ardupilot/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat

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# 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