# hw definition file for processing by chibios_hwdef.py # for FMUv3 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4) # MCU class and specific type. It is a F765, which is the same as F767 # but without the TFT interface MCU STM32F7xx STM32F767xx # crystal frequency OSCILLATOR_HZ 16000000 define STM32_LSECLK 32768U define STM32_LSEDRV (3U << 3U) define STM32_PLLSRC STM32_PLLSRC_HSE define STM32_PLLM_VALUE 8 define STM32_PLLN_VALUE 216 define STM32_PLLP_VALUE 2 define STM32_PLLQ_VALUE 9 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 define HAL_CHIBIOS_ARCH_FMUV5 1 # board ID for firmware load APJ_BOARD_ID 50 FLASH_RESERVE_START_KB 32 # board voltage STM32_VDD 330U # flash size FLASH_SIZE_KB 2048 # order of UARTs (and USB) UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - internal sensors PG11 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 - FRAM PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 # SPI4 - sensors2 PE2 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # SPI5 - external1 (disabled to save DMA channels) # PF7 SPI5_SCK SPI5 # PF8 SPI5_MISO SPI5 # PF9 SPI5_MOSI SPI5 # SPI6 - external2 (disabled to save DMA channels) # PG13 SPI6_SCK SPI6 # PG12 SPI6_MISO SPI6 # PB5 SPI6_MOSI SPI6 # sensor CS 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 # I2C buses PB8 I2C1_SCL I2C1 PB9 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 I2C1 I2C2 I2C4 # enable pins PE3 VDD_3V3_SENSORS_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 PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH PG5 VDD_5V_RC_EN OUTPUT HIGH PG6 VDD_5V_WIFI_EN OUTPUT HIGH PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH # drdy pins PE7 DRDY8_NC INPUT PB4 DRDY1_ICM20689 INPUT PB14 DRDY2_BMI055_GYRO INPUT PB15 DRDY3_BMI055_ACC INPUT PC5 DRDY4_ICM20602 INPUT PC13 DRDY5_BMI055_GYRO INPUT PD10 DRDY6_BMI055_ACC INPUT PD15 DRDY7_EXTERNAL1 INPUT # UARTs # USART2 is telem1 PD6 USART2_RX USART2 PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART1 is GPS1 PB7 USART1_RX USART1 NODMA PB6 USART1_TX USART1 NODMA # USART3 is telem2 PD9 USART3_RX USART3 PD8 USART3_TX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 # UART4 GPS2 PD0 UART4_RX UART4 NODMA PD1 UART4_TX UART4 NODMA # USART6 is telem3 PG9 USART6_RX USART6 NODMA PG14 USART6_TX USART6 NODMA PG15 USART6_CTS USART6 PG8 USART6_RTS USART6 # UART7 is debug PF6 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # UART8 is for IOMCU PE0 UART8_RX UART8 PE1 UART8_TX UART8 # UART for IOMCU IOMCU_UART UART8 # enable RTSCTS support define AP_FEATURE_RTSCTS 1 # enable SBUS_OUT on IOMCU (if you have an IOMCU) define AP_FEATURE_SBUS_OUT 1 # 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) PE9 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 define BOARD_PWM_COUNT_DEFAULT 8 # PWM output for buzzer PE5 TIM9_CH1 TIM9 GPIO(77) ALARM # analog in PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1) PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT2_CURRENT_SENS ADC1 SCALE(1) PC4 SPARE1_ADC1 ADC1 SCALE(1) PA4 SPARE2_ADC1 ADC1 SCALE(1) PB0 RSSI_IN ADC1 SCALE(1) #PC3 HW_REV_SENS ADC1 SCALE(1) #PC2 HW_VER_SENS ADC1 SCALE(1) PC0 VDD_5V_SENS ADC1 SCALE(2) PC1 SCALED_V3V3 ADC1 SCALE(2) # setup scaling defaults for PixHackV5 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 PI9 CAN1_RX CAN1 PH13 CAN1_TX CAN1 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # GPIOs PA7 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 PG1 VDD_BRICK_VALID INPUT PULLUP PG2 VDD_BRICK2_VALID INPUT PULLUP PG3 VBUS INPUT PF13 VDD_5V_HIPOWER_OC INPUT PULLUP PE15 VDD_5V_PERIPH_OC INPUT PULLUP PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH # capture pins PA5 FMU_CAP1 INPUT GPIO(58) PB3 FMU_CAP2 INPUT GPIO(59) PB11 FMU_CAP3 INPUT GPIO(60) PI0 FMU_SPARE_4 INPUT GPIO(61) # SPI devices SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # microSD support PC8 SDMMC_D0 SDMMC1 PC9 SDMMC_D1 SDMMC1 PC10 SDMMC_D2 SDMMC1 PC11 SDMMC_D3 SDMMC1 PC12 SDMMC_CK SDMMC1 PD2 SDMMC_CMD SDMMC1 # red LED marked as B/E PB1 LED_RED OUTPUT GPIO(90) # green LED marked as PWR. We leave this solid on, but allow # for it to be controlled as a relay if needed PC6 LED_GREEN OUTPUT GPIO(91) LOW # blue LED marked as ACT PC7 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 16384 define HAL_WITH_RAMTRON 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_COMPASS_AUTO_ROT_DEFAULT 2 DMA_PRIORITY SDMMC* UART8* ADC* SPI* TIM* #define CH_DBG_ENABLE_ASSERTS TRUE #define CH_DBG_ENABLE_CHECKS TRUE #define CH_DBG_SYSTEM_STATE_CHECK TRUE #define CH_DBG_ENABLE_STACK_CHECK TRUE # define HAL_SPI_CHECK_CLOCK_FREQ 1 # 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" # use ChibiOS based IO firmware to avoid issue with SBUS # input on Pixhawk4. NuttX has no parity checking on UARTs ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO_ChibiOS.bin