mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-23 09:08:30 -04:00
HAL_ChibiOS: convert some hwdef.dat to unix line endings
This commit is contained in:
Andrew Tridgell
parent
80836ca1d9
commit
b94d6b064f
@ -1,194 +1,194 @@
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# hwdef for Luminousbees flight board
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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# board ID for firmware load
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APJ_BOARD_ID 11
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O3
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# serial port for stdout disabled, use USB console
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# STDOUT_SERIAL SD7
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# STDOUT_BAUDRATE 57600
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# only one I2C bus
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I2C_ORDER I2C1
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# to match px4 we make the first bus number 1
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define HAL_I2C_BUS_BASE 1
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB)
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# hwdef for Luminousbees flight board
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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# board ID for firmware load
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APJ_BOARD_ID 11
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O3
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# serial port for stdout disabled, use USB console
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# STDOUT_SERIAL SD7
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# STDOUT_BAUDRATE 57600
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# only one I2C bus
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I2C_ORDER I2C1
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# to match px4 we make the first bus number 1
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define HAL_I2C_BUS_BASE 1
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
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# UART4 is GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# Battery & current control
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PA2 BATT_VOLTAGE_SENS ADC1
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PA3 BATT_CURRENT_SENS ADC1
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is sensors bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PB2 BOOT1 INPUT
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PB5 VDD_BRICK_VALID INPUT
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# USART1
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PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 as led strip control
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#PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# UWB DW1000
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PB4 UWB_CS CS
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# SPI2 is FRAM
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_VALID INPUT
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PC4 SAFETY_IN INPUT PULLDOWN
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PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PC12 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# USART2 serial2 telem1 connected to ESP
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PD4 BMI088_ACCEL_CS CS
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PD3 BMI088_GYRO_CS CS
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD7 BARO_CS CS
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# PB7 BARO2_CS CS # FOR DPS310 ON FRAME MICRO
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# USART3 serial3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD10 FRAM_CS CS
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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# UART8
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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#set up SPI bus4 for UWB
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52
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PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
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PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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# when moving to ChibiOS
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SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV bmi088_g SPI4 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI4 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
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define HAL_CHIBIOS_ARCH_FMUV4 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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define HAL_STORAGE_SIZE 16384
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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# pixracer has 3 LEDs, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PB11 LED_RED OUTPUT GPIO(0)
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PB1 LED_GREEN OUTPUT GPIO(1)
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PB3 LED_BLUE OUTPUT GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# enable RTSCTS
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define AP_FEATURE_RTSCTS 1
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# battery setup
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 3
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# setup serial port defaults for ESP8266
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define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
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define HAL_SERIAL5_BAUD 921600
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# Set one or two IMUs
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#IMU Invensense SPI:icm20608 ROTATION_YAW_180
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# 2 compasses. R15 has LIS3MDL instead of HMC5843
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# Barometer ( DPS310 under test on micro frame )
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BARO MS56XX SPI:ms5611_int
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# BARO DPS310 SPI:dps310
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# reserve plenty of memory for DMA for LED buffers
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define DMA_RESERVE_SIZE 32768
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# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'
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# UART4 is GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# Battery & current control
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PA2 BATT_VOLTAGE_SENS ADC1
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PA3 BATT_CURRENT_SENS ADC1
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is sensors bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PB2 BOOT1 INPUT
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PB5 VDD_BRICK_VALID INPUT
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# USART1
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PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 as led strip control
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#PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# UWB DW1000
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PB4 UWB_CS CS
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# SPI2 is FRAM
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_VALID INPUT
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PC4 SAFETY_IN INPUT PULLDOWN
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PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PC12 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# USART2 serial2 telem1 connected to ESP
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PD4 BMI088_ACCEL_CS CS
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PD3 BMI088_GYRO_CS CS
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD7 BARO_CS CS
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# PB7 BARO2_CS CS # FOR DPS310 ON FRAME MICRO
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# USART3 serial3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD10 FRAM_CS CS
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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# UART8
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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#set up SPI bus4 for UWB
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52
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PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
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PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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||||
# when moving to ChibiOS
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||||
SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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||||
SPIDEV bmi088_g SPI4 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI4 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
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define HAL_CHIBIOS_ARCH_FMUV4 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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define HAL_STORAGE_SIZE 16384
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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# pixracer has 3 LEDs, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PB11 LED_RED OUTPUT GPIO(0)
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PB1 LED_GREEN OUTPUT GPIO(1)
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PB3 LED_BLUE OUTPUT GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# enable RTSCTS
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define AP_FEATURE_RTSCTS 1
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# battery setup
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 3
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# setup serial port defaults for ESP8266
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define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
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define HAL_SERIAL5_BAUD 921600
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# Set one or two IMUs
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||||
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
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||||
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# 2 compasses. R15 has LIS3MDL instead of HMC5843
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# Barometer ( DPS310 under test on micro frame )
|
||||
BARO MS56XX SPI:ms5611_int
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# BARO DPS310 SPI:dps310
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||||
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||||
# reserve plenty of memory for DMA for LED buffers
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||||
define DMA_RESERVE_SIZE 32768
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||||
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# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'
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@ -1,51 +1,51 @@
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# LUMINOUS BEE 5.1
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# hw definition file for processing by chibios_hwdef.py
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1029
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# flash size
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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# only one I2C bus
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I2C_ORDER I2C1
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB) for bootloading
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SERIAL_ORDER OTG1 UART7
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS lines
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PB4 UWB_CS CS
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PC2 BMI088_ACCEL_CS CS
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PC15 BMI088_GYRO_CS CS
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PD7 BARO_CS CS
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PE15 MAG_CS CS
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PB11 LED_BOOTLOADER OUTPUT
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define HAL_LED_ON 0
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# LUMINOUS BEE 5.1
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# hw definition file for processing by chibios_hwdef.py
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1029
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# flash size
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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# only one I2C bus
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I2C_ORDER I2C1
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB) for bootloading
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SERIAL_ORDER OTG1 UART7
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS lines
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PB4 UWB_CS CS
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PC2 BMI088_ACCEL_CS CS
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PC15 BMI088_GYRO_CS CS
|
||||
PD7 BARO_CS CS
|
||||
PE15 MAG_CS CS
|
||||
|
||||
PB11 LED_BOOTLOADER OUTPUT
|
||||
define HAL_LED_ON 0
|
||||
|
||||
@ -1,226 +1,226 @@
|
||||
# LUMINOUS BEE 5.1
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1029
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# with 2M flash we can afford to optimize for speed
|
||||
env OPTIMIZE -O2
|
||||
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
|
||||
# only one I2C bus
|
||||
I2C_ORDER I2C1
|
||||
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
|
||||
|
||||
# UART4 is GPS
|
||||
PA0 UART4_TX UART4
|
||||
PA1 UART4_RX UART4
|
||||
|
||||
# Battery & current control
|
||||
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
|
||||
# SPI1 is sensors bus
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
|
||||
# This is the pin that senses USB being connected. It is an input pin
|
||||
# setup as OPENDRAIN.
|
||||
PA9 VBUS INPUT #OPENDRAIN
|
||||
|
||||
# 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
|
||||
|
||||
PB2 BOOT1 INPUT
|
||||
#PB5 VDD_BRICK_VALID INPUT
|
||||
PB5 VDD_BRICK_VALID INPUT PULLDOWN
|
||||
|
||||
# USART1 TX now as led strip control
|
||||
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6
|
||||
# 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
|
||||
PB12 CAN2_RX CAN2
|
||||
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
|
||||
PB14 SPI2_MISO SPI2
|
||||
PB15 SPI2_MOSI SPI2
|
||||
|
||||
#PC0 VBUS_VALID INPUT
|
||||
PC0 VBUS_VALID INPUT PULLDOWN
|
||||
|
||||
#BMI088 CS
|
||||
PC2 BMI088_ACCEL_CS CS
|
||||
PC15 BMI088_GYRO_CS CS
|
||||
|
||||
PC3 LED_SAFETY OUTPUT
|
||||
PC4 SAFETY_IN INPUT PULLDOWN
|
||||
PC5 VDD_PERIPH_EN OUTPUT HIGH
|
||||
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
PC13 SBUS_INV OUTPUT
|
||||
|
||||
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
# USART2 serial2 telem1
|
||||
|
||||
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
|
||||
PD7 BARO_CS CS
|
||||
|
||||
|
||||
# USART3 serial3 telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
PD11 USART3_CTS USART3
|
||||
PD12 USART3_RTS USART3
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
PD15 20608_DRDY INPUT # IMU Luminous Bee
|
||||
# UART8 serial4 FrSky
|
||||
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
|
||||
|
||||
|
||||
PE3 VDD_SENSORS_EN OUTPUT HIGH
|
||||
PE4 SPEKTRUM_PWR OUTPUT HIGH
|
||||
|
||||
# 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
|
||||
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
||||
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
||||
|
||||
|
||||
PE12 MAG_DRDY INPUT
|
||||
PE15 MAG_CS CS
|
||||
|
||||
# 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 dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
|
||||
#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
|
||||
SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV bmi088_a SPI1 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_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 support (needs a microSD defined via SDMMC).
|
||||
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
|
||||
|
||||
# battery setup
|
||||
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
|
||||
|
||||
# setup serial port defaults for ESP8266
|
||||
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
|
||||
define HAL_SERIAL5_BAUD 921600
|
||||
|
||||
# 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
|
||||
#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
|
||||
|
||||
# also probe all types of external I2C compasses
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
|
||||
# TWO barometer
|
||||
BARO DPS280 SPI:dps310
|
||||
# LUMINOUS BEE 5.1
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1029
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# with 2M flash we can afford to optimize for speed
|
||||
env OPTIMIZE -O2
|
||||
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
|
||||
# only one I2C bus
|
||||
I2C_ORDER I2C1
|
||||
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
|
||||
|
||||
# UART4 is GPS
|
||||
PA0 UART4_TX UART4
|
||||
PA1 UART4_RX UART4
|
||||
|
||||
# Battery & current control
|
||||
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
|
||||
# SPI1 is sensors bus
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
|
||||
# This is the pin that senses USB being connected. It is an input pin
|
||||
# setup as OPENDRAIN.
|
||||
PA9 VBUS INPUT #OPENDRAIN
|
||||
|
||||
# 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
|
||||
|
||||
PB2 BOOT1 INPUT
|
||||
#PB5 VDD_BRICK_VALID INPUT
|
||||
PB5 VDD_BRICK_VALID INPUT PULLDOWN
|
||||
|
||||
# USART1 TX now as led strip control
|
||||
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6
|
||||
# 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
|
||||
PB12 CAN2_RX CAN2
|
||||
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
|
||||
PB14 SPI2_MISO SPI2
|
||||
PB15 SPI2_MOSI SPI2
|
||||
|
||||
#PC0 VBUS_VALID INPUT
|
||||
PC0 VBUS_VALID INPUT PULLDOWN
|
||||
|
||||
#BMI088 CS
|
||||
PC2 BMI088_ACCEL_CS CS
|
||||
PC15 BMI088_GYRO_CS CS
|
||||
|
||||
PC3 LED_SAFETY OUTPUT
|
||||
PC4 SAFETY_IN INPUT PULLDOWN
|
||||
PC5 VDD_PERIPH_EN OUTPUT HIGH
|
||||
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
PC13 SBUS_INV OUTPUT
|
||||
|
||||
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
# USART2 serial2 telem1
|
||||
|
||||
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
|
||||
PD7 BARO_CS CS
|
||||
|
||||
|
||||
# USART3 serial3 telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
PD11 USART3_CTS USART3
|
||||
PD12 USART3_RTS USART3
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
PD15 20608_DRDY INPUT # IMU Luminous Bee
|
||||
# UART8 serial4 FrSky
|
||||
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
|
||||
|
||||
|
||||
PE3 VDD_SENSORS_EN OUTPUT HIGH
|
||||
PE4 SPEKTRUM_PWR OUTPUT HIGH
|
||||
|
||||
# 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
|
||||
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
||||
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
||||
|
||||
|
||||
PE12 MAG_DRDY INPUT
|
||||
PE15 MAG_CS CS
|
||||
|
||||
# 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 dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
|
||||
#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
|
||||
SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV bmi088_a SPI1 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_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 support (needs a microSD defined via SDMMC).
|
||||
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
|
||||
|
||||
# battery setup
|
||||
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
|
||||
|
||||
# setup serial port defaults for ESP8266
|
||||
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
|
||||
define HAL_SERIAL5_BAUD 921600
|
||||
|
||||
# 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
|
||||
#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
|
||||
|
||||
# also probe all types of external I2C compasses
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
|
||||
# TWO barometer
|
||||
BARO DPS280 SPI:dps310
|
||||
|
||||
@ -1,98 +1,98 @@
|
||||
# hw definition file for processing by chibios_pins.py
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32G4xx STM32G491xx
|
||||
|
||||
# use DNA
|
||||
define HAL_CAN_DEFAULT_NODE_ID 0
|
||||
|
||||
define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
|
||||
|
||||
# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
|
||||
FLASH_RESERVE_START_KB 30
|
||||
|
||||
# store parameters in pages 13 and 14
|
||||
define STORAGE_FLASH_PAGE 13
|
||||
define HAL_STORAGE_SIZE 800
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
|
||||
# enable watchdog
|
||||
define HAL_WATCHDOG_ENABLED_DEFAULT true
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
# assume the 512k flash part
|
||||
FLASH_SIZE_KB 512
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1041
|
||||
|
||||
define HAL_CAN_POOL_SIZE 6000
|
||||
|
||||
# LEDs
|
||||
PA4 LED OUTPUT HIGH
|
||||
|
||||
# debugger support
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# Order of I2C buses
|
||||
I2C_ORDER I2C1
|
||||
|
||||
# this board only has a single I2C bus so make it external
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# Now the first I2C bus. The pin speeds are automatically setup
|
||||
# correctly, but can be overridden here if needed.
|
||||
PA15 I2C1_SCL I2C1
|
||||
PB7 I2C1_SDA I2C1
|
||||
|
||||
# an I2C baro (DPS310)
|
||||
BARO DPS280 I2C:0:0x77
|
||||
|
||||
define HAL_PERIPH_ENABLE_BARO
|
||||
|
||||
PA0 VSENSE50 ADC1 SCALE(3)
|
||||
PA1 VSENSE3v3 ADC1 SCALE(2)
|
||||
|
||||
define NO_DATAFLASH TRUE
|
||||
|
||||
define DMA_RESERVE_SIZE 2048
|
||||
|
||||
define HAL_USE_ADC TRUE
|
||||
|
||||
define STM32_ADC_USE_ADC1 TRUE
|
||||
|
||||
# order of UARTs
|
||||
SERIAL_ORDER USART1
|
||||
|
||||
STDOUT_SERIAL SD1
|
||||
STDOUT_BAUDRATE 57600
|
||||
|
||||
# USART1, telemetry
|
||||
PA9 USART1_TX USART1 SPEED_HIGH
|
||||
PA10 USART1_RX USART1 SPEED_HIGH
|
||||
|
||||
# stack for fast interrupts
|
||||
define PORT_INT_REQUIRED_STACK 64
|
||||
|
||||
define HAL_DISABLE_LOOP_DELAY
|
||||
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
define HAL_MINIMIZE_FEATURES 0
|
||||
|
||||
define AP_PARAM_MAX_EMBEDDED_PARAM 512
|
||||
|
||||
# keep ROMFS uncompressed as we don't have enough RAM
|
||||
# to uncompress the bootloader at runtime
|
||||
env ROMFS_UNCOMPRESSED True
|
||||
|
||||
# don't share any DMA channels (there are enough for everyone)
|
||||
DMA_NOSHARE *
|
||||
# hw definition file for processing by chibios_pins.py
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32G4xx STM32G491xx
|
||||
|
||||
# use DNA
|
||||
define HAL_CAN_DEFAULT_NODE_ID 0
|
||||
|
||||
define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
|
||||
|
||||
# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
|
||||
FLASH_RESERVE_START_KB 30
|
||||
|
||||
# store parameters in pages 13 and 14
|
||||
define STORAGE_FLASH_PAGE 13
|
||||
define HAL_STORAGE_SIZE 800
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
|
||||
# enable watchdog
|
||||
define HAL_WATCHDOG_ENABLED_DEFAULT true
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
# assume the 512k flash part
|
||||
FLASH_SIZE_KB 512
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1041
|
||||
|
||||
define HAL_CAN_POOL_SIZE 6000
|
||||
|
||||
# LEDs
|
||||
PA4 LED OUTPUT HIGH
|
||||
|
||||
# debugger support
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# Order of I2C buses
|
||||
I2C_ORDER I2C1
|
||||
|
||||
# this board only has a single I2C bus so make it external
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# Now the first I2C bus. The pin speeds are automatically setup
|
||||
# correctly, but can be overridden here if needed.
|
||||
PA15 I2C1_SCL I2C1
|
||||
PB7 I2C1_SDA I2C1
|
||||
|
||||
# an I2C baro (DPS310)
|
||||
BARO DPS280 I2C:0:0x77
|
||||
|
||||
define HAL_PERIPH_ENABLE_BARO
|
||||
|
||||
PA0 VSENSE50 ADC1 SCALE(3)
|
||||
PA1 VSENSE3v3 ADC1 SCALE(2)
|
||||
|
||||
define NO_DATAFLASH TRUE
|
||||
|
||||
define DMA_RESERVE_SIZE 2048
|
||||
|
||||
define HAL_USE_ADC TRUE
|
||||
|
||||
define STM32_ADC_USE_ADC1 TRUE
|
||||
|
||||
# order of UARTs
|
||||
SERIAL_ORDER USART1
|
||||
|
||||
STDOUT_SERIAL SD1
|
||||
STDOUT_BAUDRATE 57600
|
||||
|
||||
# USART1, telemetry
|
||||
PA9 USART1_TX USART1 SPEED_HIGH
|
||||
PA10 USART1_RX USART1 SPEED_HIGH
|
||||
|
||||
# stack for fast interrupts
|
||||
define PORT_INT_REQUIRED_STACK 64
|
||||
|
||||
define HAL_DISABLE_LOOP_DELAY
|
||||
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
define HAL_MINIMIZE_FEATURES 0
|
||||
|
||||
define AP_PARAM_MAX_EMBEDDED_PARAM 512
|
||||
|
||||
# keep ROMFS uncompressed as we don't have enough RAM
|
||||
# to uncompress the bootloader at runtime
|
||||
env ROMFS_UNCOMPRESSED True
|
||||
|
||||
# don't share any DMA channels (there are enough for everyone)
|
||||
DMA_NOSHARE *
|
||||
|
||||
Loading…
Reference in New Issue
Block a user