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