mirror of https://github.com/ArduPilot/ardupilot
hwdef: add FlyingMoonH743
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
232fdd51da
commit
edb7a76b87
|
|
@ -0,0 +1,41 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for FlyingmoonH743 hardware bootloader
|
||||
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
APJ_BOARD_ID 1112
|
||||
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
FLASH_RESERVE_START_KB 0
|
||||
FLASH_BOOTLOADER_LOAD_KB 128
|
||||
define HAL_USE_EMPTY_STORAGE 1
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
SERIAL_ORDER OTG1 UART5
|
||||
|
||||
PE3 LED_BOOTLOADER OUTPUT
|
||||
PE2 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
|
||||
|
||||
PC12 UART5_TX UART5 NODMA
|
||||
PD2 UART5_RX UART5 NODMA
|
||||
|
||||
PB0 ICM20689_CS CS
|
||||
PB1 ICM42605_CS CS
|
||||
PB2 ICM20649_CS CS
|
||||
PA4 RM3100_CS CS
|
||||
PA8 MAX7456_CS CS
|
||||
PA10 FRAM_CS CS SPEED_VERYLOW
|
||||
PE15 FLASH_CS CS
|
||||
|
|
@ -0,0 +1,208 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for FlyingmoonH743 hardware
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1112
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
# bootloader takes first sector
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
env OPTIMIZE -O2
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
# this is the STM32 timer that ChibiOS will use for the low level
|
||||
# driver. This must be a 32 bit timer. We currently only support
|
||||
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# this is the pin that senses USB being connected. It is an input pin
|
||||
# setup as OPENDRAIN
|
||||
PA9 VBUS INPUT OPENDRAIN
|
||||
|
||||
# The normal usage of this ordering is:
|
||||
# 1) SERIAL0: console (primary mavlink, usually USB)
|
||||
# 2) SERIAL1: telem1
|
||||
# 5) SERIAL2: telem2
|
||||
# 3) SERIAL3: primary GPS1
|
||||
# 4) SERIAL4: second GPS2
|
||||
# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
|
||||
|
||||
SERIAL_ORDER OTG1 USART1 UART4 USART2 USART3 UART5
|
||||
|
||||
# USART1 for telem1
|
||||
PB6 USART1_TX USART1
|
||||
PB7 USART1_RX USART1
|
||||
|
||||
# USART2 for primary GPS1
|
||||
PD5 USART2_TX USART2 NODMA
|
||||
PD6 USART2_RX USART2
|
||||
|
||||
# USART3 for second GPS2
|
||||
PD8 USART3_TX USART3 NODMA
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# UART4 for telem2
|
||||
PC10 UART4_TX UART4 NODMA
|
||||
PC11 UART4_RX UART4 NODMA
|
||||
|
||||
# UART5
|
||||
PC12 UART5_TX UART5 NODMA
|
||||
PD2 UART5_RX UART5 NODMA
|
||||
|
||||
# CAN Busses 1
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
# CAN Busses 2
|
||||
PB12 CAN2_RX CAN2
|
||||
PB13 CAN2_TX CAN2
|
||||
|
||||
# SPI1 for IMU OSD
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
PB0 ICM20689_CS CS
|
||||
PB1 ICM42605_CS CS
|
||||
PB2 ICM20649_CS CS
|
||||
PA4 RM3100_CS CS
|
||||
PA8 MAX7456_CS CS
|
||||
|
||||
# SPI bus for dataflash AND SD
|
||||
PD3 SPI2_SCK SPI2
|
||||
PB14 SPI2_MISO SPI2
|
||||
PB15 SPI2_MOSI SPI2
|
||||
|
||||
PA10 FRAM_CS CS SPEED_VERYLOW
|
||||
PE15 FLASH_CS CS
|
||||
|
||||
# SPI3 bus for reserve
|
||||
PB3 SPI3_SCK SPI3
|
||||
PB4 SPI3_MISO SPI3
|
||||
PB5 SPI3_MOSI SPI3
|
||||
|
||||
SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV icm42605 SPI1 DEVID2 ICM42605_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV icm20649 SPI1 DEVID3 ICM20649_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV rm3100 SPI1 DEVID4 RM3100_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV osd SPI1 DEVID5 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
||||
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ
|
||||
|
||||
# Three IMUs
|
||||
IMU Invensense SPI:icm20689 ROTATION_NONE
|
||||
IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_90
|
||||
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
|
||||
|
||||
# Two baro
|
||||
BARO SPL06 I2C:0:0x76
|
||||
BARO MS56XX I2C:0:0x77
|
||||
|
||||
# compass
|
||||
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
|
||||
|
||||
# also probe external compasses
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
|
||||
# enable RAMTROM parameter storage
|
||||
define HAL_WITH_RAMTRON 1
|
||||
# enable FAT filesystem support
|
||||
define HAL_OS_FATFS_IO 1
|
||||
# now some defines for logging and terrain data files
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
# define the order that I2C buses
|
||||
I2C_ORDER I2C1 I2C2
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
PB10 I2C2_SCL I2C2
|
||||
PB11 I2C2_SDA I2C2
|
||||
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
# PWM out pins
|
||||
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50)
|
||||
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
|
||||
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
|
||||
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
|
||||
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
|
||||
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
|
||||
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
|
||||
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
|
||||
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
|
||||
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
|
||||
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
|
||||
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
|
||||
PC7 TIM3_CH2 TIM3 PWM(13) GPIO(62) NODMA
|
||||
PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA
|
||||
PC9 TIM3_CH4 TIM3 PWM(15) GPIO(64) NODMA
|
||||
|
||||
PC15 EXTERN_GPIO1 OUTPUT GPIO(1)
|
||||
PC14 EXTERN_GPIO2 OUTPUT GPIO(2)
|
||||
PC13 EXTERN_GPIO3 OUTPUT GPIO(3)
|
||||
PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
|
||||
PE4 EXTERN_GPIO5 OUTPUT GPIO(5)
|
||||
define RELAY1_PIN_DEFAULT 1
|
||||
define RELAY2_PIN_DEFAULT 2
|
||||
define RELAY3_PIN_DEFAULT 3
|
||||
define RELAY4_PIN_DEFAULT 4
|
||||
define RELAY5_PIN_DEFAULT 5
|
||||
|
||||
# also USART6_RX for serial RC
|
||||
PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW DMA_CH0
|
||||
|
||||
# LED setup is similar to PixRacer
|
||||
define HAL_HAVE_PIXRACER_LED
|
||||
PE3 LED_RED OUTPUT GPIO(10)
|
||||
PE2 LED_GREEN OUTPUT GPIO(11)
|
||||
PE1 LED_BLUE OUTPUT GPIO(12)
|
||||
PE0 LED_YELOW OUTPUT GPIO(13)
|
||||
|
||||
define HAL_GPIO_A_LED_PIN 10
|
||||
define HAL_GPIO_B_LED_PIN 11
|
||||
define HAL_GPIO_C_LED_PIN 12
|
||||
|
||||
define HAL_GPIO_LED_ON 0
|
||||
define HAL_GPIO_LED_OFF 1
|
||||
|
||||
# analog in
|
||||
PC0 PRESSURE_SENS ADC1 SCALE(2)
|
||||
PC1 RSSI_IN ADC1 SCALE(2)
|
||||
|
||||
# define the primary battery connectors.
|
||||
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
|
||||
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
|
||||
PC4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(4)
|
||||
|
||||
define HAL_BATT_VOLT_PIN 13
|
||||
define HAL_BATT_CURR_PIN 12
|
||||
define HAL_BATT_VOLT_SCALE 22
|
||||
define HAL_BATT_CURR_SCALE 55.55
|
||||
define HAL_HAVE_SAFETY_SWITCH 1
|
||||
PE7 LED_SAFETY OUTPUT
|
||||
PE8 SAFETY_IN INPUT PULLDOWN
|
||||
|
||||
# PWM output for buzzer
|
||||
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
||||
|
||||
# setup for OSD
|
||||
define OSD_ENABLED 1
|
||||
define HAL_OSD_TYPE_DEFAULT 1
|
||||
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
||||
Loading…
Reference in New Issue