mirror of https://github.com/ArduPilot/ardupilot
194 lines
4.8 KiB
Plaintext
194 lines
4.8 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# mRo Nexus CAN flight controller
|
|
# A Dual CAN based flight controller / CAN IMU
|
|
# 36mm x 36mm, 31.5mm x 31.5mm grommeted mounting holes
|
|
# M10084
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1015
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 25000000
|
|
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
# with 2M flash we can afford to optimize for speed
|
|
env OPTIMIZE -O2
|
|
|
|
# start on 2th sector (1st sector for bootloader)
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# use FRAM for storage
|
|
define HAL_STORAGE_SIZE 16384
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# USB setup
|
|
USB_STRING_MANUFACTURER "mRo"
|
|
|
|
# Order of I2C buses
|
|
I2C_ORDER I2C4
|
|
|
|
# order of UARTs (and USB)
|
|
# OTG1 SERIAL0
|
|
# UART4 SERIAL3
|
|
# UART7 SERIAL1
|
|
# OTG2 SERIAL2
|
|
|
|
SERIAL_ORDER OTG1 UART7 OTG2 UART4
|
|
|
|
# UART4 SERIAL0 (GPS)
|
|
PD0 UART4_RX UART4
|
|
PD1 UART4_TX UART4
|
|
|
|
# UART7 SERIAL1 (SPARE UART)
|
|
PE7 UART7_RX UART7
|
|
PE8 UART7_TX UART7
|
|
|
|
# VDD sense pin for the External 5v Supply
|
|
PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1.65)
|
|
|
|
# VDD sense pin for the CAN supplied 5v Supply
|
|
PA3 VDD_5V_SENS ADC1 SCALE(1.65)
|
|
|
|
#SPI2 SPIBus0 (1 device ADIS16470 6DOF)
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
#SPI3 SPIBus1 (2 devices ICM-40609 6DOF / RM3100 MAG
|
|
PB3 SPI3_SCK SPI3
|
|
PB4 SPI3_MISO SPI3
|
|
PD6 SPI3_MOSI SPI3
|
|
|
|
#SPI4 SPIBus2 (2 devices DPS310 BARO / FM25V02 FRAM)
|
|
PE2 SPI4_SCK SPI4
|
|
PE5 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# This input pin is used to detect that power is valid on USB.
|
|
PA9 VBUS_VALID INPUT
|
|
|
|
# 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
|
|
|
|
# Now the first I2C bus. The pin speeds are automatically setup
|
|
# correctly, but can be overridden here if needed.
|
|
PD12 I2C4_SCL I2C4
|
|
PD13 I2C4_SDA I2C4
|
|
|
|
# this board only has a single I2C bus so make it external
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
# Now setup the pins for the microSD card, if available.
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
PC12 SDMMC1_CK SDMMC1
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
# More CS pins for more sensors. The labels for all CS pins need to
|
|
# match the SPI device table later in this file.
|
|
PB12 CS_ADIS16470 CS
|
|
PA15 CS_ICM40609D CS
|
|
PE3 CS_DPS310 CS
|
|
PB11 CS_RM3100 CS
|
|
|
|
# The CS pin for FRAM (ramtron). This one is marked as using
|
|
# SPEED_VERYLOW, which matches the HAL_PX4 setup.
|
|
PE4 CS_FRAM CS SPEED_VERYLOW
|
|
|
|
# the first CAN bus
|
|
PB9 CAN1_TX CAN1
|
|
PB8 CAN1_RX CAN1
|
|
|
|
PE0 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW GPIO(72)
|
|
|
|
# This defines the pins for the 2nd CAN interface.
|
|
PB6 CAN2_TX CAN2
|
|
PB5 CAN2_RX CAN2
|
|
|
|
PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW GPIO(73)
|
|
|
|
define BOARD_PWM_COUNT_DEFAULT 0
|
|
|
|
# This is the invensense data-ready pin. We don't use it in the
|
|
# default driver.
|
|
PD8 DRDY_ADIS16470 INPUT GPIO(93)
|
|
PE13 DRDY_ICM40609D INPUT
|
|
PC13 DRDY_RM3100 INPUT
|
|
|
|
define HAL_DRDY_ADIS16470_PIN 93
|
|
|
|
# This is the reset line for the adis16470
|
|
PB1 nRST_ADIS OUTPUT HIGH GPIO(74)
|
|
|
|
# This is the pin to enable the sensors rail. It can be used to power
|
|
# cycle sensors to recover them in case there are problems with power on
|
|
# timing affecting sensor stability. We pull it high by default.
|
|
|
|
#SPI3 Devices ICM40609 and RM3100
|
|
PC6 SENSORS_SPI3_EN OUTPUT HIGH
|
|
|
|
#SPI4 Devices DPS310 and FRAM
|
|
PC7 SENSORS_SPI4_EN OUTPUT HIGH
|
|
|
|
SPIDEV adis16470 SPI2 DEVID1 CS_ADIS16470 MODE3 1*MHZ 2*MHZ
|
|
# SPIDEV icm40609d SPI3 DEVID2 CS_ICM40609D MODE3 2*MHZ 8*MHZ
|
|
#! ^^WHEN AVAILABLE
|
|
SPIDEV rm3100 SPI3 DEVID4 CS_RM3100 MODE3 2*MHZ 8*MHZ
|
|
SPIDEV dps310 SPI4 DEVID3 CS_DPS310 MODE3 5*MHZ 5*MHZ
|
|
SPIDEV ramtron SPI4 DEVID10 CS_FRAM MODE3 8*MHZ 8*MHZ
|
|
|
|
# Now some defines for logging and terrain data files.
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
define HAL_HAVE_SAFETY_SWITCH 0
|
|
|
|
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# Nexus has a TriColor LED like the Pixracer, Red, Green, Blue
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
define HAL_GPIO_LED_ON 0
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
# LED setup for PixracerLED driver
|
|
PA6 LED_R OUTPUT HIGH GPIO(0)
|
|
PA7 LED_G OUTPUT HIGH GPIO(1)
|
|
PB0 LED_B OUTPUT HIGH GPIO(2)
|
|
|
|
define HAL_GPIO_A_LED_PIN 0
|
|
define HAL_GPIO_B_LED_PIN 1
|
|
define HAL_GPIO_C_LED_PIN 2
|
|
|
|
# 2 IMUs (Analog Devices ADIS16470 and Invensense / TDK ICM40609D)
|
|
IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 HAL_DRDY_ADIS16470_PIN
|
|
# IMU Invensense SPI:icm40609d ROTATION_NONE
|
|
#! ^^Need to confirm orientation
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
#! ^^Set to 3 when ICM40609D driver is available
|
|
|
|
# 1 Absolute Pressure Sensor (Infineon DPS310)
|
|
BARO DPS280 SPI:dps310
|
|
|
|
# 1 compass (PNI RM3100)
|
|
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|