# hw definition file for processing by chibios_hwdef.py # for the JFB110 hardware # board ID for firmware load APJ_BOARD_ID 1110 # MCU class and specific type MCU STM32H7xx STM32H755xx define CORE_CM7 #define SMPS_PWR # crystal frequency 24MHz OSCILLATOR_HZ 24000000 # the H755 has 128k sectors # bootloader is installed at 128kb offset FLASH_BOOTLOADER_LOAD_KB 128 FLASH_RESERVE_START_KB 128 FLASH_SIZE_KB 2048 HAL_STORAGE_SIZE 32768 # USB setup # USB_VENDOR 0x0A8E # JAE USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd." USB_STRING_PRODUCT "JFB-110" # ChibiOS system timer STM32_ST_USE_TIMER 2 # enable board sub-type detection define CONFIG_HAL_BOARD HAL_BOARD_CHIBIOS #define HAL_CHIBIOS_ARCH_FMUV6 1 #define AP_FEATURE_BOARD_DETECT 1 #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 #define HAL_CHIBIOS_ARCH_FMUV5 1 env OPTIMIZE -O2 # order of UARTs (and USB) # SERIAL | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART6 UART8 USART3 OTG2 #USART6 is RX only for SBUS_IN #UART8 is TX only for SBUS_OUT # serial port for stdout, set SERIAL7_PROTOCOL 5(GPS) when using # 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, SD3 # is for USART3 (SD3 == "serial device 3" in ChibiOS). STDOUT_SERIAL SD3 STDOUT_BAUDRATE 921600 # default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN # USB OTG1 SERIAL0 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # default the 2nd interface to MAVLink2 define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 # pins for SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # telem1 PE8 UART7_TX UART7 SPEED_VERYLOW PE10 UART7_CTS UART7 SPEED_VERYLOW PF6 UART7_RX UART7 SPEED_VERYLOW PF8 UART7_RTS UART7 SPEED_VERYLOW # telem2 PC12 UART5_TX UART5 SPEED_VERYLOW PC9 UART5_CTS UART5 SPEED_VERYLOW PD2 UART5_RX UART5 SPEED_VERYLOW PC8 UART5_RTS UART5 SPEED_VERYLOW # telem3 for future use #PD5 TP14 OUTPUT LOW #TP14 # GPS1 PB6 USART1_TX USART1 SPEED_VERYLOW PB7 USART1_RX USART1 SPEED_VERYLOW # uart4 PH13 UART4_TX UART4 SPEED_VERYLOW PH14 UART4_RX UART4 SPEED_VERYLOW # TX Only, for SBUS OUT PE0 UART8_RX UART8 SPEED_VERYLOW #TP3 PE1 UART8_TX UART8 SPEED_VERYLOW # RX only, for RC input #PG14 USART6_TX USART6 SPEED_VERYLOW #TP10 PC7 USART6_RX USART6 SPEED_VERYLOW # debug uart PD8 USART3_TX USART3 SPEED_VERYLOW NODMA PD9 USART3_RX USART3 SPEED_VERYLOW NODMA # ADC PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_16 PF12 BATT_CURRENT_SENS ADC1 SCALE(1) # ADC1_6 PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_9 PA4 BATT2_CURRENT_SENS ADC1 SCALE(1) # ADC1_18 # setup scaling defaults for supplied power brick define HAL_BATT_VOLT_SCALE 1 #18.182 define HAL_BATT_CURR_SCALE 1 #36.364 define HAL_BATT2_VOLT_SCALE 1 #18.182 define HAL_BATT2_CURR_SCALE 1 #36.364 define HAL_BATT_VOLT_PIN 16 define HAL_BATT_CURR_PIN 6 define HAL_BATT2_VOLT_PIN 9 define HAL_BATT2_CURR_PIN 18 # Now the VDD sense pin. This is used to sense primary board voltage. PB1 VDD_5V_SENS ADC1 SCALE(2) # ADC1_5 define ANALOG_VCC_5V_PIN 5 define HAL_HAVE_BOARD_VOLTAGE 1 PB3 VBUS_RESERVED INPUT # JFB110 has SERVORAIL ADC # Set SENSOR_3.3V power signal insted. PC1 SCALED_V3V3 ADC1 SCALE(2) # ADC1_11 PA3 FMU_SERVORAIL_VCC ADC1 SCALE(2) # ADC1_15 define FMU_SERVORAIL_ADC_PIN 15 define HAL_HAVE_SERVO_VOLTAGE 1 PC0 RSSI_IN ADC1 SCALE(1) # ADC1_10 define RSSI_ANA_PIN 10 PC2 ADC1_6V6 ADC1 SCALE(2) # ADC1_12 PC3 ADC1_3V3 ADC1 SCALE(1) # ADC1_13 # This defines an output pin which will default to output HIGH. It is # a pin that enables peripheral power on this board. It starts in the # off state, then is pulled low to enable peripherals in # peripheral_power_enable() PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH PG12 VDD_3V3_SENSORS_EN OUTPUT LOW PD4 VDD_3V3_SENSORS2_EN OUTPUT LOW PD3 VDD_3V3_SENSORS3_EN OUTPUT LOW #VDD_3V3_SENSORS4_EN OUTPUT LOW #VDD_3V3_SD_CARD_EN OUTPUT LOW # controlled manually PG13 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW PG8 GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW # Control of Spektrum power pin # no SPEKTRUM_RC pin so this is controlled # manually PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(69) define HAL_GPIO_SPEKTRUM_PWR 69 define HAL_SPEKTRUM_PWR_ENABLED 1 #Checked in Analogin.cpp -> MAV_POWER_STATUS PG1 VDD_BRICK_nVALID INPUT PG2 VDD_BRICK2_nVALID INPUT PG3 VBUS_nVALID INPUT PE15 VDD_5V_PERIPH_nOC INPUT PF13 VDD_5V_HIPOWER_nOC INPUT # ID pins PG0 HW_VER_REV_DRIVE OUTPUT LOW SPEED_VERYLOW PC4 HW_VER_SENS ADC1 SCALE(1) # ADC1_4 PC5 HW_REV_SENS ADC1 SCALE(1) # ADC1_8 # SPI1 - IMU1(murata),MS5611(BARO),EEPROM PA5 SPI1_SCK SPI1 SPEED_VERYLOW PB5 SPI1_MOSI SPI1 SPEED_VERYLOW PG9 SPI1_MISO SPI1 SPEED_VERYLOW PH3 SCHA63T_A_CS CS SPEED_VERYLOW # SPI1_CS1 PH4 SCHA63T_G_CS CS SPEED_VERYLOW # SPI1_CS2 PH5 MS5611_1_CS CS SPEED_VERYLOW # SPI1_CS3 PG6 AT25512_CS CS SPEED_VERYLOW # SPI1_CS4 # SPI2 # SPI3 - FRAM,IMU2(42652) PB2 SPI3_MOSI SPI3 SPEED_VERYLOW PC10 SPI3_SCK SPI3 SPEED_VERYLOW PC11 SPI3_MISO SPI3 SPEED_VERYLOW PG7 FRAM_CS CS SPEED_VERYLOW # SPI3_CS1 PF10 IIM42652_CS CS SPEED_VERYLOW # SPI3_CS2 # SPI4 - MS5611(BARO),IMU3(42652), PE12 SPI4_SCK SPI4 SPEED_VERYLOW PE13 SPI4_MISO SPI4 SPEED_VERYLOW PE14 SPI4_MOSI SPI4 SPEED_VERYLOW PH15 MS5611_2_CS CS SPEED_VERYLOW # SPI4_CS1 PG15 IIM42652_2_CS CS SPEED_VERYLOW # SPI4_CS2 # SPI5 - External SPI I/F #PF7 SPI5_SCK SPI5 SPEED_VERYLOW #PH7 SPI5_MISO SPI5 SPEED_VERYLOW #PF11 SPI5_MOSI SPI5 SPEED_VERYLOW #PE2 SPI5_CS1 CS SPEED_VERYLOW # IMU Device Ready Signal Input PF3 DRDY1_IIM42652_1 INPUT PF2 DRDY2_IIM42652_1 INPUT PA15 DRDY1_IIM42652_2 INPUT PA1 DRDY2_IIM42652_2 INPUT PE7 SCHA63T_RESET OUTPUT LOW # SPI devices SPIDEV scha63t_g SPI1 DEVID1 SCHA63T_G_CS MODE0 10*MHZ 10*MHZ SPIDEV scha63t_a SPI1 DEVID2 SCHA63T_A_CS MODE0 10*MHZ 10*MHZ SPIDEV ms5611_1 SPI1 DEVID3 MS5611_1_CS MODE3 20*MHZ 20*MHZ SPIDEV at25512 SPI1 DEVID4 AT25512_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI3 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV iim42652_1 SPI3 DEVID2 IIM42652_CS MODE3 2*MHZ 8*MHZ SPIDEV ms5611_2 SPI4 DEVID1 MS5611_2_CS MODE3 20*MHZ 20*MHZ SPIDEV iim42652_2 SPI4 DEVID2 IIM42652_2_CS MODE3 2*MHZ 8*MHZ #define HAL_SPI_CHECK_CLOCK_FREQ # JFB110 has 3 IMUs # IMU devices for JFB110. The JFB110 board has a SCHA63T, two ICM42652, # the SCHA63T and ICM42652_1 are on the same SPI buses and CS pins. # The IIM42652_2 is on a different bus IMU SCHA63T SPI:scha63t_a SPI:scha63t_g ROTATION_NONE IMU Invensensev3 SPI:iim42652_1 ROTATION_NONE IMU Invensensev3 SPI:iim42652_2 ROTATION_NONE # JFB110 has 2 BAROs BARO MS56XX SPI:ms5611_1 BARO MS56XX SPI:ms5611_2 define HAL_DEFAULT_INS_FAST_SAMPLE 7 # PWM output pins # we need to disable DMA on the last 2 FMU channels # as timer 12 doesn't have a TIMn_UP DMA option PA2 TIM15_CH1 TIM15 PWM(1) GPIO(50) SPEED_VERYLOW PE6 TIM15_CH2 TIM15 PWM(2) GPIO(51) SPEED_VERYLOW PA7 TIM3_CH2 TIM3 PWM(3) GPIO(52) SPEED_VERYLOW PA6 TIM3_CH1 TIM3 PWM(4) GPIO(53) SPEED_VERYLOW PD15 TIM4_CH4 TIM4 PWM(5) GPIO(54) SPEED_VERYLOW PE9 TIM1_CH1 TIM1 PWM(6) GPIO(55) SPEED_VERYLOW PH11 TIM5_CH2 TIM5 PWM(7) GPIO(56) SPEED_VERYLOW PH10 TIM5_CH1 TIM5 PWM(8) GPIO(57) SPEED_VERYLOW PA10 TIM1_CH3 TIM1 PWM(9) GPIO(58) SPEED_VERYLOW PA9 TIM1_CH2 TIM1 PWM(10) GPIO(59) SPEED_VERYLOW PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) SPEED_VERYLOW PD13 TIM4_CH2 TIM4 PWM(12) GPIO(61) SPEED_VERYLOW PD12 TIM4_CH1 TIM4 PWM(13) GPIO(62) SPEED_VERYLOW PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) SPEED_VERYLOW NODMA PH12 TIM5_CH3 TIM5 PWM(15) GPIO(64) SPEED_VERYLOW PH6 TIM12_CH1 TIM12 PWM(16) GPIO(65) SPEED_VERYLOW NODMA PD11 PWM_OE OUTPUT HIGH PD5 PWM_OE2 OUTPUT HIGH # GPIOs PE11 FMU_CAP1 INPUT GPIO(66) PB11 FMU_CAP2 INPUT GPIO(67) # CAN bus PD0 CAN1_RX CAN1 SPEED_VERYLOW PD1 CAN1_TX CAN1 SPEED_VERYLOW PB12 CAN2_RX CAN2 SPEED_VERYLOW PB13 CAN2_TX CAN2 SPEED_VERYLOW # I2C buses # I2C1, GPS+MAG PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C2, GPS2+MAG PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C3, IST8310 Internal PA8 I2C3_SCL I2C3 SPEED_VERYLOW PH8 I2C3_SDA I2C3 SPEED_VERYLOW # I2C4 external PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C3 I2C1 I2C2 I2C4 define HAL_I2C_INTERNAL_MASK 1 # this board is very tight on DMA channels. To allow for more UART DMA # we disable DMA on I2C. This also prevents a problem with DMA on I2C # interfering with IMUs NODMA I2C* define STM32_I2C_USE_DMA FALSE # builtin compass on JAE JFB110 define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE define HAL_PROBE_EXTERNAL_I2C_COMPASSES COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 # armed indication PB10 nARMED OUTPUT HIGH # TP8 # microSD support PD6 SDMMC2_CK SDMMC2 SPEED_VERYLOW PD7 SDMMC2_CMD SDMMC2 SPEED_VERYLOW PB14 SDMMC2_D0 SDMMC2 SPEED_VERYLOW PB15 SDMMC2_D1 SDMMC2 SPEED_VERYLOW PG11 SDMMC2_D2 SDMMC2 SPEED_VERYLOW PB4 SDMMC2_D3 SDMMC2 SPEED_VERYLOW define FATFS_HAL_DEVICE SDCD2 PC13 SD_CARD_EN INPUT # safety PD10 LED_SAFETY OUTPUT PF5 SAFETY_IN INPUT PULLDOWN # LEDs PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH SPEED_VERYLOW PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW SPEED_VERYLOW PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) HIGH SPEED_VERYLOW # setup for "AP_BoardLED" RGB LEDs define HAL_GPIO_A_LED_PIN 72 define HAL_GPIO_B_LED_PIN 70 #define HAL_GPIO_C_LED_PIN 71 define HAL_GPIO_LED_ON 0 # PWM output for buzzer PF9 TIM14_CH1 TIM14 GPIO(73) ALARM SPEED_VERYLOW # RC input (PPM) PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW # enable RAMTRON parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # allow to have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 DMA_PRIORITY SDMMC* UART* USART* ADC* SPI* TIM* # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # enable DFU reboot for installing bootloader # note that if firmware is build with --secure-bl then DFU is # disabled ENABLE_DFU_BOOT 1 # External watchdog gpio PG5 EXT_WDOG OUTPUT SPEED_VERYLOW define EXT_WDOG_INTERVAL_MS 50