mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: remove fmuv4 and update Pixracer
This commit is contained in:
Henry Wurzburg
Andrew Tridgell
parent
c8641bd246
commit
d78c5371db
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@ -1,4 +1,54 @@
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# hw definition file for processing by chibios_hwdef.py for the
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# mRo Pixracer board. This is a fmuv4 board
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include ../fmuv4/hwdef-bl.dat
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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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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2
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PB1 LED_BOOTLOADER OUTPUT
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PB3 LED_ACTIVITY OUTPUT
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define HAL_LED_ON 1
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PA9 VBUS INPUT
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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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# USART2 serial2 telem1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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define HAL_STORAGE_SIZE 16384
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# location of application code
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FLASH_BOOTLOADER_LOAD_KB 16
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# bootloader loads at start of flash
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FLASH_RESERVE_START_KB 0
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# Add CS pins to ensure they are high in bootloader
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PC2 MPU9250_CS CS
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PC15 20608_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS
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PE15 MAG_CS CS
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@ -1,4 +1,231 @@
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# hw definition file for processing by chibios_hwdef.py for the
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# mRo Pixracer board. This is a fmuv4 board
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include ../fmuv4/hwdef.dat
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
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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 -O2
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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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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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PA9 VBUS INPUT
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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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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# control of spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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define HAL_GPIO_SPEKTRUM_PWR 70
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# spektrum power is active low
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define HAL_SPEKTRUM_PWR_ENABLED 0
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# spektrum RC input pin, used as GPIO for bind for satellite receivers
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PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
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define HAL_GPIO_SPEKTRUM_RC 71
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PB2 BOOT1 INPUT
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PB5 VDD_BRICK_VALID INPUT PULLDOWN
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# USART1 is ESP8266
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PA8 USART1_RTS USART1
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# PE10 is not a hw CTS pin for USART1
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PE10 8266_CTS INPUT
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# make GPIOs for ESP8266 available via mavlink relay control as pins
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# 60 to 63
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PB4 8266_GPIO2 OUTPUT GPIO(60)
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PE2 8266_GPI0 INPUT PULLUP GPIO(61)
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PE5 8266_PD OUTPUT HIGH GPIO(62)
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PE6 8266_RST OUTPUT HIGH GPIO(63)
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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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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_VALID INPUT PULLDOWN
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PC1 RSSI_IN ADC1
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PC2 MPU9250_CS CS
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PC3 LED_SAFETY OUTPUT
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PC4 SAFETY_IN INPUT PULLDOWN
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PC5 VDD_PERIPH_EN OUTPUT HIGH
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PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW # also USART6_RX for serial RC
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PC13 SBUS_INV OUTPUT LOW
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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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PC14 20608_DRDY INPUT
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PC15 20608_CS CS
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 SDIO_CMD SDIO
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# USART2 serial2 telem1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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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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# 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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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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PD15 MPU9250_DRDY INPUT
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# UART8 serial4 FrSky
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# allow this uart to be inverted for transmit under user control
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# the polarity is the value to use on the GPIO to change the polarity
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# to the opposite of the default
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PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
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PE3 VDD_SENSORS_EN OUTPUT HIGH
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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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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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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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PE12 MAG_DRDY INPUT
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PE15 MAG_CS CS
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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 mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ
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SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*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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# 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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# 6 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 6
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# two IMUs
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensense SPI:mpu9250 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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COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
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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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# one barometer
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BARO MS56XX SPI:ms5611_int
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@ -1,19 +0,0 @@
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# hardware config for early beta pixracer boards (prior to R12)
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include ../fmuv4/hwdef.dat
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# SPI2 SCK is on PB13
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#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
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undef SPI2_SCK
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undef PB13
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PB13 SPI2_SCK SPI2
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# note that PC13 (SBUS invert) is active low on this board
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# baro is on main sensors bus
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undef BARO
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SPIDEV ms5611_int2 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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BARO MS56XX SPI:ms5611_int2
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@ -1,54 +0,0 @@
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# hw definition file for processing by chibios_hwdef.py
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# for FMUv4 bootloader
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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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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2
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PB1 LED_BOOTLOADER OUTPUT
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PB3 LED_ACTIVITY OUTPUT
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define HAL_LED_ON 1
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PA9 VBUS INPUT
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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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# USART2 serial2 telem1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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define HAL_STORAGE_SIZE 16384
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# location of application code
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FLASH_BOOTLOADER_LOAD_KB 16
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# bootloader loads at start of flash
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FLASH_RESERVE_START_KB 0
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# Add CS pins to ensure they are high in bootloader
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PC2 MPU9250_CS CS
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PC15 20608_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS
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PE15 MAG_CS CS
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@ -1,231 +0,0 @@
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# hw definition file for processing by chibios_hwdef.py
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# for FMUv4 hardware
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
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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 -O2
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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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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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PA9 VBUS INPUT
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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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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# control of spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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define HAL_GPIO_SPEKTRUM_PWR 70
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# spektrum power is active low
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define HAL_SPEKTRUM_PWR_ENABLED 0
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# spektrum RC input pin, used as GPIO for bind for satellite receivers
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PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
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define HAL_GPIO_SPEKTRUM_RC 71
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PB2 BOOT1 INPUT
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PB5 VDD_BRICK_VALID INPUT PULLDOWN
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# USART1 is ESP8266
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PA8 USART1_RTS USART1
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# PE10 is not a hw CTS pin for USART1
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PE10 8266_CTS INPUT
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# make GPIOs for ESP8266 available via mavlink relay control as pins
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# 60 to 63
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PB4 8266_GPIO2 OUTPUT GPIO(60)
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PE2 8266_GPI0 INPUT PULLUP GPIO(61)
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PE5 8266_PD OUTPUT HIGH GPIO(62)
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PE6 8266_RST OUTPUT HIGH GPIO(63)
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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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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_VALID INPUT PULLDOWN
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PC1 RSSI_IN ADC1
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PC2 MPU9250_CS CS
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PC3 LED_SAFETY OUTPUT
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PC4 SAFETY_IN INPUT PULLDOWN
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PC5 VDD_PERIPH_EN OUTPUT HIGH
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PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW # also USART6_RX for serial RC
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PC13 SBUS_INV OUTPUT LOW
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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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PC14 20608_DRDY INPUT
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PC15 20608_CS CS
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 SDIO_CMD SDIO
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|
||||
# USART2 serial2 telem1
|
||||
PD3 USART2_CTS USART2
|
||||
PD4 USART2_RTS USART2
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
|
||||
PD7 BARO_CS CS
|
||||
|
||||
# USART3 serial3 telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
PD10 FRAM_CS CS
|
||||
PD11 USART3_CTS USART3
|
||||
PD12 USART3_RTS USART3
|
||||
|
||||
PD15 MPU9250_DRDY INPUT
|
||||
|
||||
# UART8 serial4 FrSky
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8
|
||||
|
||||
# allow this uart to be inverted for transmit under user control
|
||||
# the polarity is the value to use on the GPIO to change the polarity
|
||||
# to the opposite of the default
|
||||
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
|
||||
|
||||
PE3 VDD_SENSORS_EN OUTPUT HIGH
|
||||
|
||||
# UART7 is debug
|
||||
PE7 UART7_RX UART7 NODMA
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
||||
PE13 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)
|
||||
|
||||
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 mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ
|
||||
SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
|
||||
SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
|
||||
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
|
||||
define HAL_CHIBIOS_ARCH_FMUV4 1
|
||||
|
||||
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
|
||||
|
||||
# enable FAT filesystem
|
||||
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 2
|
||||
define HAL_BATT_CURR_PIN 3
|
||||
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_MAVLink2
|
||||
define HAL_SERIAL5_BAUD 921600
|
||||
|
||||
# 6 PWM available by default
|
||||
define BOARD_PWM_COUNT_DEFAULT 6
|
||||
|
||||
|
||||
# two IMUs
|
||||
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
|
||||
IMU Invensense SPI:mpu9250 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
|
||||
|
||||
# one barometer
|
||||
BARO MS56XX SPI:ms5611_int
|
||||
Loading…
Reference in New Issue