From cd39110b684161a02cb0d3c443142f463685414d Mon Sep 17 00:00:00 2001 From: Brad Stinson Date: Mon, 20 Dec 2021 08:49:48 +1100 Subject: [PATCH] hwdef: add support for PixC4-Jetson add support for building IOMCU with F103 and 8MHz clock --- .../hwdef/PixC4-Jetson/defaults.parm | 8 + .../hwdef/PixC4-Jetson/hwdef-bl.dat | 46 +++ .../hwdef/PixC4-Jetson/hwdef.dat | 317 ++++++++++++++++++ .../hwdef/iomcu_f103_8MHz/hwdef.dat | 145 ++++++++ 4 files changed, 516 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/defaults.parm new file mode 100644 index 0000000000..19e86ed31a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/defaults.parm @@ -0,0 +1,8 @@ +#Default Parameters for the Horizon31 PixC4-Jetson + +#Default setup for comms with companion computer +SERIAL2_PROTOCOL 2 +SERIAL2_BAUD 500 + + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef-bl.dat new file mode 100644 index 0000000000..d7e2ef5222 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef-bl.dat @@ -0,0 +1,46 @@ +# 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 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef.dat new file mode 100644 index 0000000000..aef784f797 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/PixC4-Jetson/hwdef.dat @@ -0,0 +1,317 @@ +# 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 + + + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat new file mode 100644 index 0000000000..bcc3fcf2b3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat @@ -0,0 +1,145 @@ +# 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