mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
hwdef: added rFCU board
This commit is contained in:
parent
91227433e9
commit
d29d4d97e7
10
libraries/AP_HAL_ChibiOS/hwdef/rFCU/defaults.parm
Normal file
10
libraries/AP_HAL_ChibiOS/hwdef/rFCU/defaults.parm
Normal file
@ -0,0 +1,10 @@
|
||||
|
||||
# setup serial5 for RC input, inverted 100kbaud
|
||||
SERIAL5_PROTOCOL 23
|
||||
SERIAL5_BAUD 100000
|
||||
SERIAL5_OPTIONS 3
|
||||
|
||||
# setup the temperature compensation
|
||||
BRD_HEAT_P 100
|
||||
BRD_HEAT_I 0.15
|
||||
|
57
libraries/AP_HAL_ChibiOS/hwdef/rFCU/hwdef-bl.dat
Normal file
57
libraries/AP_HAL_ChibiOS/hwdef/rFCU/hwdef-bl.dat
Normal file
@ -0,0 +1,57 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for mPhibr rFCU board
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1102
|
||||
|
||||
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
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
PI5 LED_RED OUTPUT OPENDRAIN HIGH # red
|
||||
PI6 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
|
||||
PI7 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
|
||||
|
||||
define HAL_LED_ON 1
|
||||
|
||||
# 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 BOOTLOADER_DEBUG SD7
|
||||
|
||||
# Add CS pins to ensure they are high in bootloader
|
||||
PF10 ADIS16470_CS CS
|
||||
PF3 ICM42688_SPI4_CS CS
|
||||
PG10 MS5611_SPI4_CS CS
|
||||
PF5 FRAM_CS CS
|
||||
PF2 RM3100_CS CS
|
||||
PI4 EXT1_CS1 CS
|
||||
PI10 EXT1_CS2 CS
|
||||
PI12 ICM42688_SPI6_CS CS
|
||||
PI8 MS5611_SPI6_CS CS
|
||||
|
||||
|
315
libraries/AP_HAL_ChibiOS/hwdef/rFCU/hwdef.dat
Normal file
315
libraries/AP_HAL_ChibiOS/hwdef/rFCU/hwdef.dat
Normal file
@ -0,0 +1,315 @@
|
||||
# hw definition file for processing by chibios_hwdef.py for rFCU
|
||||
|
||||
# internal use only board
|
||||
AUTOBUILD_TARGETS None
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 16000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1102
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# with 2M flash we can afford to optimize for speed
|
||||
env OPTIMIZE -O2
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
# bootloader takes first sector
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART6 USART1 UART4 UART8 UART7 OTG2
|
||||
|
||||
# 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 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
|
||||
PF7 SPI5_SCK SPI5
|
||||
PF8 SPI5_MISO SPI5
|
||||
PF9 SPI5_MOSI SPI5
|
||||
|
||||
# SPI6 - external2
|
||||
PG13 SPI6_SCK SPI6
|
||||
PG12 SPI6_MISO SPI6
|
||||
PA7 SPI6_MOSI SPI6
|
||||
|
||||
# sensor CS pins
|
||||
PF10 ADIS16470_CS CS
|
||||
PF3 ICM42688_SPI4_CS CS
|
||||
PG10 MS5611_SPI4_CS CS
|
||||
PF5 FRAM_CS CS SPEED_VERYLOW
|
||||
PF2 RM3100_CS CS
|
||||
PI4 EXT1_CS1 CS
|
||||
PI10 EXT1_CS2 CS
|
||||
PI12 ICM42688_SPI6_CS CS
|
||||
PI8 MS5611_SPI6_CS CS
|
||||
|
||||
# I2C buses
|
||||
|
||||
# I2C1 is on GPS port
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# I2C2 on GPS2 connector
|
||||
PF1 I2C2_SCL I2C2
|
||||
PF0 I2C2_SDA I2C2
|
||||
|
||||
# I2C3 for onboard mag
|
||||
PH7 I2C3_SCL I2C3
|
||||
PH8 I2C3_SDA I2C3
|
||||
|
||||
# I2C4 is on BDMA on DMAMUX2
|
||||
PF14 I2C4_SCL I2C4
|
||||
PF15 I2C4_SDA I2C4
|
||||
|
||||
# order of I2C buses
|
||||
I2C_ORDER I2C3 I2C1 I2C2 I2C4
|
||||
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# enable pins
|
||||
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
|
||||
|
||||
# start peripheral power off, then enable after init
|
||||
# this prevents a problem with radios that use RTS for
|
||||
# bootloader hold
|
||||
PD11 VDD_5V_HIPOWER_EN OUTPUT LOW
|
||||
PB0 VDD_5V_PERIPH_EN OUTPUT LOW
|
||||
|
||||
PG5 VDD_5V_RC_EN OUTPUT HIGH
|
||||
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
|
||||
|
||||
# drdy pins
|
||||
PE7 DRDY_ADIS16470 INPUT GPIO(93)
|
||||
PJ0 DRDY_ICM42688_SPI4 INPUT
|
||||
PH5 DRDY_ICM42688_SPI6 INPUT
|
||||
PE4 DRDY_RM3100 INPUT
|
||||
|
||||
# use GPIO(93) for data ready on ADIS16470
|
||||
define ADIS_DRDY_PIN 93
|
||||
|
||||
# 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
|
||||
|
||||
# UART4 GPS2
|
||||
PD0 UART4_RX UART4 NODMA
|
||||
PD1 UART4_TX UART4 NODMA
|
||||
|
||||
# USART6 is telem2
|
||||
PG9 USART6_RX USART6
|
||||
PG14 USART6_TX USART6
|
||||
PG15 USART6_CTS USART6
|
||||
PG8 USART6_RTS USART6
|
||||
|
||||
# UART7 is debug
|
||||
PF6 UART7_RX UART7 NODMA
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
# SBUS, DSM port
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8
|
||||
|
||||
# PWM AUX channels
|
||||
PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50)
|
||||
PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
|
||||
PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52)
|
||||
PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53)
|
||||
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
|
||||
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
|
||||
PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
|
||||
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
|
||||
|
||||
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
|
||||
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
|
||||
PA10 TIM1_CH3 TIM1 PWM(11) GPIO(60)
|
||||
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
|
||||
PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
|
||||
PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
|
||||
|
||||
# allow for 14 PWMs by default
|
||||
|
||||
# PWM output for buzzer
|
||||
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
||||
|
||||
# RC input, disabled, connected to same pin as UART8_RX, we prefer serial protocols
|
||||
# PB4 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
|
||||
|
||||
# analog in
|
||||
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
|
||||
PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PF11 BATT2_CURRENT_SENS ADC1 SCALE(1)
|
||||
|
||||
# ADC3.3/ADC6.6
|
||||
PC4 SPARE1_ADC1 ADC1 SCALE(1)
|
||||
PA4 SPARE2_ADC1 ADC1 SCALE(1)
|
||||
|
||||
PF12 RSSI_IN ADC1 SCALE(1)
|
||||
|
||||
PC5 VDD_5V_SENS ADC1 SCALE(2)
|
||||
PC1 SCALED_V3V3 ADC1 SCALE(2)
|
||||
|
||||
# CAN bus
|
||||
PI9 CAN1_RX CAN1
|
||||
PH13 CAN1_TX CAN1
|
||||
|
||||
# 2nd CAN bus. Cannot be used at same time as USB_HS
|
||||
PB12 CAN2_RX CAN2
|
||||
PB13 CAN2_TX CAN2
|
||||
|
||||
# control for silent (no output) for CAN
|
||||
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
||||
PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
|
||||
|
||||
# GPIOs
|
||||
define HAL_HAVE_IMU_HEATER 1
|
||||
|
||||
# use 2nd IMU for temperature reference. The ADIS has too much thermal
|
||||
# mass to control reasonably
|
||||
define AP_HEATER_IMU_INSTANCE 1
|
||||
|
||||
# heaters require 2 GPIOs to go high to enable a single heater
|
||||
PA8 HEATER_EN OUTPUT LOW GPIO(80) # isolated IMU, GPIO1
|
||||
PF4 HEATER2_EN OUTPUT LOW GPIO(81) # isolated IMU, GPIO2
|
||||
PH15 HEATER3_EN OUTPUT LOW GPIO(82) # control board, GPIO1
|
||||
PB5 HEATER4_EN OUTPUT LOW GPIO(83) # control board, GPIO2
|
||||
|
||||
define HAL_HEATER_GPIO_PIN 80
|
||||
define HAL_HEATER2_GPIO_PIN 81
|
||||
define HAL_HEATER3_GPIO_PIN 82
|
||||
define HAL_HEATER4_GPIO_PIN 83
|
||||
|
||||
# the heater impacts the RM3100 compass
|
||||
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,1,0x2,0x11),Vector3f(60,7,-11)}
|
||||
|
||||
PG1 VDD_BRICK_nVALID INPUT PULLUP # for PowerA
|
||||
PG2 VDD_BRICK2_nVALID INPUT PULLUP # for PowerB
|
||||
PG0 VDD_BRICK3_nVALID INPUT PULLUP # for PowerC
|
||||
|
||||
# MCU power validity monitoring
|
||||
PD10 MCU_VALID1 INPUT
|
||||
PJ5 MCU_VALID2 INPUT
|
||||
|
||||
PA9 VBUS_VALID INPUT PULLUP
|
||||
PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
|
||||
# SPI devices
|
||||
SPIDEV adis16470 SPI1 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ
|
||||
SPIDEV rm3100 SPI1 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ
|
||||
|
||||
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
|
||||
SPIDEV icm42688_1 SPI4 DEVID1 ICM42688_SPI4_CS MODE3 2*MHZ 16*MHZ
|
||||
SPIDEV ms5611_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV bmp390_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ
|
||||
|
||||
SPIDEV icm42688_2 SPI6 DEVID1 ICM42688_SPI6_CS MODE3 2*MHZ 16*MHZ
|
||||
SPIDEV ms5611_2 SPI6 DEVID2 MS5611_SPI6_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV bmp390_2 SPI6 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ
|
||||
|
||||
# two baro, could be either 2 MS5611 or 2 BMP390
|
||||
BARO MS56XX SPI:ms5611_1
|
||||
BARO MS56XX SPI:ms5611_2
|
||||
|
||||
BARO BMP388 SPI:bmp390_1
|
||||
BARO BMP388 SPI:bmp390_2
|
||||
|
||||
# three IMUs, one ADIS, 2x ICM42688
|
||||
IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180_YAW_90 ADIS_DRDY_PIN
|
||||
IMU Invensensev3 SPI:icm42688_1 ROTATION_ROLL_180_YAW_90
|
||||
IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_90
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
# compasses
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
COMPASS RM3100 SPI:rm3100 false ROTATION_ROLL_180_YAW_90
|
||||
|
||||
|
||||
# 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
|
||||
PB2 SDCARD_DETECT INPUT
|
||||
|
||||
# red LED marked as B/E
|
||||
|
||||
PI5 LED_R1 OUTPUT HIGH GPIO(0) # red
|
||||
PI6 LED_G1 OUTPUT LOW GPIO(1) # green
|
||||
PI7 LED_B1 OUTPUT HIGH GPIO(2) # blue
|
||||
|
||||
define HAL_GPIO_A_LED_PIN 0
|
||||
define HAL_GPIO_B_LED_PIN 1
|
||||
define HAL_GPIO_C_LED_PIN 2
|
||||
|
||||
define HAL_GPIO_LED_ON 1
|
||||
define HAL_GPIO_LED_OFF 0
|
||||
|
||||
# use pixracer style 3-LED indicators
|
||||
define HAL_HAVE_PIXRACER_LED
|
||||
|
||||
# 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
|
||||
PE12 LED_SAFETY OUTPUT
|
||||
PE10 SAFETY_IN INPUT PULLDOWN
|
||||
|
||||
# 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"
|
||||
|
||||
DMA_PRIORITY ADC* SPI1* TIM*UP*
|
||||
DMA_NOSHARE SPI1* TIM*UP*
|
||||
|
||||
# default to 45C target temp
|
||||
define HAL_IMU_TEMP_DEFAULT 45
|
Loading…
Reference in New Issue
Block a user