mirror of https://github.com/ArduPilot/ardupilot
270 lines
7.5 KiB
Plaintext
270 lines
7.5 KiB
Plaintext
###########################################################################################################################################################
|
|
# mRo Control Zero F7 Flight Controller
|
|
# STM32F777IIK6
|
|
# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
|
|
# Front and Rear Connectors: 30pin Molex PicoClasp
|
|
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
|
|
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
|
|
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 1x I2C
|
|
# Onboard 3 color LED and buzzer
|
|
# Uncased Weight and Dimensions:
|
|
# Weight: 5.3g (.19oz)
|
|
# Width: 20mm (.79in)
|
|
# Length: 32mm (1.26in)
|
|
# M10058 - Initial Release
|
|
###########################################################################################################################################################
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F7xx STM32F777xx
|
|
|
|
# ChibiOS system timer
|
|
# this is the STM32 timer that ChibiOS will use for the low level
|
|
# driver. This must be a 32 bit timer, so Timers 2 or 5 on the STM32F777.
|
|
# See hal_st_lld.c in ChibiOS for details
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 141
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
# with 2M flash we can afford to optimize for speed
|
|
env OPTIMIZE -O2
|
|
|
|
# start on 4th sector (1st sector for bootloader, 2 for extra storage)
|
|
FLASH_RESERVE_START_KB 96
|
|
|
|
# use FRAM for storage
|
|
define HAL_STORAGE_SIZE 32768
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# fallback storage in case FRAM is not populated
|
|
STORAGE_FLASH_PAGE 1
|
|
|
|
# USB setup
|
|
USB_STRING_MANUFACTURER "mRo"
|
|
|
|
# RC Input set for Interrupt not DMA also USART6_RX for serial RC
|
|
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
|
|
|
|
# Control of Spektrum power pin
|
|
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
|
|
define HAL_GPIO_SPEKTRUM_PWR 70
|
|
|
|
# Spektrum Power is Active Low
|
|
define HAL_SPEKTRUM_PWR_ENABLED 0
|
|
|
|
# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
|
|
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
|
|
define HAL_GPIO_SPEKTRUM_RC 71
|
|
|
|
# Order of I2C buses
|
|
I2C_ORDER I2C1
|
|
|
|
# this board only has a single I2C bus so make it external
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
# order of UARTs (and USB)
|
|
# UART4 GPS
|
|
# USART2 Telem 1 (Flow Control)
|
|
# USART3 Telem 2 (Flow Control)
|
|
# UART8 FRSKY Telem
|
|
# USART6 RC input (Only RX pin is connected)
|
|
# UART7 Additional UART
|
|
|
|
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
|
|
|
|
# Another USART, this one for telem1. This one has RTS and CTS lines.
|
|
# USART2 telem1
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
|
|
# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
|
|
# USART3 telem2
|
|
PD8 USART3_TX USART3
|
|
PD9 USART3_RX USART3
|
|
PD11 USART3_CTS USART3
|
|
PD12 USART3_RTS USART3
|
|
|
|
# UART4 GPS
|
|
PA0 UART4_TX UART4
|
|
PA1 UART4_RX UART4 NODMA
|
|
|
|
# UART7 Spare or Debug Console
|
|
PE7 UART7_RX UART7 NODMA
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
# UART8 FrSky Telemetry
|
|
PE0 UART8_RX UART8 NODMA
|
|
PE1 UART8_TX UART8 NODMA
|
|
|
|
# RSSI Analog Input
|
|
PC1 RSSI_IN ADC1
|
|
|
|
# Safety Switch Input
|
|
PC4 SAFETY_IN INPUT PULLDOWN
|
|
|
|
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
# Now the VDD sense pin. This is used to sense primary board voltage.
|
|
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
#SPI1 ICM_20602 / ICM_20948
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
#SPI2 FRAM / DPS310
|
|
PB10 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
#SPI5 BMI088
|
|
PF7 SPI5_SCK SPI5
|
|
PF8 SPI5_MISO SPI5
|
|
PF9 SPI5_MOSI SPI5
|
|
|
|
# GPIOs
|
|
# This defines general purpose outputs, mapped to GPIO
|
|
# numbers 3 thru 6 for users.
|
|
PG9 EXTERN_GPIO1 OUTPUT GPIO(3)
|
|
PG13 EXTERN_GPIO2 OUTPUT GPIO(4)
|
|
PG12 EXTERN_GPIO3 OUTPUT GPIO(5)
|
|
PG14 EXTERN_GPIO4 OUTPUT GPIO(6)
|
|
|
|
# This is the pin that senses USB being connected. It is an input pin
|
|
# setup as OPENDRAIN.
|
|
PA9 VBUS INPUT OPENDRAIN
|
|
|
|
# This input pin is used to detect that power is valid on USB.
|
|
PC0 VBUS_VALID INPUT PULLDOWN
|
|
|
|
# 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
|
|
|
|
# PWM output for buzzer
|
|
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
|
|
|
# Now the first I2C bus. The pin speeds are automatically setup
|
|
# correctly, but can be overridden here if needed.
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# Now setup the pins for the microSD card, if available.
|
|
PC8 SDMMC_D0 SDMMC1
|
|
PC9 SDMMC_D1 SDMMC1
|
|
PC10 SDMMC_D2 SDMMC1
|
|
PC11 SDMMC_D3 SDMMC1
|
|
PC12 SDMMC_CK SDMMC1
|
|
PD2 SDMMC_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.
|
|
PC2 ICM_20602_CS CS
|
|
PD7 BARO_CS CS
|
|
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
|
|
PE15 ICM_20948_CS CS
|
|
PF10 BMI088_GYRO_CS CS
|
|
PF6 BMI088_ACCEL_CS CS
|
|
|
|
# the first CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
PF5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
|
|
|
|
# Now we start defining some PWM pins. We also map these pins to GPIO
|
|
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
|
|
# outputs on the primary MCU are setup as PWM and how many as
|
|
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
|
|
# starting at 50.
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
PE13 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)
|
|
PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56)
|
|
PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57)
|
|
|
|
# This is the invensense data-ready pin. We don't use it in the
|
|
# default driver.
|
|
PD15 MPU_DRDY INPUT
|
|
|
|
# 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.
|
|
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
|
|
|
|
# Power flag pins: these tell the MCU the status of the various power
|
|
# supplies that are available. The pin names need to exactly match the
|
|
# names used in AnalogIn.cpp.
|
|
PB5 VDD_BRICK_nVALID INPUT PULLUP
|
|
|
|
SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
|
|
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 5*MHZ 5*MHZ
|
|
SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 5*MHZ 5*MHZ
|
|
SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 4*MHZ
|
|
SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*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 1
|
|
|
|
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# Now setup the default battery pins driver analog pins and default
|
|
# scaling for the power brick.
|
|
define HAL_BATT_VOLT_PIN 2
|
|
define HAL_BATT_CURR_PIN 3
|
|
define HAL_BATT_VOLT_SCALE 10.1
|
|
define HAL_BATT_CURR_SCALE 17.0
|
|
|
|
# Control Zero has a TriColor LED, 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
|
|
PB11 LED_R OUTPUT HIGH GPIO(0)
|
|
PB1 LED_G OUTPUT HIGH GPIO(1)
|
|
PB3 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
|
|
|
|
DMA_PRIORITY SDMMC*
|
|
|
|
# 3 IMUs
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
|
|
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
|
|
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
|
|
|
# 1 baro
|
|
BARO DPS310 SPI:dps310
|
|
|
|
# 1 compass
|
|
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|