From f4277adadc7055eaca874cd2cef96bff4971cfcb Mon Sep 17 00:00:00 2001 From: Vitaliy Nimych Date: Sat, 21 Dec 2024 19:25:18 +0200 Subject: [PATCH] add Stellar H7V2 target --- Tools/AP_Bootloader/board_types.txt | 1 + .../hwdef/StellarH7V2/hwdef-bl.dat | 42 +++++ .../hwdef/StellarH7V2/hwdef.dat | 174 ++++++++++++++++++ 3 files changed, 217 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef.dat diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index a3a0665afd..dd1381224e 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -334,6 +334,7 @@ AP_HW_MountainEagleH743 1444 AP_HW_StellarF4 1500 AP_HW_GEPRCF745BTHD 1501 AP_HW_GEPRC_TAKER_H743 1502 +AP_HW_StellarH7V2 1503 AP_HW_HGLRCF405V4 1524 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef-bl.dat new file mode 100644 index 0000000000..fc8a8d3bb9 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef-bl.dat @@ -0,0 +1,42 @@ +# hw definition file for Stellar H7V2 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1503 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts 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 + + +# order of UARTs (and USB). Allow bootloading on USB and telem1 +SERIAL_ORDER OTG1 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make sure Vsw is on during bootloader +PD10 PINIO1 OUTPUT LOW + +PE3 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PC15 IMU_CS CS +PB12 MAX7456_CS CS +PE11 FLASH_CS CS + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef.dat new file mode 100644 index 0000000000..9f808e3196 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef.dat @@ -0,0 +1,174 @@ +# hw definition file for Stellar H7V2 + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1503 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 +env OPTIMIZE -Os + +# bootloader takes first sector +FLASH_RESERVE_START_KB 128 + + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for IMU1 (MPU6000) +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 +PC15 IMU1_CS CS + +# SPI2 for MAX7456 +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 +PB12 MAX7456_CS CS + +# SPI4 NAND W25M01G/2G Not supported yet +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 +PE11 FLASH_CS CS + +# I2C bus +I2C_ORDER I2C2 + +# I2C2 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# ADC +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PA4 BATT2_CURRENT_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT2_CURR_PIN 7 +define HAL_BATT_VOLT_SCALE 11.0 +define HAL_BATT_CURR_SCALE 10.0 + +# LED +# green LED1 marked as B/E +# blue LED0 marked as ACT +define AP_NOTIFY_GPIO_LED_2_ENABLED 1 +PE3 LED0 OUTPUT LOW GPIO(90) +PE4 LED1 OUTPUT LOW GPIO(91) +define HAL_GPIO_A_LED_PIN 91 +define HAL_GPIO_B_LED_PIN 90 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 + +# USART1 (telem2) +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +# USART2 (GPS1) +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 (GPS2) +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 + +# UART4 (spare) +PB9 UART4_TX UART4 +PB8 UART4_RX UART4 + +# USART6 +PC7 USART6_RX USART6 +PC6 USART6_TX USART6 + +# UART7 (telem1) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# UART8 (spare) +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +# Motors +PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) +PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) +PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) +PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) +PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) +PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) +PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) + +# buzzer +PB2 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 + +# 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 + +# GPIOs +PD10 PINIO1 OUTPUT GPIO(81) LOW + +DMA_PRIORITY S* + +define HAL_STORAGE_SIZE 32768 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +STORAGE_FLASH_PAGE 14 + +# spi devices +SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ +SPIDEV osd SPI2 DEVID2 MAX7456_CS MODE0 10*MHZ 10*MHZ + + +DMA_NOSHARE SPI1* SPI4* + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# IMU +IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer +BARO DPS310 I2C:0:0x76 +BARO BMP280 I2C:0:0x76 + +define HAL_OS_FATFS_IO 1 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin