mirror of https://github.com/ArduPilot/ardupilot
hwdef: mRo Control Zero F7 update and improve uniformity
This commit is contained in:
Phillip Kocmoud
Peter Barker
parent
cd98129022
commit
a379bb8fc5
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@ -0,0 +1,7 @@
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#Default Parameters for the mRo Control Zero F7
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CAN_P1_DRIVER 1
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CAN_SLCAN_CPORT 1
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SERIAL6_PROTOCOL 22
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@ -1,5 +1,18 @@
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# hw definition file for processing by chibios_hwdef.py
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# for F777 bootloader
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###########################################################################################################################################################
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# mRo Control Zero F7 Flight Controller
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# STM32F777IIK6
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# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
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# Front and Rear Connectors: 30pin Molex PicoClasp
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# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
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# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
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# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 1x I2C
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# Onboard 3 color LED and buzzer
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# Uncased Weight and Dimensions:
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# Weight: 5.3g (.19oz)
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# Width: 20mm (.79in)
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# Length: 32mm (1.26in)
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# M10058 - Initial Release
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###########################################################################################################################################################
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# MCU class and specific type
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MCU STM32F7xx STM32F777xx
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@ -30,13 +43,8 @@ PB3 LED_ACTIVITY2 OUTPUT
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define HAL_LED_ON 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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SERIAL_ORDER OTG1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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@ -1,8 +1,29 @@
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# hw definition file for processing by chibios_hwdef.py
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###########################################################################################################################################################
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# mRo Control Zero F7 Flight Controller
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# STM32F777IIK6
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# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
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# Front and Rear Connectors: 30pin Molex PicoClasp
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# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
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# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
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# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 1x I2C
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# Onboard 3 color LED and buzzer
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# Uncased Weight and Dimensions:
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# Weight: 5.3g (.19oz)
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# Width: 20mm (.79in)
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# Length: 32mm (1.26in)
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# M10058 - Initial Release
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###########################################################################################################################################################
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# MCU class and specific type
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MCU STM32F7xx STM32F777xx
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# ChibiOS system timer
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer, so Timers 2 or 5 on the STM32F777.
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# See hal_st_lld.c in ChibiOS for details
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STM32_ST_USE_TIMER 5
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# board ID for firmware load
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APJ_BOARD_ID 141
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@ -17,23 +38,18 @@ env OPTIMIZE -O2
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# start on 4th sector (1st sector for bootloader, 2 for extra storage)
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FLASH_RESERVE_START_KB 96
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# use FRAM for storage
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define HAL_STORAGE_SIZE 16384
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define HAL_WITH_RAMTRON 1
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# fallback storage in case FRAM is not populated
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define STORAGE_FLASH_PAGE 1
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer, so Timers 2 or 5 on the STM32F777.
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# See hal_st_lld.c in ChibiOS for details
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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define HAL_STORAGE_SIZE 16384
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# USB setup
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USB_STRING_MANUFACTURER "mRo"
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# RC Input set for Interrupt not DMA
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PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # also USART6_RX for serial RC
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# RC Input set for Interrupt not DMA also USART6_RX for serial RC
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PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
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# Control of Spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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@ -52,21 +68,15 @@ I2C_ORDER I2C1
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# this board only has a single I2C bus so make it external
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define HAL_I2C_INTERNAL_MASK 0
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# OEM Only
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# I2C_ORDER I2C1, I2C2, I2C3
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# order of UARTs (and USB)
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# UART4 GPS
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# USART2 FC
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# USART3 FC
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# USART2 Telem 1 (Flow Control)
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# USART3 Telem 2 (Flow Control)
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# UART8 FRSKY Telem
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# USART6 FC
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# UART7 DEBUG
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# USART6 RC input (Only RX pin is connected)
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# UART7 Additional UART
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART6 UART7 OTG2
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# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
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# Another USART, this one for telem1. This one has RTS and CTS lines.
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# USART2 telem1
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@ -86,11 +96,7 @@ PD12 USART3_RTS USART3
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4 NODMA
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# USART6 Spare or can be configured as SPI6
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PG14 USART6_TX USART6 NODMA
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PG9 USART6_RX USART6 NODMA
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). Debug Console
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# UART7 Spare or Debug Console
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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@ -125,6 +131,14 @@ PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF9 SPI5_MOSI SPI5
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# GPIOs
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# This defines general purpose outputs, mapped to GPIO
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# numbers 1 thru 4 for users.
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PG9 EXTERN_GPIO1 GPIO(1)
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PG13 EXTERN_GPIO2 GPIO(2)
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PG12 EXTERN_GPIO3 GPIO(3)
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PG14 EXTERN_GPIO4 GPIO(4)
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# This is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN.
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PA9 VBUS INPUT OPENDRAIN
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@ -148,14 +162,6 @@ PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# the 2nd I2C bus, OEM Only
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# PB10 I2C2_SCL I2C2
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# PB11 I2C2_SDA I2C2
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# the 3nd I2C bus, OEM Only
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# PB6 I2C4_SCL I2C4
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# PB7 I2C4_SDA I2C4
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC_D0 SDMMC1
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PC9 SDMMC_D1 SDMMC1
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@ -168,8 +174,6 @@ PD2 SDMMC_CMD SDMMC1
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# match the SPI device table later in this file.
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PC2 ICM_20602_CS CS
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PD7 BARO_CS CS
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# The CS pin for FRAM (ramtron). This one is marked as using
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# SPEED_VERYLOW, which matches the HAL_PX4 setup.
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PD10 FRAM_CS CS SPEED_VERYLOW NODMA
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PE15 ICM_20948_CS CS
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PF10 BMI088_GYRO_CS CS
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@ -181,10 +185,6 @@ PD1 CAN1_TX CAN1
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PF5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
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# This defines the pins for the 2nd CAN interface, OEM Only.
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# PB6 CAN2_TX CAN2
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# PB4 CAN2_RX CAN2
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
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# outputs on the primary MCU are setup as PWM and how many as
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@ -217,10 +217,10 @@ PB5 VDD_BRICK_nVALID INPUT PULLUP
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 5*MHZ 5*MHZ
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SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 5*MHZ 5*MHZ
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SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 4*MHZ
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SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
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SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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# Now some defines for logging and terrain data files.
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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@ -229,9 +229,6 @@ define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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# Enable RAMTROM parameter storage.
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define HAL_WITH_RAMTRON 1
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# Enable FAT filesystem support (needs a microSD defined via SDMMC).
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define HAL_OS_FATFS_IO 1
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@ -258,13 +255,13 @@ define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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DMA_PRIORITY SDMMC*
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#DMA_NOSHARE SPI1* *
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#DMA_NOSHARE SPI5* *
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# 3 IMUs
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IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# 1 baro
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BARO DPS280 SPI:dps310
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