hwdef: add support for PixC4-Jetson

add support for building IOMCU with F103 and 8MHz clock

libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/defaults.parm

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+#Default Parameters for the Horizon31 PixC4-Jetson
+
+#Default setup for comms with companion computer
+SERIAL2_PROTOCOL 2
+SERIAL2_BAUD 500
+
+
+

libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1032
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+PB1 LED_RED OUTPUT LOW # red
+PC6 LED_ACTIVITY OUTPUT LOW # green
+PC7 LED_BOOTLOADER OUTPUT LOW # blue
+
+define HAL_LED_ON 0
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+

libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef.dat

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+# HW Definition for Horizon31 PixC4-Jetson
+# The PixC4-Jetson combines an FMUv5 with an Nvidia Jetson companion computer
+# STM32H743 with STM32F103 IOMCU
+# Horizon31, LLC
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define HAL_CHIBIOS_ARCH_FMUV5 1
+
+# board ID for firmware load
+APJ_BOARD_ID 1032
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# board voltage
+STM32_VDD 330U
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7
+
+STDOUT_SERIAL SD7
+STDOUT_BAUDRATE 57600
+
+# USB setup
+USB_STRING_MANUFACTURER "Horizon31"
+
+# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# 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
+
+# SPI1 - Internal IMU sensors
+PG11 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 - FRAM
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI4 - sensors2
+PE2 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# SPI5 - external1 (disabled to save DMA channels)
+# PF7 SPI5_SCK SPI5
+# PF8 SPI5_MISO SPI5
+# PF9 SPI5_MOSI SPI5
+
+# SPI6 
+PG13 SPI6_SCK SPI6
+PG12 SPI6_MISO SPI6
+PB5 SPI6_MOSI SPI6
+
+# sensor CS
+PF10 BARO_CS CS
+PF2  ICM42688_CS CS SPEED_VERYLOW
+PF3  ICM20602_CS CS SPEED_VERYLOW
+PG10 ICM20602_CS2 CS SPEED_VERYLOW
+PF5  FRAM_CS CS SPEED_VERYLOW
+PI4  EXTERNAL1_CS1 CS
+PI10 EXTERNAL1_CS2 CS
+
+# unusued CS pins
+PF4  SPARE_CS CS
+PF11 SPARE_CS2 CS
+PH5  SPARE_CS3 CS
+PI11 SPARE_CS4 CS
+PI6  SPARE_CS5 CS
+PI7  SPARE_CS6 CS
+PI8  SPARE_CS7 CS
+
+# I2C buses
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+PG5  VDD_5V_RC_EN OUTPUT HIGH
+PG6  VDD_5V_WIFI_EN OUTPUT HIGH
+PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# drdy pins
+PB4  DRDY1_ICM42688 INPUT
+PB15 DRDY3_ICM20602_2 INPUT
+PC5  DRDY4_ICM20602 INPUT
+
+#unused drdy pins
+PC13 DRDY_SPARE1 INPUT
+PD10 DRDY_SPARE2 INPUT
+PD15 DRDY_SPARE3 INPUT
+
+# Spektrum Power is Active High
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+# UARTs
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART1 is GPS1
+PB7 USART1_RX USART1 NODMA
+PB6 USART1_TX USART1 NODMA
+
+# USART3 is telem2
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# USART6 is telem3
+PG9 USART6_RX USART6 NODMA
+# we leave PG14 as an input to prevent it acting as a pullup
+# on the IOMCU SBUS input
+# PG14 USART6_TX USART6 NODMA
+PG15 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8 is for IOMCU
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# UART for IOMCU
+IOMCU_UART UART8
+
+# enable RTSCTS support
+define AP_FEATURE_RTSCTS 1
+
+# enable SBUS_OUT on IOMCU (if you have an IOMCU)
+define AP_FEATURE_SBUS_OUT 1
+
+# PWM AUX channels
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
+PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
+
+define BOARD_PWM_COUNT_DEFAULT 8
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+PC4 SPARE1_ADC1 ADC1 SCALE(1)
+PA4 SPARE2_ADC1 ADC1 SCALE(1)
+
+PB0 RSSI_IN ADC1 SCALE(1)
+
+PC0 VDD_5V_SENS ADC1 SCALE(2)
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+# setup scaling defaults
+define HAL_BATT_VOLT_SCALE 18.0
+define HAL_BATT_CURR_SCALE 24.0
+define HAL_BATT_VOLT_PIN 0
+define HAL_BATT_CURR_PIN 1
+define HAL_BATT2_VOLT_PIN 2
+define HAL_BATT2_CURR_PIN 3
+
+# CAN bus
+PI9  CAN1_RX CAN1
+PH13 CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
+
+# GPIOs
+PA7 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+PG1 VDD_BRICK_VALID INPUT PULLUP
+PG2 VDD_BRICK2_VALID INPUT PULLUP
+PG3 nVBUS INPUT PULLDOWN
+PA9 VBUS INPUT
+PF13 VDD_5V_HIPOWER_OC INPUT PULLUP
+PE15 VDD_5V_PERIPH_OC INPUT PULLUP
+
+# capture pins
+PA5 FMU_CAP1 INPUT  GPIO(58)
+PB3 FMU_CAP2 INPUT  GPIO(59)
+PB11 FMU_CAP3 INPUT GPIO(60)
+PI0 FMU_SPARE_4 INPUT GPIO(61)
+
+# SPI devices
+SPIDEV ms5611	       SPI4 DEVID5  BARO_CS    MODE3  5*MHZ  5*MHZ
+SPIDEV icm42688        SPI1 DEVID3  ICM42688_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV icm20602        SPI1 DEVID1  ICM20602_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV icm20602_2      SPI1 DEVID2  ICM20602_CS2  MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron         SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
+
+# 3 IMUs
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
+IMU Invensense SPI:icm20602 ROTATION_YAW_90
+IMU Invensense SPI:icm20602_2 ROTATION_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# probe external I2C compasses plus some internal IST8310
+# we also probe some external IST8310 with a non-standard orientation
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
+
+# baro
+BARO MS56XX      SPI:ms5611
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# red LED marked as B/E
+PB1 LED_RED OUTPUT OPENDRAIN GPIO(90)
+
+# green LED of FMU RGB LED
+PC6 LED_GREEN OUTPUT GPIO(91) LOW
+
+# blue LED of FMU RGB LED
+PC7 LED_BLUE OUTPUT GPIO(92) HIGH
+
+# setup for Board LEDs
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 92
+define HAL_GPIO_LED_ON 0
+
+# 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
+
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# don't share IOMCU DMA
+DMA_NOSHARE UART8* SPI1* TIM*UP*
+
+DMA_PRIORITY SDMMC* UART8* ADC* SPI1* 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_f103_8MHz_lowpolh.bin
+
+
+
+

libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32F103 STM32F103xB
+
+FLASH_RESERVE_START_KB 4
+
+# board ID for firmware load
+APJ_BOARD_ID 3
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 1000
+
+FLASH_SIZE_KB 128
+
+# ChibiOS system timer
+
+
+
+# order of UARTs
+SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY
+define HAL_USE_UART TRUE
+
+# UART connected to FMU, uses DMA
+PA2 USART2_TX USART2 SPEED_HIGH
+PA3 USART2_RX USART2 SPEED_HIGH
+
+define STM32_UART_USE_USART1 FALSE
+define STM32_UART_USE_USART2 TRUE
+define STM32_UART_USE_USART3 FALSE
+
+# UART for SBUS out, and RC in, no DMA
+define HAL_USE_SERIAL TRUE
+PB4 SBUS_OUT_EN OUTPUT LOW GPIO(1)
+PB10 USART3_TX USART3 SPEED_HIGH LOW
+PB11 USART3_RX USART3
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 FALSE
+define STM32_SERIAL_USE_USART3 TRUE
+
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102)
+PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103)
+PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
+PA6 TIM3_CH1 TIM3 PWM(5) GPIO(105)
+PA7 TIM3_CH2 TIM3 PWM(6) GPIO(106)
+PB0 TIM3_CH3 TIM3 PWM(7) GPIO(107)
+PB1 TIM3_CH4 TIM3 PWM(8) GPIO(108)
+
+# pins for detecting board type. On a pixhawk2 PC14 is pulled high,
+# PC15 is pulled low. On a Pixhawk1 they are both floating
+PC14 IO_HW_DETECT1 INPUT PULLDOWN 
+PC15 IO_HW_DETECT2 INPUT PULLUP   
+
+PB14 HEATER INPUT PULLUP GPIO(0)
+
+# safety button and LED. These do not use the same names
+# as those for FMU-only boards as we want to handle them specially
+# inside the iofirmware
+PB5 SAFETY_INPUT INPUT PULLDOWN
+PB13 SAFETY_LED OUTPUT HIGH OPENDRAIN
+
+# amber LED
+PB15 AMBER_LED OUTPUT LOW OPENDRAIN
+
+# green ring LED on cube
+PA11 RING_LED OUTPUT LOW OPENDRAIN
+
+# UART for DSM input
+# TX side is for IO debug, and is unused
+PA9  USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+PC13 SPEKTRUM_PWR_EN OUTPUT LOW
+define HAL_GPIO_PIN_SPEKTRUM_OUT PAL_LINE(GPIOA,10U)
+
+PA8 RCIN INPUT SPEED_HIGH PULLDOWN # RC Input PPM
+
+# analog inputs
+PA4 VSERVO ADC1
+PA5 VRSSI  ADC1
+define HAL_ADC_VSERVO_CHAN ADC_CHANNEL_IN4
+define HAL_ADC_VRSSI_CHAN  ADC_CHANNEL_IN5
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+#Manually define ICU settings
+define HAL_USE_ICU TRUE
+define STM32_ICU_USE_TIM1 TRUE
+define RCIN_ICU_TIMER ICUD1
+define RCIN_ICU_CHANNEL ICU_CHANNEL_1
+define STM32_RCIN_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
+
+# only use pulse input for PPM, other protocols
+# are on serial
+define HAL_RCIN_PULSE_PPM_ONLY
+
+#DMA Channel Not relevant for F1 series
+define STM32_RCIN_DMA_CHANNEL 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_INS_DEFAULT HAL_INS_NONE
+define HAL_BARO_DEFAULT HAL_BARO_NONE
+define HAL_NO_GPIO_IRQ
+define CH_CFG_ST_TIMEDELTA 0
+#define CH_CFG_USE_DYNAMIC FALSE
+define SERIAL_BUFFERS_SIZE 32
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_RCOUT_THREAD
+define HAL_NO_SHARED_DMA
+
+#defined to turn off undef warnings
+define __FPU_PRESENT 0
+
+define HAL_USE_RTC FALSE
+define HAL_NO_FLASH_SUPPORT TRUE
+define HAL_NO_UARTDRIVER TRUE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define HAL_LOGGING_ENABLED 0
+
+define DMA_RESERVE_SIZE 0
+
+# reduce memory usage in RCInput
+define SOFTSIG_MAX_SIGNAL_TRANSITIONS 128
+
+define IOMCU_FW TRUE
+define NO_FASTBOOT
+IOMCU_FW 1
+MAIN_STACK 0x200
+PROCESS_STACK 0x250
+define HAL_DISABLE_LOOP_DELAY
+define HAL_WITH_DSP FALSE