diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef-bl.dat index 713f86d5b9..6c529eb9b5 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef-bl.dat @@ -1,4 +1,54 @@ # hw definition file for processing by chibios_hwdef.py for the # mRo Pixracer board. This is a fmuv4 board -include ../fmuv4/hwdef-bl.dat +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# board ID for firmware load +APJ_BOARD_ID 11 + +# crystal frequency +OSCILLATOR_HZ 24000000 + + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 2048 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 + +PB1 LED_BOOTLOADER OUTPUT +PB3 LED_ACTIVITY OUTPUT +define HAL_LED_ON 1 + +PA9 VBUS INPUT + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# USART2 serial2 telem1 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +define HAL_STORAGE_SIZE 16384 + +# location of application code +FLASH_BOOTLOADER_LOAD_KB 16 + +# bootloader loads at start of flash +FLASH_RESERVE_START_KB 0 + +# Add CS pins to ensure they are high in bootloader +PC2 MPU9250_CS CS +PC15 20608_CS CS +PD7 BARO_CS CS +PD10 FRAM_CS CS +PE15 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef.dat index 335f0d4544..9bb42d09db 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer/hwdef.dat @@ -1,4 +1,231 @@ # hw definition file for processing by chibios_hwdef.py for the # mRo Pixracer board. This is a fmuv4 board -include ../fmuv4/hwdef.dat +define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 + +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# board ID for firmware load +APJ_BOARD_ID 11 + +# crystal frequency +OSCILLATOR_HZ 24000000 + + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 2048 + +env OPTIMIZE -O2 + +# serial port for stdout disabled, use USB console +# STDOUT_SERIAL SD7 +# STDOUT_BAUDRATE 57600 + +# only one I2C bus +I2C_ORDER I2C1 + +# to match px4 we make the first bus number 1 +define HAL_I2C_BUS_BASE 1 +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 +PA2 BATT_VOLTAGE_SENS ADC1 +PA3 BATT_CURRENT_SENS ADC1 +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# SPI1 is sensors bus +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +PA9 VBUS INPUT + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# PWM output for buzzer +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM + +# control of spektrum power pin +PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) +define HAL_GPIO_SPEKTRUM_PWR 70 + +# spektrum power is active low +define HAL_SPEKTRUM_PWR_ENABLED 0 + +# spektrum RC input pin, used as GPIO for bind for satellite receivers +PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71) +define HAL_GPIO_SPEKTRUM_RC 71 + +PB2 BOOT1 INPUT +PB5 VDD_BRICK_VALID INPUT PULLDOWN + +# USART1 is ESP8266 +PB6 USART1_TX USART1 +PB7 USART1_RX USART1 +PA8 USART1_RTS USART1 +# PE10 is not a hw CTS pin for USART1 +PE10 8266_CTS INPUT + +# make GPIOs for ESP8266 available via mavlink relay control as pins +# 60 to 63 +PB4 8266_GPIO2 OUTPUT GPIO(60) +PE2 8266_GPI0 INPUT PULLUP GPIO(61) +PE5 8266_PD OUTPUT HIGH GPIO(62) +PE6 8266_RST OUTPUT HIGH GPIO(63) + +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 PULLDOWN +PC1 RSSI_IN ADC1 +PC2 MPU9250_CS CS +PC3 LED_SAFETY OUTPUT +PC4 SAFETY_IN INPUT PULLDOWN +PC5 VDD_PERIPH_EN OUTPUT HIGH + +PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW # also USART6_RX for serial RC +PC13 SBUS_INV OUTPUT LOW + +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PC12 SDIO_CK SDIO + + +PC14 20608_DRDY INPUT +PC15 20608_CS CS + +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD2 SDIO_CMD SDIO + +# 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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat deleted file mode 100644 index 058f828681..0000000000 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat +++ /dev/null @@ -1,19 +0,0 @@ -# hardware config for early beta pixracer boards (prior to R12) - -include ../fmuv4/hwdef.dat - -# SPI2 SCK is on PB13 -#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) -undef SPI2_SCK -undef PB13 -PB13 SPI2_SCK SPI2 - -# note that PC13 (SBUS invert) is active low on this board - -# baro is on main sensors bus -undef BARO -SPIDEV ms5611_int2 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ -BARO MS56XX SPI:ms5611_int2 - - - diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat deleted file mode 100644 index 3ffc78329f..0000000000 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat +++ /dev/null @@ -1,54 +0,0 @@ -# hw definition file for processing by chibios_hwdef.py -# for FMUv4 bootloader - -# MCU class and specific type -MCU STM32F4xx STM32F427xx - -# board ID for firmware load -APJ_BOARD_ID 11 - -# crystal frequency -OSCILLATOR_HZ 24000000 - - -# ChibiOS system timer -STM32_ST_USE_TIMER 5 - -# flash size -FLASH_SIZE_KB 2048 - -# order of UARTs (and USB) -SERIAL_ORDER OTG1 USART2 - -PB1 LED_BOOTLOADER OUTPUT -PB3 LED_ACTIVITY OUTPUT -define HAL_LED_ON 1 - -PA9 VBUS INPUT - -PA11 OTG_FS_DM OTG1 -PA12 OTG_FS_DP OTG1 - -PA13 JTMS-SWDIO SWD -PA14 JTCK-SWCLK SWD - -# USART2 serial2 telem1 -PD3 USART2_CTS USART2 -PD4 USART2_RTS USART2 -PD5 USART2_TX USART2 -PD6 USART2_RX USART2 - -define HAL_STORAGE_SIZE 16384 - -# location of application code -FLASH_BOOTLOADER_LOAD_KB 16 - -# bootloader loads at start of flash -FLASH_RESERVE_START_KB 0 - -# Add CS pins to ensure they are high in bootloader -PC2 MPU9250_CS CS -PC15 20608_CS CS -PD7 BARO_CS CS -PD10 FRAM_CS CS -PE15 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat deleted file mode 100644 index 4fe070aedb..0000000000 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat +++ /dev/null @@ -1,231 +0,0 @@ -# hw definition file for processing by chibios_hwdef.py -# for FMUv4 hardware - -define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 - -# MCU class and specific type -MCU STM32F4xx STM32F427xx - -# board ID for firmware load -APJ_BOARD_ID 11 - -# crystal frequency -OSCILLATOR_HZ 24000000 - - -# ChibiOS system timer -STM32_ST_USE_TIMER 5 - -# flash size -FLASH_SIZE_KB 2048 - -env OPTIMIZE -O2 - -# serial port for stdout disabled, use USB console -# STDOUT_SERIAL SD7 -# STDOUT_BAUDRATE 57600 - -# only one I2C bus -I2C_ORDER I2C1 - -# to match px4 we make the first bus number 1 -define HAL_I2C_BUS_BASE 1 -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 -PA2 BATT_VOLTAGE_SENS ADC1 -PA3 BATT_CURRENT_SENS ADC1 -PA4 VDD_5V_SENS ADC1 SCALE(2) - -# SPI1 is sensors bus -PA5 SPI1_SCK SPI1 -PA6 SPI1_MISO SPI1 -PA7 SPI1_MOSI SPI1 - -PA9 VBUS INPUT - -PA11 OTG_FS_DM OTG1 -PA12 OTG_FS_DP OTG1 - -PA13 JTMS-SWDIO SWD -PA14 JTCK-SWCLK SWD - -# PWM output for buzzer -PA15 TIM2_CH1 TIM2 GPIO(77) ALARM - -# control of spektrum power pin -PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) -define HAL_GPIO_SPEKTRUM_PWR 70 - -# spektrum power is active low -define HAL_SPEKTRUM_PWR_ENABLED 0 - -# spektrum RC input pin, used as GPIO for bind for satellite receivers -PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71) -define HAL_GPIO_SPEKTRUM_RC 71 - -PB2 BOOT1 INPUT -PB5 VDD_BRICK_VALID INPUT PULLDOWN - -# USART1 is ESP8266 -PB6 USART1_TX USART1 -PB7 USART1_RX USART1 -PA8 USART1_RTS USART1 -# PE10 is not a hw CTS pin for USART1 -PE10 8266_CTS INPUT - -# make GPIOs for ESP8266 available via mavlink relay control as pins -# 60 to 63 -PB4 8266_GPIO2 OUTPUT GPIO(60) -PE2 8266_GPI0 INPUT PULLUP GPIO(61) -PE5 8266_PD OUTPUT HIGH GPIO(62) -PE6 8266_RST OUTPUT HIGH GPIO(63) - -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 PULLDOWN -PC1 RSSI_IN ADC1 -PC2 MPU9250_CS CS -PC3 LED_SAFETY OUTPUT -PC4 SAFETY_IN INPUT PULLDOWN -PC5 VDD_PERIPH_EN OUTPUT HIGH - -PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW # also USART6_RX for serial RC -PC13 SBUS_INV OUTPUT LOW - -PC8 SDIO_D0 SDIO -PC9 SDIO_D1 SDIO -PC10 SDIO_D2 SDIO -PC11 SDIO_D3 SDIO -PC12 SDIO_CK SDIO - - -PC14 20608_DRDY INPUT -PC15 20608_CS CS - -PD0 CAN1_RX CAN1 -PD1 CAN1_TX CAN1 -PD2 SDIO_CMD SDIO - -# 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