mirror of https://github.com/ArduPilot/ardupilot
hwdef: added Pixhawk6C support
This commit is contained in:
parent
d8d1cb3444
commit
88d49fb654
|
@ -0,0 +1,72 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for the HolybroV6C hardware
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
|
||||
USB_PRODUCT 0x0053
|
||||
USB_STRING_MANUFACTURER "Holybro"
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 53
|
||||
|
||||
# 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
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
env OPTIMIZE -Os
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 UART7 UART5 USART3
|
||||
|
||||
# default to all pins low to avoid ESD issues
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
PA9 VBUS INPUT OPENDRAIN
|
||||
|
||||
# pins for SWD debugging
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# CS pins
|
||||
PC13 ICM42688_CS CS
|
||||
PC14 BMI055_G_CS CS
|
||||
PC15 BMI055_A_CS CS
|
||||
PD4 FRAM_CS CS
|
||||
|
||||
# telem1
|
||||
PE8 UART7_TX UART7
|
||||
PE7 UART7_RX UART7
|
||||
|
||||
# telem2
|
||||
PC12 UART5_TX UART5
|
||||
PD2 UART5_RX UART5
|
||||
|
||||
# debug uart
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# start peripheral power off
|
||||
PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
|
||||
PE2 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
||||
|
||||
# LEDs
|
||||
PD10 LED_ACTIVITY OUTPUT OPENDRAIN GPIO(90) HIGH # red
|
||||
PD11 LED_BOOTLOADER OUTPUT OPENDRAIN GPIO(92) HIGH # blue
|
||||
define HAL_LED_ON 0
|
||||
|
||||
define HAL_USE_EMPTY_STORAGE 1
|
||||
define HAL_STORAGE_SIZE 16384
|
|
@ -0,0 +1,248 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for the HolybroV6C hardware
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
|
||||
USB_PRODUCT 0x0053
|
||||
USB_STRING_MANUFACTURER "Holybro"
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 53
|
||||
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
# to be compatible with the px4 bootloader we need
|
||||
# to use a different RAM_MAP
|
||||
env USE_ALT_RAM_MAP 1
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
env OPTIMIZE -O2
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2
|
||||
|
||||
# default the 2nd interface to MAVLink2
|
||||
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
|
||||
|
||||
# default to all pins low to avoid ESD issues
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
PA9 VBUS INPUT OPENDRAIN
|
||||
|
||||
# pins for SWD debugging
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# telem1
|
||||
PE8 UART7_TX UART7
|
||||
PE7 UART7_RX UART7
|
||||
PE9 UART7_RTS UART7
|
||||
PE10 UART7_CTS UART7
|
||||
|
||||
# telem2
|
||||
PC12 UART5_TX UART5
|
||||
PD2 UART5_RX UART5
|
||||
PC8 UART5_RTS UART5
|
||||
PC9 UART5_CTS UART5
|
||||
|
||||
# GPS1
|
||||
PB6 USART1_TX USART1
|
||||
PA10 USART1_RX USART1
|
||||
|
||||
# GPS2
|
||||
PE1 UART8_TX UART8
|
||||
PE0 UART8_RX UART8
|
||||
|
||||
# uart2 telem3
|
||||
PD5 USART2_TX USART2
|
||||
PA3 USART2_RX USART2
|
||||
|
||||
# debug uart
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# USART6 is for IOMCU
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
|
||||
IOMCU_UART USART6
|
||||
|
||||
# ADC
|
||||
|
||||
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
|
||||
PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
|
||||
|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
|
||||
# SPI1 - IMUs
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
PC13 ICM42688_CS CS
|
||||
PC14 BMI055_G_CS CS
|
||||
PC15 BMI055_A_CS CS
|
||||
PE4 BMI055_DRDY_A INPUT
|
||||
PE5 BMI055_DRDY_G INPUT
|
||||
PE6 ICM42688_DRDY INPUT
|
||||
|
||||
# SPI2 - FRAM
|
||||
PD3 SPI2_SCK SPI2
|
||||
PC2 SPI2_MISO SPI2
|
||||
PC3 SPI2_MOSI SPI2
|
||||
PD4 FRAM_CS CS
|
||||
|
||||
# PWM output pins
|
||||
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
|
||||
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
|
||||
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52)
|
||||
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
|
||||
PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54)
|
||||
PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
|
||||
PA0 TIM5_CH1 TIM5 PWM(7) GPIO(56)
|
||||
PA1 TIM5_CH2 TIM5 PWM(8) GPIO(57)
|
||||
|
||||
# CAN bus
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
PB5 CAN2_RX CAN2
|
||||
PB13 CAN2_TX CAN2
|
||||
|
||||
|
||||
# I2C buses
|
||||
|
||||
# I2C1, GPS+MAG
|
||||
PB7 I2C1_SDA I2C1
|
||||
PB8 I2C1_SCL I2C1
|
||||
|
||||
# I2C2, GPS2+MAG
|
||||
PB10 I2C2_SCL I2C2
|
||||
PB11 I2C2_SDA I2C2
|
||||
|
||||
# I2C4 internal
|
||||
PD12 I2C4_SCL I2C4
|
||||
PD13 I2C4_SDA I2C4
|
||||
|
||||
# order of I2C buses
|
||||
I2C_ORDER I2C4 I2C1 I2C2
|
||||
define HAL_I2C_INTERNAL_MASK 1
|
||||
|
||||
# heater
|
||||
PB9 HEATER_EN OUTPUT LOW GPIO(80)
|
||||
define HAL_HEATER_GPIO_PIN 80
|
||||
|
||||
# Setup the IMU heater
|
||||
define HAL_HAVE_IMU_HEATER 1
|
||||
define HAL_IMU_TEMP_DEFAULT 45
|
||||
define HAL_IMUHEAT_P_DEFAULT 50
|
||||
define HAL_IMUHEAT_I_DEFAULT 0.07
|
||||
|
||||
# power enable pins
|
||||
PB2 VDD_3V3_SENSORS1_EN OUTPUT HIGH
|
||||
|
||||
# start peripheral power off, then enable after init
|
||||
# this prevents a problem with radios that use RTS for
|
||||
# bootloader hold
|
||||
PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
|
||||
PE2 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
||||
|
||||
# Control of Spektrum power pin
|
||||
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
||||
define HAL_GPIO_SPEKTRUM_PWR 73
|
||||
|
||||
# Spektrum Power is Active High
|
||||
define HAL_SPEKTRUM_PWR_ENABLED 1
|
||||
|
||||
# power sensing
|
||||
PE3 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
|
||||
PA15 VDD_BRICK_nVALID INPUT PULLUP
|
||||
PB12 VDD_BRICK2_nVALID INPUT PULLUP
|
||||
|
||||
# microSD support
|
||||
PD6 SDMMC2_CK SDMMC2
|
||||
PD7 SDMMC2_CMD SDMMC2
|
||||
PB14 SDMMC2_D0 SDMMC2
|
||||
PB15 SDMMC2_D1 SDMMC2
|
||||
PB3 SDMMC2_D2 SDMMC2
|
||||
PB4 SDMMC2_D3 SDMMC2
|
||||
define FATFS_HAL_DEVICE SDCD2
|
||||
|
||||
# LEDs
|
||||
PD10 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
|
||||
PD11 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
|
||||
|
||||
# setup for BoardLED2
|
||||
define HAL_GPIO_A_LED_PIN 90
|
||||
define HAL_GPIO_B_LED_PIN 92
|
||||
define HAL_GPIO_LED_ON 0
|
||||
|
||||
# ID pins
|
||||
PE12 HW_VER_REV_DRIVE OUTPUT LOW
|
||||
# PC0 HW_REV_SENS ADC1 SCALE(1)
|
||||
# PC1 HW_VER_SENS ADC1 SCALE(1)
|
||||
|
||||
# PWM output for buzzer
|
||||
PB0 TIM3_CH3 TIM3 GPIO(77) ALARM
|
||||
|
||||
# barometers
|
||||
BARO MS56XX I2C:0:0x76
|
||||
BARO MS56XX I2C:0:0x77
|
||||
BARO BMP388 I2C:0:0x77
|
||||
|
||||
# prototypes may have no baro
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO 1
|
||||
|
||||
# compass
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE
|
||||
|
||||
# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
|
||||
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
|
||||
|
||||
# SPI devices
|
||||
SPIDEV bmi055_g SPI1 DEVID1 BMI055_G_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV bmi055_a SPI1 DEVID2 BMI055_A_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV icm42688 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
|
||||
# 2 IMUs
|
||||
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
|
||||
IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
||||
|
||||
# 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
|
||||
|
||||
DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
Loading…
Reference in New Issue