mirror of https://github.com/ArduPilot/ardupilot
375 lines
8.7 KiB
Plaintext
375 lines
8.7 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# for the HolybroV6X hardware
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 2
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 53
|
|
|
|
# enable board sub-type detection for FMUV6
|
|
define HAL_CHIBIOS_ARCH_FMUV6 1
|
|
define AP_FEATURE_BOARD_DETECT 1
|
|
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# to be compatible with the px4 bootloader we need
|
|
# to use a different RAM_MAP
|
|
env USE_ALT_RAM_MAP 1
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
|
|
|
|
# default the 2nd interface to MAVLink2
|
|
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# default to all pins low to avoid ESD issues
|
|
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
|
|
|
# USB
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
PA9 VBUS INPUT OPENDRAIN
|
|
|
|
# pins for SWD debugging
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# telem1
|
|
PE8 UART7_TX UART7
|
|
PF6 UART7_RX UART7
|
|
PF8 UART7_RTS UART7
|
|
PE10 UART7_CTS UART7
|
|
|
|
# telem2
|
|
PC8 UART5_RTS UART5
|
|
PC9 UART5_CTS UART5
|
|
PC12 UART5_TX UART5
|
|
PD2 UART5_RX UART5
|
|
|
|
# telem3
|
|
PA3 USART2_RX USART2
|
|
PD5 USART2_TX USART2
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
|
|
# GPS1
|
|
PB6 USART1_TX USART1
|
|
PB7 USART1_RX USART1
|
|
|
|
# GPS2
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8
|
|
|
|
# uart4
|
|
PH13 UART4_TX UART4
|
|
PH14 UART4_RX UART4
|
|
|
|
# debug uart
|
|
PD8 USART3_TX USART3
|
|
PD9 USART3_RX USART3
|
|
|
|
# USART6 is for IOMCU
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
IOMCU_UART USART6
|
|
|
|
# uart6, RX only, RC input, if no IOMCU
|
|
# PC7 USART6_RX USART6
|
|
|
|
# ethernet (not implemented yet)
|
|
#PA1 ETH_REF_CLK
|
|
#PA2 ETH_MDIO
|
|
#PA7 ETH_CRS_DV
|
|
#PB11 ETH_TX_EN
|
|
#PC1 ETH_MDC
|
|
#PC4 ETH_RXD0
|
|
#PC5 ETH_RXD1
|
|
#PG12 ETH_TXD1
|
|
#PG13 ETH_TXD0
|
|
#PG15 ETH_POWER_EN
|
|
|
|
# ADC
|
|
PA0 SCALED1_V3V3 ADC1 SCALE(2)
|
|
PA4 SCALED2_V3V3 ADC1 SCALE(2)
|
|
PB0 SCALED3_V3V3 ADC1 SCALE(2)
|
|
PF12 SCALED4_V3V3 ADC1 SCALE(2)
|
|
|
|
PB1 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
# pin7 on AD&IO, analog 12
|
|
PC2 ADC1_6V6 ADC1 SCALE(2)
|
|
|
|
# pin6 on AD&IO, analog 13
|
|
PC3 ADC1_3V3 ADC1 SCALE(1)
|
|
|
|
# SPI1 - IMU1
|
|
PA5 SPI1_SCK SPI1
|
|
PB5 SPI1_MOSI SPI1
|
|
PG9 SPI1_MISO SPI1
|
|
PI9 IMU1_CS CS
|
|
|
|
# SPI2 - ICM42688
|
|
PI1 SPI2_SCK SPI2
|
|
PI2 SPI2_MISO SPI2
|
|
PI3 SPI2_MOSI SPI2
|
|
PH5 ICM42688_CS CS
|
|
PA10 ICM42688_DRDY INPUT
|
|
|
|
# SPI3 - BMI088
|
|
PB2 SPI3_MOSI SPI3
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PI4 BMI088_A_CS CS
|
|
PI8 BMI088_G_CS CS
|
|
PI6 BMI088_DRDY_ACC INPUT
|
|
PI7 BMI088_DRDY_GYR INPUT
|
|
|
|
# SPI4 - BMM150
|
|
PE12 SPI4_SCK SPI4
|
|
PE13 SPI4_MISO SPI4
|
|
PE14 SPI4_MOSI SPI4
|
|
PF3 BMM150_DRDY INPUT
|
|
PH15 BMM150_CS CS
|
|
|
|
# SPI5 - FRAM
|
|
PF7 SPI5_SCK SPI5
|
|
PH7 SPI5_MISO SPI5
|
|
PF11 SPI5_MOSI SPI5
|
|
PG7 FRAM_CS CS
|
|
|
|
# SPI6 - external1 (disabled to save DMA channels)
|
|
# PB3 SPI6_SCK SPI6
|
|
# PA6 SPI6_MISO SPI6
|
|
# PG14 SPI6_MOSI SPI6
|
|
# PI10 EXT1_CS CS
|
|
|
|
# PWM output pins
|
|
PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50)
|
|
PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
|
|
PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
|
|
PH10 TIM5_CH1 TIM5 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
|
|
|
|
# GPIOs
|
|
PE11 FMU_CAP1 INPUT GPIO(58)
|
|
PC0 NFC_GPIO INPUT GPIO(60)
|
|
|
|
|
|
# CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
PB12 CAN2_RX CAN2
|
|
PB13 CAN2_TX CAN2
|
|
|
|
|
|
# I2C buses
|
|
|
|
# I2C1, GPS+MAG
|
|
PB9 I2C1_SDA I2C1
|
|
PB8 I2C1_SCL I2C1
|
|
|
|
# I2C2, GPS2+MAG
|
|
PF1 I2C2_SCL I2C2
|
|
PF0 I2C2_SDA I2C2
|
|
PG5 DRDY1_BMP388 INPUT
|
|
|
|
# I2C3, MS5611, external
|
|
PA8 I2C3_SCL I2C3
|
|
PH8 I2C3_SDA I2C3
|
|
|
|
# I2C4 internal
|
|
PF14 I2C4_SCL I2C4
|
|
PF15 I2C4_SDA I2C4
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C4 I2C1 I2C2 I2C3
|
|
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
|
|
|
|
# heater
|
|
PB10 HEATER_EN OUTPUT LOW GPIO(80)
|
|
define HAL_HEATER_GPIO_PIN 80
|
|
|
|
# Setup the IMU heater
|
|
define HAL_HAVE_IMU_HEATER 1
|
|
define HAL_IMU_TEMP_DEFAULT 45
|
|
define HAL_IMUHEAT_P_DEFAULT 50
|
|
define HAL_IMUHEAT_I_DEFAULT 0.07
|
|
|
|
# armed indication
|
|
PE6 nARMED OUTPUT HIGH
|
|
|
|
# power enable pins
|
|
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
|
|
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
|
|
PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
|
|
PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
|
|
PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
|
|
PG15 ETH_PWR_EN OUTPUT LOW # disable power on ethernet
|
|
|
|
# start peripheral power off, then enable after init
|
|
# this prevents a problem with radios that use RTS for
|
|
# bootloader hold
|
|
PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
|
|
PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
|
|
|
# Control of Spektrum power pin
|
|
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
|
define HAL_GPIO_SPEKTRUM_PWR 73
|
|
|
|
# Spektrum Power is Active High
|
|
define HAL_SPEKTRUM_PWR_ENABLED 1
|
|
|
|
# power sensing
|
|
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
|
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
|
|
|
PG1 VDD_BRICK_nVALID INPUT PULLUP
|
|
PG2 VDD_BRICK2_nVALID INPUT PULLUP
|
|
PG3 VDD_BRICK3_nVALID INPUT PULLUP
|
|
|
|
# microSD support
|
|
PD6 SDMMC2_CK SDMMC2
|
|
PD7 SDMMC2_CMD SDMMC2
|
|
PB14 SDMMC2_D0 SDMMC2
|
|
PB15 SDMMC2_D1 SDMMC2
|
|
PG11 SDMMC2_D2 SDMMC2
|
|
PB4 SDMMC2_D3 SDMMC2
|
|
define FATFS_HAL_DEVICE SDCD2
|
|
|
|
# safety
|
|
PD10 LED_SAFETY OUTPUT
|
|
PF5 SAFETY_IN INPUT PULLDOWN
|
|
|
|
# LEDs
|
|
PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
|
|
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
|
|
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
|
|
|
|
# setup for "pixracer" RGB LEDs
|
|
define HAL_GPIO_A_LED_PIN 90
|
|
define HAL_GPIO_B_LED_PIN 91
|
|
define HAL_GPIO_C_LED_PIN 92
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
# ID pins
|
|
PG0 HW_VER_REV_DRIVE OUTPUT LOW
|
|
# PH3 HW_VER_SENS ADC3 SCALE(1)
|
|
# PH4 HW_REV_SENS ADC3 SCALE(1)
|
|
|
|
# PWM output for buzzer
|
|
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
|
|
|
|
# RC input
|
|
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
|
|
|
|
# barometers (Holybro 6X)
|
|
BARO BMP388 I2C:2:0x76
|
|
BARO BMP388 I2C:0:0x77
|
|
|
|
# barometers (CUAV 6X)
|
|
BARO ICP201XX I2C:0:0x64
|
|
BARO ICP201XX I2C:2:0x63
|
|
|
|
# compass
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
# builtin compass on Holybro 6X
|
|
COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
|
|
|
|
# builtin compass on CUAV 6X
|
|
COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
|
|
|
|
# compensate for magnetic field generated by the heater on CUAV-6X RM3100
|
|
define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24)
|
|
|
|
# compensate for magnetic field generated by the heater on Holybro6X BMM150
|
|
define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23)
|
|
|
|
define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
|
|
|
|
# IMU devices for Holybro6X
|
|
SPIDEV bmi088_g SPI3 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV bmi088_a SPI3 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
# alternative to bmi088
|
|
SPIDEV icm20649 SPI3 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV icm42670 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
|
|
# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
|
|
# pins as the Holybro board, but the orientation of the BMI088 is
|
|
# different. The ICM20649 is on a different bus
|
|
SPIDEV icm20649_2 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
# Holybro6X 3 IMUs
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
|
|
IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088
|
|
IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
|
|
|
|
# CUAV-6X 3 IMUs
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
|
|
IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
|
|
|
# enable RAMTROM parameter storage
|
|
define HAL_STORAGE_SIZE 32768
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# INA226 battery monitor
|
|
define HAL_BATTMON_INA2XX_BUS 1
|
|
define HAL_BATTMON_INA2XX_ADDR 0
|
|
define HAL_BATT_MONITOR_DEFAULT 21
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
|
|
|
|
# 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"
|
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
|
|
|
# enable DFU reboot for installing bootloader
|
|
# note that if firmware is build with --secure-bl then DFU is
|
|
# disabled
|
|
ENABLE_DFU_BOOT 1
|
|
|
|
# build ABIN for flash-from-bootloader support:
|
|
env BUILD_ABIN True
|