SWD debugging with a STlink or black-magic probe. +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# CS and DRDY +PA4 IMU1_CS CS +PB12 EXT_CS CS +PB2 MPU_DRDY INPUT + +# store parameters in pages 2 and 3 +STORAGE_FLASH_PAGE 2 +define HAL_STORAGE_SIZE 8192 + +define CAN_APP_NODE_NAME "org.ardupilot.ARK_CANNODE" + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat new file mode 100644 index 0000000000..a4cf80cd7c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat @@ -0,0 +1,128 @@ +# hw definition file for processing by chibios_pins.py +# hardware repository: https://github.com/ARK-Electronics/ARK_CANNODE + +# MCU class and specific type +# note: the device is STM32F412CG, not all F412 pins are available +MCU STM32F4xx STM32F412Rx + +# board ID for firmware load +APJ_BOARD_ID 83 + +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# bootloader starts firmware at 64k +FLASH_RESERVE_START_KB 64 + +# 1Mb flash +FLASH_SIZE_KB 1024 + +# order of I2C buses +I2C_ORDER I2C1 + +define HAL_I2C_INTERNAL_MASK 0 + +# order of UARTs +SERIAL_ORDER USART1 USART2 + +# pin definitions +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set SERVOx_FUNCTION=-1 to determine which +# PWM outputs on the primary MCU are set up as GPIOs. +# To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR +PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) +PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52) +PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR +PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) +PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) +PB1 TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR +PB7 TIM4_CH2 TIM4 PWM(8) GPIO(58) NODMA # DMA would be shared with I2C + +# USART1 GPS +PA15 USART1_TX USART1 +PB3 USART1_RX USART1 + +# USART2 in debug connector +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# SPI bus for IMU +PB2 MPU_DRDY INPUT +PA4 IMU1_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# LEDs +PA8 LED_R1 OUTPUT HIGH GPIO(0) +PA9 LED_G1 OUTPUT HIGH GPIO(1) +PA10 LED_B1 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 + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + +# use pixracer style 3-LED indicators +define HAL_HAVE_PIXRACER_LED + +# CAN bus +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PC14 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PC15 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW + +# pins for SWD debugging with a STlink or black-magic probe. +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 FSYNC for ICM42688p +# PB8 TIM10_CH1 TIM10 + +# store parameters in pages 2 and 3 +STORAGE_FLASH_PAGE 2 +define HAL_STORAGE_SIZE 8192 + +# no ADC pins +define HAL_USE_ADC FALSE + +# External SPI2 +PB12 EXT_CS1 SPI2 +PC13 EXT_CS2 SPI2 +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# I2C port +PB6 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# SPI device table - can't yet use IMU in AP_Periph +#SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ +#IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180 + +define HAL_USE_SPI TRUE + +define GPS_MAX_RECEIVERS 1 +define GPS_MAX_INSTANCES 1 +define HAL_COMPASS_MAX_SENSORS 1 +define HAL_PERIPH_ENABLE_GPS +define HAL_PERIPH_ENABLE_MAG +define HAL_PERIPH_ENABLE_BARO +define HAL_PERIPH_ENABLE_RC_OUT +define HAL_PERIPH_ENABLE_NOTIFY + +define CAN_APP_NODE_NAME "org.ardupilot.ARK_CANNODE" + +# enable ESC control +define HAL_SUPPORT_RCOUT_SERIAL 1 +define HAL_WITH_ESC_TELEM 1