hwdef: AIRLink board support

libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef-bl.dat

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+# 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

libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef.dat

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+# 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