diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef-bl.dat new file mode 100644 index 0000000000..f24fda9cb8 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef-bl.dat @@ -0,0 +1,57 @@ +# hw definition file for processing by chibios_hwdef.py +# for F765 bootloader + +# MCU class and specific type +MCU STM32F7xx STM32F767xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# board ID for firmware load +APJ_BOARD_ID 55 + +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 32 + +PE4 LED_BOOTLOADER OUTPUT HIGH +PE5 LED_ACTIVITY OUTPUT HIGH +define HAL_LED_ON 0 + + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART5 + +# UART5 +PD2 UART5_RX UART5 +PB9 UART5_TX UART5 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +# PF10 MS5611_CS CS +# PF2 ICM20689_CS CS SPEED_VERYLOW +# PF3 ICM20602_CS CS SPEED_VERYLOW +# PF4 BMI055_G_CS CS +# PG10 BMI055_A_CS CS +# PF5 FRAM_CS CS SPEED_VERYLOW +# PF11 SPARE_CS CS +# PH5 AUXMEM_CS CS +# PI4 EXTERNAL1_CS1 CS +# PI10 EXTERNAL1_CS2 CS +# PI11 EXTERNAL1_CS3 CS +# PI6 EXTERNAL2_CS1 CS +# PI7 EXTERNAL2_CS2 CS +# PI8 EXTERNAL2_CS3 CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef.dat new file mode 100644 index 0000000000..29aeac07fa --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef.dat @@ -0,0 +1,252 @@ +# hw definition file for processing by chibios_hwdef.py +# for SmartAP AIRLink hardware + +# MCU class and specific type +MCU STM32F7xx STM32F767xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# board ID for firmware load +APJ_BOARD_ID 55 + +FLASH_RESERVE_START_KB 32 + +# flash size +FLASH_SIZE_KB 2048 + +env OPTIMIZE -O2 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART3 OTG2 + +# default the 2nd interface to MAVLink2 +define HAL_OTG1_PROTOCOL SerialProtocol_MAVLink2 + +# USB support +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# debugging support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 - ICM20602 +PA5 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PB5 SPI1_MOSI SPI1 + +# SPI2 - MPU9250 FPC +PI1 SPI2_SCK SPI2 +PI2 SPI2_MISO SPI2 +PI3 SPI2_MOSI SPI2 + +# SPI3 - MPU9250 Board +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PB2 SPI3_MOSI SPI3 + +# SPI5 - FRAM +PF7 SPI5_SCK SPI5 +PF8 SPI5_MISO SPI5 +PF11 SPI5_MOSI SPI5 + +# sensor CS +PI9 ICM20602_CS CS SPEED_VERYLOW +PH5 MPU_FPC_CS CS +PI8 MPU_BOARD_CS CS +PG7 FRAM_CS CS SPEED_VERYLOW + +# I2C buses +PB8 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + +PH7 I2C3_SCL I2C3 +PH8 I2C3_SDA I2C3 + +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +# order of I2C buses +I2C_ORDER I2C3 I2C4 I2C1 I2C2 +define HAL_I2C_INTERNAL_MASK 3 + +# enable sensors power pins +PI11 VDD_3V3_SENSORS_EN OUTPUT HIGH +PD15 VDD_3V3_SENSORS2_EN OUTPUT HIGH +PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH +PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH + +# start peripheral power off, then enable after init +# this prevents a problem with radios that use RTS for +# bootloader hold +PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH + +# drdy pins +PF2 DRDY4_ICM20602 INPUT +PH12 MPU_FPC_DRDY INPUT +PI6 MPU_BOARD_DRDY INPUT + +# UART for IOMCU +IOMCU_UART USART6 + +# UARTs + +# USART2 is telem3 +PA3 USART2_RX USART2 NODMA +PD5 USART2_TX USART2 NODMA +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# USART1 is GPS1 +PB15 USART1_RX USART1 NODMA +PB14 USART1_TX USART1 NODMA + +# USART3 is debug +PD9 USART3_RX USART3 NODMA +PD8 USART3_TX USART3 NODMA +#PD11 USART3_CTS USART3 +#PD12 USART3_RTS USART3 + +# UART4 is ext +PH14 UART4_RX UART4 NODMA +PH13 UART4_TX UART4 NODMA + +# UART5 is telem2 +PD2 UART5_RX UART5 +PB9 UART5_TX UART5 + +# USART6 for IOMCU +PC7 USART6_RX USART6 +PC6 USART6_TX USART6 + +# UART7 is telem1 +PF6 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +# UART8 is for gps2 +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA + +# PWM AUX channels +PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) +PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) +PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) +# we need to disable DMA on the last 2 FMU channels +# as timer 12 doesn't have a TIMn_UP DMA option +PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA +PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA + +# PWM output for buzzer +PF9 TIM14_CH1 TIM14 GPIO(77) ALARM + +# analog in +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC0 BATT_CURRENT_SENS ADC1 SCALE(1) + +PB0 RSSI_IN ADC1 SCALE(1) + +#PF5 HW_REV_SENS ADC3 SCALE(1) +#PF4 HW_VER_SENS ADC3 SCALE(1) + +PB1 VDD_5V_SENS ADC1 SCALE(2) +PA0 SCALED_V3V3 ADC1 SCALE(2) + +undef HAL_HAVE_BOARD_VOLTAGE +undef HAL_HAVE_SAFETY_SWITCH 0 + +# setup scaling defaults for power brick +define HAL_BATT_VOLT_SCALE 18.0 +define HAL_BATT_CURR_SCALE 24.0 +define HAL_BATT_VOLT_PIN 0 +define HAL_BATT_CURR_PIN 1 + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +PB12 CAN2_RX CAN2 +PB6 CAN2_TX CAN2 + +# GPIOs +PB10 HEATER_EN OUTPUT LOW GPIO(80) +define HAL_HEATER_GPIO_PIN 80 + +# heater is on when pulled low +define HAL_HEATER_GPIO_ON 0 + +# SPI devices +SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3 2*MHZ 8*MHZ +SPIDEV mpu9250_fpc SPI2 DEVID1 MPU_FPC_CS MODE3 4*MHZ 8*MHZ +SPIDEV mpu9250_board SPI3 DEVID1 MPU_BOARD_CS MODE3 4*MHZ 8*MHZ +SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# up to 3 IMUs +IMU Invensense SPI:icm20602 ROTATION_YAW_270 +IMU Invensense SPI:mpu9250_fpc ROTATION_YAW_180 +IMU Invensense SPI:mpu9250_board ROTATION_YAW_90 + +define HAL_DEFAULT_INS_FAST_SAMPLE 7 + +BARO MS56XX I2C:0:0x77 +BARO BMP388 I2C:1:0x76 + +COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE +COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 + +# also problem all external compass types +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +# microSD support +PG9 SDMMC2_D0 SDMMC2 +PG10 SDMMC2_D1 SDMMC2 +PG11 SDMMC2_D2 SDMMC2 +PG12 SDMMC2_D3 SDMMC2 +PD6 SDMMC2_CK SDMMC2 +PD7 SDMMC2_CMD SDMMC2 + +# red LED marked as B/E +PE5 LED_RED OUTPUT OPENDRAIN GPIO(90) + +# green LED marked as PWR. We leave this solid on, but allow +# for it to be controlled as a relay if needed +PE4 LED_GREEN OUTPUT GPIO(91) LOW + +# blue LED marked as ACT +PE3 LED_BLUE OUTPUT GPIO(92) HIGH + +# setup for BoardLED2 +define HAL_GPIO_A_LED_PIN 90 +define HAL_GPIO_B_LED_PIN 92 +define HAL_GPIO_LED_ON 0 + +# enable RAMTROM parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +DMA_PRIORITY SDMMC* USART6* ADC* SPI* TIM* + +# we can't share IO UART (USART6) +DMA_NOSHARE USART6_TX USART6_RX ADC1 +DMA_PRIORITY USART6* UART5_RX + +define FATFS_HAL_DEVICE SDCD2 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin