From eb91ab87fab430abc52125bb56816fccf2dfa79b Mon Sep 17 00:00:00 2001 From: MAD-CRAZY-MAN Date: Fri, 16 Dec 2022 08:11:55 +1100 Subject: [PATCH] hwdef: added ThePeach K1/R1 --- .../hwdef/thepeach-k1/README.md | 87 ++++++ .../hwdef/thepeach-k1/hwdef-bl.dat | 84 +++++ .../hwdef/thepeach-k1/hwdef.dat | 292 ++++++++++++++++++ .../AP_HAL_ChibiOS/hwdef/thepeach-k1/main.png | Bin 0 -> 100010 bytes .../hwdef/thepeach-k1/pinmap_bottom.png | Bin 0 -> 19610 bytes .../hwdef/thepeach-k1/pinmap_top.png | Bin 0 -> 24557 bytes .../hwdef/thepeach-r1/README.md | 93 ++++++ .../hwdef/thepeach-r1/hwdef-bl.dat | 84 +++++ .../hwdef/thepeach-r1/hwdef.dat | 292 ++++++++++++++++++ .../AP_HAL_ChibiOS/hwdef/thepeach-r1/main.png | Bin 0 -> 104888 bytes .../hwdef/thepeach-r1/pinmap.png | Bin 0 -> 33833 bytes 11 files changed, 932 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/main.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/pinmap_bottom.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/pinmap_top.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/main.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/pinmap.png diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/README.md b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/README.md new file mode 100644 index 0000000000..26eae6d368 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/README.md @@ -0,0 +1,87 @@ +# ThePeach FCC-K1 + +:::warning +Ardupilot does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://thepeach.kr/) for hardware support or compliance issues. +::: + +**ThePeach FCC-K1** is an advanced autopilot designed and manufactured in **ThePeach**. + +![ThePeach FCC-K1](./main.png) + +## Specifications + +- Main Processor: STM32F427VIT6 + - 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory + +- IO Processor: STM32F100C8T6 + - ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM + +- On-board sensors + - Accel/Gyro: ICM-20602 + - Accel/Gyro/Mag: MPU-9250 + - Barometer: MS5611 + +- Interfaces + - 8+5 PWM output (8 from IO, 5 from FMU) + - Spektrum DSM / DSM2 / DSM-X Satellite compatible input + - Futaba S.BUS compatible input and output + - PPM sum signal input + - Analogue / PWM RSSI input + - S.Bus servo output + - Safety switch/LED + - 4x UART Ports: TELEM1, TELEM2, GPS, SERIAL4 + - 2x I2C Ports + - 1x CAN bus + - 1x ADC + - Analog inputs for voltage / Current of 1 battery + +- Mechanical + - Dimensions: 40.2 x 61.1 x 24.8 mm + - Weight: 65g + +## Connectors + +![pinmap_top](./pinmap_top.png) + +![pinmap_bottom](./pinmap_bottom.png) + +## Serial Port Mapping + +| UART | Device | Port +--- | --- | --- +USART1 | /dev/ttyS0 | IO Processor Debug +USART2 | /dev/ttyS1 | TELEM1 (flow control) +USART3 | /dev/ttyS2 | TELEM2 (flow control) +UART4 | /dev/ttyS3 | GPS1 +USART6 | /dev/ttyS4 | PX4IO +UART7 | /dev/ttyS5 | Debug Console +UART8 | /dev/ttyS6 | TELEM4 + +## Voltage Ratings + +**ThePeach FCC-K1** can be double-redundant on the power supply if two power sources are supplied. +The two power rails are: **POWER** and **USB**. + +:::note +The output power rails **FMU PWM OUT** and **I/O PWM OUT** do not power the flight controller board (and are not powered by it). +You must supply power to one of **POWER** or **USB** or the board will be unpowered. +::: + +**Normal Operation Maximum Ratings** + +Under these conditions all power sources will be used in this order to power the system: + +1. POWER input (5V to 5.5V) +2. USB input (4.75V to 5.25V) + +**Absolute Maximum Ratings** + +Under these conditions, all power sources cause permanent damage to the flight controller. + +1. POWER input (5.5V Over) +2. USB input (5.5V Over) + +## Where to buy + +Order from [ThePeach](http://thepeach.shop/) \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef-bl.dat new file mode 100644 index 0000000000..80d2aefcfa --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef-bl.dat @@ -0,0 +1,84 @@ +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# USB setup +USB_PRODUCT 0x0001 +USB_STRING_MANUFACTURER "ThePeach" +USB_STRING_PRODUCT "FCC-K1 BL" + +# board ID for firmware load +APJ_BOARD_ID 212 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 2048 + +# location of application code +FLASH_BOOTLOADER_LOAD_KB 16 + +# bootloader loads at start of flash +FLASH_RESERVE_START_KB 0 + +# USB setup +USB_STRING_MANUFACTURER "ArduPilot" + +# baudrate to run bootloader at on uarts +define BOOTLOADER_BAUDRATE 115200 + +# uarts and USB to run bootloader protocol on +SERIAL_ORDER OTG1 USART2 USART3 UART7 + +# this is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN +PA9 VBUS INPUT OPENDRAIN + +# 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 + +# Another USART, this one for telem1 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# the telem2 USART, also with RTS/CTS available +# USART3 serial3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# define a LED +PE12 LED_BOOTLOADER OUTPUT +define HAL_LED_ON 1 + +# this adds a C define which sets up the ArduPilot architecture +# define. Any line starting with 'define' is copied literally as +# a #define in the hwdef.h header +define HAL_CHIBIOS_ARCH_FMUV3 1 + +# we need to tell HAL_ChibiOS/Storage.cpp how much storage is +# available (in bytes) + +# Add CS pins to ensure they are high in bootloader +PC2 MPU9250_CS CS +PC15 ICM20602_CS CS +PD7 MS5611_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat new file mode 100644 index 0000000000..38df0d809a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat @@ -0,0 +1,292 @@ +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# We set a specific HAL_BOARD_SUBTYPE, allowing for custom config in +# drivers. For this to be used the subtype needs to be added to +# AP_HAL/AP_HAL_Boards.h as well. +define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 + +# USB setup +USB_VENDOR 0x35a7 # ONLY FOR USE BY ThePeach +USB_PRODUCT 0x0001 +USB_STRING_MANUFACTURER "ThePeach" +USB_STRING_PRODUCT "FCC-K1" + +# board ID for firmware load +APJ_BOARD_ID 212 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# Now the size of flash in kilobytes, for creating the ld.script. + +# flash size +FLASH_SIZE_KB 2048 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# The value for STDOUT_SERIAL is a serial device name, and must be for a +# serial device for which pins are defined in this file. For example, SD7 +# is for UART7 (SD7 == "serial device 7" in ChibiOS). +# STDOUT_SERIAL SD7 +# STDOUT_BAUDRATE 57600 + +# order of I2C buses +I2C_ORDER I2C2 I2C1 + + +# The normal usage of this ordering is: +# 1) SERIAL0: console (primary mavlink, usually USB) +# 2) SERIAL1: telem1 +# 3) SERIAL2: telem2 +# 4) SERIAL3: primary GPS +# 5) SERIAL4: GPS2 +# 6) SERIAL5: extra UART (usually RTOS debug console) + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 + +# If the board has an IOMCU connected via a UART then this defines the +# UART to talk to that MCU. Leave it out for boards with no IOMCU. + +# UART for IOMCU +IOMCU_UART USART6 + +# UART4 serial GPS +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 + +# Now define the primary battery connectors. The labels we choose here +# are used to create defines for pins in the various drivers, so +# choose names that match existing board setups where possible. Here +# we define two pins PA2 and PA3 for voltage and current sensing, with +# a scale factor of 1.0 and connected on ADC1. The pin number this +# maps to in hal.adc is automatically determined using the datasheet +# tables in STM32F427xx.py. + +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# Now the VDD sense pin. This is used to sense primary board voltage. +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# Now the first SPI bus. At minimum you need SCK, MISO and MOSI pin +definitions. You can add speed modifiers if you want them, otherwise +the defaults for the peripheral class are used. + +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# This defines an output pin which will default to output LOW. It is a +# pin that enables peripheral power on this board. + +PA8 VDD_5V_PERIPH_EN OUTPUT LOW + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PA9 VBUS INPUT OPENDRAIN + +# This is a commented out pin for talking to the debug UART on the +# IOMCU, not used yet, but left as a comment (with a '#' in front) for +# future reference +# PA10 IO-debug-console + +# 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 + +# This defines the PWM pin for the buzzer (if there is one). It is +# also mapped to a GPIO output so you can play with the buzzer via +# MAVLink relay commands if you want to. + +# PWM output for buzzer +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM + +# This defines some input pins, currently unused. +PB2 BOOT1 INPUT + +# Now the first I2C bus. The pin speeds are automatically setup +# correctly, but can be overridden here if needed. +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# the 2nd I2C bus +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# the 2nd SPI bus +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# This input pin is used to detect that power is valid on USB. +PC0 VBUS_nVALID INPUT PULLUP + +# This defines more ADC inputs. +PC3 AUX_POWER ADC1 SCALE(1) +PC4 AUX_ADC2 ADC1 SCALE(1) + +# And the analog input for airspeed (rarely used these days). +PC5 PRESSURE_SENS ADC1 SCALE(2) + +# This sets up the UART for talking to the IOMCU. Note that it is +# vital that this UART has DMA available. See the DMA settings below +# for more information. + +# USART6 to IO +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 + +# Now setup the pins for the microSD card, if available. +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PC12 SDIO_CK SDIO +PD2 SDIO_CMD SDIO + +# More CS pins for more sensors. The labels for all CS pins need to +# match the SPI device table later in this file. +PC2 MPU9250_CS CS +PC15 ICM20602_CS CS +PD7 MS5611_CS CS + +# the first CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +# Another USART, this one for telem1. This one has RTS and CTS lines. +# USART2 serial2 telem1 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# The telem2 USART, also with RTS/CTS available. +# USART3 serial3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# The CS pin for FRAM (ramtron). This one is marked as using +# SPEED_VERYLOW, which matches the HAL_PX4 setup. +PD10 FRAM_CS CS SPEED_VERYLOW + +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set BRD_PWM_COUNT to choose how many of the PWM +# outputs on the primary MCU are setup as PWM and how many as +# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +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) + +# This is the invensense data-ready pin. We don't use it in the +# default driver. +PC14 ICM20602_DRDY INPUT +PD15 MPU9250_DRDY INPUT + +# the 2nd GPS UART +# UART8 serial4 GPS2 +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# This is the pin to enable the sensors rail. It can be used to power +# cycle sensors to recover them in case there are problems with power on +# timing affecting sensor stability. We pull it high by default. +PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# Define a LED, mapping it to GPIO(0). LOW will illuminate the LED +PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0) + +# Power flag pins: these tell the MCU the status of the various power +# supplies that are available. The pin names need to exactly match the +# names used in AnalogIn.cpp. +PB5 VDD_BRICK_nVALID INPUT PULLUP +PE15 VDD_5V_PERIPH_nOC INPUT PULLUP + +# SPI devices +SPIDEV ms5611 SPI1 DEVID3 MS5611_CS MODE3 20*MHZ 20*MHZ +SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3 4*MHZ 8*MHZ +SPIDEV mpu9250 SPI1 DEVID2 MPU9250_CS MODE3 4*MHZ 8*MHZ +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# up to 2 IMUs +IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90 +IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_YAW_90 + +# compass as part +COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90 +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +define HAL_DEFAULT_INS_FAST_SAMPLE 3 + +# one baro +BARO MS56XX SPI:ms5611 + +# This adds a C define which sets up the ArduPilot architecture +# define. Any line starting with 'define' is copied literally as +# a #define in the hwdef.h header. +define HAL_CHIBIOS_ARCH_FMUV3 1 +define BOARD_TYPE_DEFAULT 3 + +# Nnow some defines for logging and terrain data files. +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# We need to tell HAL_ChibiOS/Storage.cpp how much storage is +# available (in bytes). +define HAL_STORAGE_SIZE 16384 + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +# This enables the use of a ramtron device for storage, if one is +# found on SPI. You must have a ramtron entry in the SPI device table. + +# Enable RAMTROM parameter storage. +define HAL_WITH_RAMTRON 1 + +# Enable FAT filesystem support (needs a microSD defined via SDIO). +define HAL_OS_FATFS_IO 1 + +# Now setup the default battery pins driver analog pins and default +# scaling for the power brick. +define HAL_BATT_VOLT_PIN 2 +define HAL_BATT_CURR_PIN 3 +define HAL_BATT_VOLT_SCALE 18.182 +define HAL_BATT_CURR_SCALE 36.364 + +# This defines the default maximum clock on I2C devices. +define HAL_I2C_MAX_CLOCK 100000 + +# We can't share the IO UART (USART6). +DMA_NOSHARE USART6_TX ADC1 +DMA_PRIORITY USART6* SPI* + +# List of files to put in ROMFS. For fmuv3 we need an IO firmware so +# we can automatically update the IOMCU firmware on boot. The format +# is "ROMFS ROMFS-filename source-filename". 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[manufacturer](https://thepeach.kr/) for hardware support or compliance issues. +::: + +**ThePeach FCC-R1** is an advanced autopilot designed and made in **ThePeach**. + +![ThePeach_R1](./main.png) + +## Specifications + +- Main Processor: STM32F427VIT6 + - 32bit ARM Cortex-M4, 168 MHz 256 KB RAM 2 MB Flash memory + +- IO Processor: STM32F100C8T6 + - ARM Cortex-M3, 32bit ARM Cortex-M3, 24 MHz, 8KB SRAM + +- On-board sensors + - Accel/Gyro: ICM-20602 + - Accel/Gyro/Mag: MPU-9250 + - Barometer: MS5611 + +- Interfaces + - 8+6 PWM output (8 from IO, 6 from FMU) + - Spektrum DSM / DSM2 / DSM-X Satellite compatible input + - Futaba S.BUS compatible input and output + - PPM sum signal input + - Analogue / PWM RSSI input + - S.Bus servo output + - Safety switch/LED + - 4x UART: TELEM1, TELEM2(Raspberry Pi CM3+), GPS, SERIAL4 + - 1x I2C Ports + - 1x CAN bus + - Analog inputs for voltage / Current of 1 battery + +- Interfaces For Raspberry Pi CM3+ + - VBUS + - DDR2 Connector: Raspberry Pi CM3+ + - 1x UART + - 2x USB + - 1x Raspberry Pi Camera + +- Mechanical + - Dimensions: 49.2 x 101 x 18.2mm + - Weight: 100g + +## Connectors + +![pinmap_top](./pinmap.png) + +## Serial Port Mapping + +| UART | Device | Port | +| ------ | ---------- | -------------------------- | +| USART1 | /dev/ttyS0 | IO Processor Debug | +| USART2 | /dev/ttyS1 | TELEM1 (flow control) | +| USART3 | /dev/ttyS2 | TELEM2 (Raspberry pi cm3+) | +| UART4 | /dev/ttyS3 | GPS1 | +| USART6 | /dev/ttyS4 | PX4IO | +| UART7 | /dev/ttys5 | Debug console | +| UART8 | /dev/ttyS6 | TELEM4 | + +## Voltage Ratings + +**ThePeach FCC-R1** can be double-redundant on the power supply if two power sources are supplied. The two power rails are: **POWER** and **USB**. + +Note: + +1. The output power rails **FMU PWM OUT** and **I/O PWM OUT** do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER** or **USB** or the board will be unpowered. +2. The USB do not power the **Raspberry Pi CM3+**. You must supply power to **POWER** or the Raspberry Pi CM3+ will be unpowered. + +**Normal Operation Maximum Ratings** + +Under these conditions, all power sources will be used in this order to power the system: + +1. POWER input (5V to 5.5V) +2. USB input (4.75V to 5.25V) + +**Absolute Maximum Ratings** + +Under these conditions, all power sources cause permanent damage to the flight controller. + +1. POWER input (5.5V Over) + +2. USB input (5.5V Over) + + +## Where to buy + +Order from [ThePeach](http://thepeach.shop/) \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef-bl.dat new file mode 100644 index 0000000000..fb36c5c597 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef-bl.dat @@ -0,0 +1,84 @@ +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# USB setup +USB_PRODUCT 0x0002 +USB_STRING_MANUFACTURER "ThePeach" +USB_STRING_PRODUCT "FCC-R1 BL" + +# board ID for firmware load +APJ_BOARD_ID 213 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 2048 + +# location of application code +FLASH_BOOTLOADER_LOAD_KB 16 + +# bootloader loads at start of flash +FLASH_RESERVE_START_KB 0 + +# USB setup +USB_STRING_MANUFACTURER "ArduPilot" + +# baudrate to run bootloader at on uarts +define BOOTLOADER_BAUDRATE 115200 + +# uarts and USB to run bootloader protocol on +SERIAL_ORDER OTG1 USART2 USART3 UART7 + +# this is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN +PA9 VBUS INPUT OPENDRAIN + +# 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 + +# Another USART, this one for telem1 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# the telem2 USART, also with RTS/CTS available +# USART3 serial3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# define a LED +PE12 LED_BOOTLOADER OUTPUT +define HAL_LED_ON 1 + +# this adds a C define which sets up the ArduPilot architecture +# define. Any line starting with 'define' is copied literally as +# a #define in the hwdef.h header +define HAL_CHIBIOS_ARCH_FMUV3 1 + +# we need to tell HAL_ChibiOS/Storage.cpp how much storage is +# available (in bytes) + +# Add CS pins to ensure they are high in bootloader +PC2 MPU9250_CS CS +PC15 ICM20602_CS CS +PD7 MS5611_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat new file mode 100644 index 0000000000..da59e0c85b --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat @@ -0,0 +1,292 @@ +# MCU class and specific type +MCU STM32F4xx STM32F427xx + +# We set a specific HAL_BOARD_SUBTYPE, allowing for custom config in +# drivers. For this to be used the subtype needs to be added to +# AP_HAL/AP_HAL_Boards.h as well. +define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 + +# USB setup +USB_VENDOR 0x35a7 # ONLY FOR USE BY ThePeach +USB_PRODUCT 0x0002 +USB_STRING_MANUFACTURER "ThePeach" +USB_STRING_PRODUCT "FCC-R1" + +# board ID for firmware load +APJ_BOARD_ID 213 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# Now the size of flash in kilobytes, for creating the ld.script. + +# flash size +FLASH_SIZE_KB 2048 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# The value for STDOUT_SERIAL is a serial device name, and must be for a +# serial device for which pins are defined in this file. For example, SD7 +# is for UART7 (SD7 == "serial device 7" in ChibiOS). +# STDOUT_SERIAL SD7 +# STDOUT_BAUDRATE 57600 + +# order of I2C buses +I2C_ORDER I2C2 I2C1 + + +# The normal usage of this ordering is: +# 1) SERIAL0: console (primary mavlink, usually USB) +# 2) SERIAL1: telem1 +# 3) SERIAL2: telem2 +# 4) SERIAL3: primary GPS +# 5) SERIAL4: GPS2 +# 6) SERIAL5: extra UART (usually RTOS debug console) + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 + +# If the board has an IOMCU connected via a UART then this defines the +# UART to talk to that MCU. Leave it out for boards with no IOMCU. + +# UART for IOMCU +IOMCU_UART USART6 + +# UART4 serial GPS +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 + +# Now define the primary battery connectors. The labels we choose here +# are used to create defines for pins in the various drivers, so +# choose names that match existing board setups where possible. Here +# we define two pins PA2 and PA3 for voltage and current sensing, with +# a scale factor of 1.0 and connected on ADC1. The pin number this +# maps to in hal.adc is automatically determined using the datasheet +# tables in STM32F427xx.py. + +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# Now the VDD sense pin. This is used to sense primary board voltage. +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# Now the first SPI bus. At minimum you need SCK, MISO and MOSI pin +definitions. You can add speed modifiers if you want them, otherwise +the defaults for the peripheral class are used. + +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# This defines an output pin which will default to output LOW. It is a +# pin that enables peripheral power on this board. + +PA8 VDD_5V_PERIPH_EN OUTPUT LOW + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PA9 VBUS INPUT OPENDRAIN + +# This is a commented out pin for talking to the debug UART on the +# IOMCU, not used yet, but left as a comment (with a '#' in front) for +# future reference +# PA10 IO-debug-console + +# 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 + +# This defines the PWM pin for the buzzer (if there is one). It is +# also mapped to a GPIO output so you can play with the buzzer via +# MAVLink relay commands if you want to. + +# PWM output for buzzer +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM + +# This defines some input pins, currently unused. +PB2 BOOT1 INPUT + +# Now the first I2C bus. The pin speeds are automatically setup +# correctly, but can be overridden here if needed. +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# the 2nd I2C bus +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# the 2nd SPI bus +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# This input pin is used to detect that power is valid on USB. +PC0 VBUS_nVALID INPUT PULLUP + +# This defines more ADC inputs. +PC3 AUX_POWER ADC1 SCALE(1) +PC4 AUX_ADC2 ADC1 SCALE(1) + +# And the analog input for airspeed (rarely used these days). +PC5 PRESSURE_SENS ADC1 SCALE(2) + +# This sets up the UART for talking to the IOMCU. Note that it is +# vital that this UART has DMA available. See the DMA settings below +# for more information. + +# USART6 to IO +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 + +# Now setup the pins for the microSD card, if available. +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PC12 SDIO_CK SDIO +PD2 SDIO_CMD SDIO + +# More CS pins for more sensors. The labels for all CS pins need to +# match the SPI device table later in this file. +PC2 MPU9250_CS CS +PC15 ICM20602_CS CS +PD7 MS5611_CS CS + +# the first CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +# Another USART, this one for telem1. This one has RTS and CTS lines. +# USART2 serial2 telem1 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# The telem2 USART, also with RTS/CTS available. +# USART3 serial3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# The CS pin for FRAM (ramtron). This one is marked as using +# SPEED_VERYLOW, which matches the HAL_PX4 setup. +PD10 FRAM_CS CS SPEED_VERYLOW + +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set BRD_PWM_COUNT to choose how many of the PWM +# outputs on the primary MCU are setup as PWM and how many as +# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +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) + +# This is the invensense data-ready pin. We don't use it in the +# default driver. +PC14 ICM20602_DRDY INPUT +PD15 MPU9250_DRDY INPUT + +# the 2nd GPS UART +# UART8 serial4 GPS2 +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# This is the pin to enable the sensors rail. It can be used to power +# cycle sensors to recover them in case there are problems with power on +# timing affecting sensor stability. We pull it high by default. +PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# Define a LED, mapping it to GPIO(0). LOW will illuminate the LED +PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0) + +# Power flag pins: these tell the MCU the status of the various power +# supplies that are available. The pin names need to exactly match the +# names used in AnalogIn.cpp. +PB5 VDD_BRICK_nVALID INPUT PULLUP +PE15 VDD_5V_PERIPH_nOC INPUT PULLUP + +# SPI devices +SPIDEV ms5611 SPI1 DEVID3 MS5611_CS MODE3 20*MHZ 20*MHZ +SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3 4*MHZ 8*MHZ +SPIDEV mpu9250 SPI1 DEVID2 MPU9250_CS MODE3 4*MHZ 8*MHZ +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# up to 2 IMUs +IMU Invensense SPI:icm20602 ROTATION_YAW_270 +IMU Invensense SPI:mpu9250 ROTATION_YAW_270 + +# compass as part +COMPASS AK8963:probe_mpu9250 0 ROTATION_YAW_270 +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +define HAL_DEFAULT_INS_FAST_SAMPLE 3 + +# one baro +BARO MS56XX SPI:ms5611 + +# This adds a C define which sets up the ArduPilot architecture +# define. Any line starting with 'define' is copied literally as +# a #define in the hwdef.h header. +define HAL_CHIBIOS_ARCH_FMUV3 1 +define BOARD_TYPE_DEFAULT 3 + +# Nnow some defines for logging and terrain data files. +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# We need to tell HAL_ChibiOS/Storage.cpp how much storage is +# available (in bytes). +define HAL_STORAGE_SIZE 16384 + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +# This enables the use of a ramtron device for storage, if one is +# found on SPI. You must have a ramtron entry in the SPI device table. + +# Enable RAMTROM parameter storage. +define HAL_WITH_RAMTRON 1 + +# Enable FAT filesystem support (needs a microSD defined via SDIO). +define HAL_OS_FATFS_IO 1 + +# Now setup the default battery pins driver analog pins and default +# scaling for the power brick. +define HAL_BATT_VOLT_PIN 2 +define HAL_BATT_CURR_PIN 3 +define HAL_BATT_VOLT_SCALE 18.182 +define HAL_BATT_CURR_SCALE 36.364 + +# This defines the default maximum clock on I2C devices. +define HAL_I2C_MAX_CLOCK 100000 + +# We can't share the IO UART (USART6). +DMA_NOSHARE USART6_TX ADC1 +DMA_PRIORITY USART6* SPI* + +# List of files to put in ROMFS. For fmuv3 we need an IO firmware so +# we can automatically update the IOMCU firmware on boot. The format +# is "ROMFS ROMFS-filename source-filename". 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