# hw definition file for processing by chibios_hwdef.py # for JAE JFB-100 hardware.(modified based fmuv5) # 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 CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 define HAL_CHIBIOS_ARCH_FMUV5 1 # board ID for firmware load APJ_BOARD_ID 1084 FLASH_RESERVE_START_KB 32 # flash size FLASH_SIZE_KB 2048 env OPTIMIZE -O2 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7 OTG2 # 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 SCHA63T_G_CS CS PF3 ICM20602_CS CS SPEED_VERYLOW PF4 SCHA63T_A_CS CS PF5 FRAM_CS CS SPEED_VERYLOW # unusued CS pins # PF11 SPARE_CS CS (using for WA6) 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 # 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 (using for WA5) PB4 DRDY1_ICM20689 INPUT PB14 DRDY2_SCHA63T_GYRO INPUT PB15 DRDY3_SCHA63T_ACC INPUT PC5 DRDY4_ICM20602 INPUT PC13 DRDY5_SCHA63T_GYRO INPUT PD10 DRDY6_SCHA63T_ACC INPUT PD15 DRDY7_EXTERNAL1 INPUT # Control of Spektrum power pin PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) define HAL_GPIO_SPEKTRUM_PWR 73 # Spektrum Power is Active High define HAL_SPEKTRUM_PWR_ENABLED 1 # 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 # we leave PG14 as an input to prevent it acting as a pullup # on the IOMCU SBUS input PG14 USART6_TX USART6 NODMA # PG15 USART6_CTS USART6 (using for WA8) # PG8 USART6_RTS USART6 (using for WA7) # UART7 is debug PF6 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # UART8 is for IOMCU # PE0 UART8_RX UART8 (using for PP3) # PE1 UART8_TX UART8 (using for PP5) # UART for IOMCU # IOMCU_UART UART8 # RCInput on the PPM pin, for all protocols PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW # 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 # setup for supplied power brick define HAL_BATT_VOLT_SCALE 18.182 define HAL_BATT_CURR_SCALE 36.364 define HAL_BATT_VOLT_PIN 0 define HAL_BATT_CURR_PIN 1 define HAL_BATT2_VOLT_PIN 2 define HAL_BATT2_CURR_PIN 3 # CAN bus PI9 CAN1_RX CAN1 PH13 CAN1_TX CAN1 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) # GPIOs PA7 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 PG1 VDD_BRICK_nVALID INPUT PULLUP PG2 VDD_BRICK2_nVALID INPUT PULLUP PG3 VBUS_nVALID INPUT PULLUP PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP # PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH (using for WA4) # 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 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 icm20602 SPI1 DEVID3 ICM20602_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # up to 3 IMUs IMU SCHA63T SPI:scha63t_a SPI:scha63t_g ROTATION_NONE IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_270 # 3rd could be BMMI055 or BMI088 # IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 # IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # probe external I2C compasses plus some internal IST8310 # we also probe some external IST8310 with a non-standard orientation define HAL_PROBE_EXTERNAL_I2C_COMPASSES COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270 # one baro BARO MS56XX SPI:ms5611 # 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 OPENDRAIN GPIO(90) (swap) # 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(90) HIGH # red LED marked as B/E PB1 LED_RED OUTPUT OPENDRAIN GPIO(92) # setup for BoardLED2 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_B_LED_PIN 92 # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_COMPASS_AUTO_ROT_DEFAULT 2 DMA_PRIORITY SDMMC* UART8* ADC* SPI* TIM* # define HAL_SPI_CHECK_CLOCK_FREQ 1 # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # uncomment block below to enable a 2nd MS5611 baro on SPI5 #PF7 SPI5_SCK SPI5 #PF8 SPI5_MISO SPI5 #PF9 SPI5_MOSI SPI5 #SPIDEV ms5611_spi5 SPI5 DEVID1 EXTERNAL1_CS1 MODE3 20*MHZ 20*MHZ #undef PI10 #PI10 EXTERNAL1_CS2 OUTPUT LOW #BARO MS56XX SPI:ms5611_spi5 # imu sensor SCHA63T reset PH12 SCHA63T_RESET OUTPUT LOW # PWM wraparound 1-8 PA8 WA1 INPUT PULLUP PA15 WA2 INPUT PULLUP PB2 WA3 INPUT PULLUP PB10 WA4 INPUT PULLUP PE7 WA5 INPUT PULLUP PF11 WA6 INPUT PULLUP PG8 WA7 INPUT PULLUP PG15 WA8 INPUT PULLUP # now we define the pins that USB is connected on PA9 VBAS INPUT PULLDOWN # External watchdog gpio PH11 EXT_WDOG OUTPUT SPEED_VERYLOW define EXT_WDOG_INTERVAL_MS 50 # safety switch PE10 SAFETY_IN INPUT PULLUP PE12 LED_SAFETY OUTPUT