From 86bee3cc4ed70a0b367cc02290348e72e43a97ba Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 7 Feb 2020 17:05:59 +1100 Subject: [PATCH] HAL_ChibiOS: added luminousbee4 flight controller --- .../hwdef/luminousbee4/hwdef.dat | 202 ++++++++++++++++++ 1 file changed, 202 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat new file mode 100644 index 0000000000..feb038eebe --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat @@ -0,0 +1,202 @@ +# hwdef for Luminousbees flight board + +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# board ID for firmware load +APJ_BOARD_ID 11 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board voltage +STM32_VDD 330U + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 2048 + +env OPTIMIZE -O3 + +# serial port for stdout disabled, use USB console +# STDOUT_SERIAL SD7 +# STDOUT_BAUDRATE 57600 + +# only one I2C bus +I2C_ORDER I2C1 + +# to match px4 we make the first bus number 1 +define HAL_I2C_BUS_BASE 1 +define HAL_I2C_INTERNAL_MASK 0 + +# order of UARTs (and USB) +UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 + +# UART4 is GPS +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 + +# Battery & current control +PA2 BATT_VOLTAGE_SENS ADC1 +PA3 BATT_CURRENT_SENS ADC1 +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# SPI1 is sensors bus +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + + +PB2 BOOT1 INPUT +PB5 VDD_BRICK_VALID INPUT + +# USART1 +PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 as led strip control +#PB6 USART1_TX USART1 +PB7 USART1_RX USART1 + +# UWB DW1000 +PB4 UWB_CS CS + +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# SPI2 is FRAM +PB10 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +PC0 VBUS_VALID INPUT +PC4 SAFETY_IN INPUT PULLDOWN + +PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC + +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PC12 SDIO_CK SDIO +PD2 SDIO_CMD SDIO + +# USART2 serial2 telem1 connected to ESP + +PD4 BMI088_ACCEL_CS CS +PD3 BMI088_GYRO_CS CS +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +PD7 BARO_CS CS +# PB7 BARO2_CS CS # FOR DPS310 ON FRAME MICRO + +# USART3 serial3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD10 FRAM_CS CS + + +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) + +# UART8 +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +#set up SPI bus4 for UWB +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + + +# UART7 is debug +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52 +PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50 +PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53 +PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51 + + +# SPI device table. The DEVID values are chosen to match the PX4 port +# of ArduPilot so users don't need to re-do their accel and compass calibrations +# when moving to ChibiOS + SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ +SPIDEV bmi088_g SPI4 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi088_a SPI4 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ +SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ +define HAL_CHIBIOS_ARCH_FMUV4 1 + +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +define HAL_STORAGE_SIZE 16384 + +# enable RAMTROM parameter storage +define HAL_WITH_RAMTRON 1 + +# fallback to flash is no FRAM fitted +define STORAGE_FLASH_PAGE 22 + +# enable FAT filesystem +define HAL_OS_FATFS_IO 1 + +# pixracer has 3 LEDs, 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_RED OUTPUT GPIO(0) +PB1 LED_GREEN OUTPUT GPIO(1) +PB3 LED_BLUE OUTPUT GPIO(2) + +define HAL_GPIO_A_LED_PIN 0 +define HAL_GPIO_B_LED_PIN 1 +define HAL_GPIO_C_LED_PIN 2 + +# enable RTSCTS +define AP_FEATURE_RTSCTS 1 + +# battery setup +define HAL_BATT_VOLT_PIN 2 +define HAL_BATT_CURR_PIN 3 +define HAL_BATT_VOLT_SCALE 10.1 +define HAL_BATT_CURR_SCALE 17.0 + +# setup serial port defaults for ESP8266 +define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink +define HAL_SERIAL5_BAUD 921600 + +# 6 PWM available by default +define BOARD_PWM_COUNT_DEFAULT 6 + + +# Set one or two IMUs +#IMU Invensense SPI:icm20608 ROTATION_YAW_180 +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# 2 compasses. R15 has LIS3MDL instead of HMC5843 +COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 +COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE + +# also probe all types of external I2C compasses +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +# Barometer ( DPS310 under test on micro frame ) +BARO MS56XX SPI:ms5611_int +# BARO DPS280 SPI:dps310 + + +# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'