mirror of https://github.com/ArduPilot/ardupilot
318 lines
6.8 KiB
Plaintext
318 lines
6.8 KiB
Plaintext
# HW Definition for Horizon31 PixC4-Jetson
|
|
# The PixC4-Jetson combines an FMUv5 with an Nvidia Jetson companion computer
|
|
# STM32H743 with STM32F103 IOMCU
|
|
# Horizon31, LLC
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
define HAL_CHIBIOS_ARCH_FMUV5 1
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1032
|
|
|
|
# bootloader takes first sector
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# board voltage
|
|
STM32_VDD 330U
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7
|
|
|
|
STDOUT_SERIAL SD7
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
# USB setup
|
|
USB_STRING_MANUFACTURER "Horizon31"
|
|
|
|
# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
|
|
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# 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
|
|
|
|
# SPI1 - Internal IMU sensors
|
|
PG11 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PD7 SPI1_MOSI SPI1
|
|
|
|
# SPI2 - FRAM
|
|
PI1 SPI2_SCK SPI2
|
|
PI2 SPI2_MISO SPI2
|
|
PI3 SPI2_MOSI SPI2
|
|
|
|
# SPI4 - sensors2
|
|
PE2 SPI4_SCK SPI4
|
|
PE13 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# SPI5 - external1 (disabled to save DMA channels)
|
|
# PF7 SPI5_SCK SPI5
|
|
# PF8 SPI5_MISO SPI5
|
|
# PF9 SPI5_MOSI SPI5
|
|
|
|
# SPI6
|
|
PG13 SPI6_SCK SPI6
|
|
PG12 SPI6_MISO SPI6
|
|
PB5 SPI6_MOSI SPI6
|
|
|
|
# sensor CS
|
|
PF10 BARO_CS CS
|
|
PF2 ICM42688_CS CS SPEED_VERYLOW
|
|
PF3 ICM20602_CS CS SPEED_VERYLOW
|
|
PG10 ICM20602_CS2 CS SPEED_VERYLOW
|
|
PF5 FRAM_CS CS SPEED_VERYLOW
|
|
PI4 EXTERNAL1_CS1 CS
|
|
PI10 EXTERNAL1_CS2 CS
|
|
|
|
# unusued CS pins
|
|
PF4 SPARE_CS CS
|
|
PF11 SPARE_CS2 CS
|
|
PH5 SPARE_CS3 CS
|
|
PI11 SPARE_CS4 CS
|
|
PI6 SPARE_CS5 CS
|
|
PI7 SPARE_CS6 CS
|
|
PI8 SPARE_CS7 CS
|
|
|
|
# I2C buses
|
|
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
PF1 I2C2_SCL I2C2
|
|
PF0 I2C2_SDA I2C2
|
|
|
|
PH7 I2C3_SCL I2C3
|
|
PH8 I2C3_SDA I2C3
|
|
|
|
PF14 I2C4_SCL I2C4
|
|
PF15 I2C4_SDA I2C4
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C3 I2C1 I2C2 I2C4
|
|
|
|
# enable pins
|
|
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
|
|
|
|
# start peripheral power off, then enable after init
|
|
# this prevents a problem with radios that use RTS for
|
|
# bootloader hold
|
|
PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
|
|
PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
|
PG5 VDD_5V_RC_EN OUTPUT HIGH
|
|
PG6 VDD_5V_WIFI_EN OUTPUT HIGH
|
|
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
|
|
|
|
# drdy pins
|
|
PB4 DRDY1_ICM42688 INPUT
|
|
PB15 DRDY3_ICM20602_2 INPUT
|
|
PC5 DRDY4_ICM20602 INPUT
|
|
|
|
#unused drdy pins
|
|
PC13 DRDY_SPARE1 INPUT
|
|
PD10 DRDY_SPARE2 INPUT
|
|
PD15 DRDY_SPARE3 INPUT
|
|
|
|
# Spektrum Power is Active High
|
|
define HAL_SPEKTRUM_PWR_ENABLED 1
|
|
|
|
# UARTs
|
|
|
|
# USART2 is telem1
|
|
PD6 USART2_RX USART2
|
|
PD5 USART2_TX USART2
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
|
|
# USART1 is GPS1
|
|
PB7 USART1_RX USART1 NODMA
|
|
PB6 USART1_TX USART1 NODMA
|
|
|
|
# USART3 is telem2
|
|
PD9 USART3_RX USART3
|
|
PD8 USART3_TX USART3
|
|
PD11 USART3_CTS USART3
|
|
PD12 USART3_RTS USART3
|
|
|
|
# UART4 GPS2
|
|
PD0 UART4_RX UART4 NODMA
|
|
PD1 UART4_TX UART4 NODMA
|
|
|
|
# USART6 is telem3
|
|
PG9 USART6_RX USART6 NODMA
|
|
# we leave PG14 as an input to prevent it acting as a pullup
|
|
# on the IOMCU SBUS input
|
|
# PG14 USART6_TX USART6 NODMA
|
|
PG15 USART6_CTS USART6
|
|
PG8 USART6_RTS USART6
|
|
|
|
# UART7 is debug
|
|
PF6 UART7_RX UART7 NODMA
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
# UART8 is for IOMCU
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8
|
|
|
|
# UART for IOMCU
|
|
IOMCU_UART UART8
|
|
|
|
# enable RTSCTS support
|
|
define AP_FEATURE_RTSCTS 1
|
|
|
|
# enable SBUS_OUT on IOMCU (if you have an IOMCU)
|
|
define AP_FEATURE_SBUS_OUT 1
|
|
|
|
# PWM AUX channels
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
PA10 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)
|
|
# 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
|
|
|
|
define BOARD_PWM_COUNT_DEFAULT 8
|
|
|
|
# PWM output for buzzer
|
|
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
|
|
|
# analog in
|
|
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
PC4 SPARE1_ADC1 ADC1 SCALE(1)
|
|
PA4 SPARE2_ADC1 ADC1 SCALE(1)
|
|
|
|
PB0 RSSI_IN ADC1 SCALE(1)
|
|
|
|
PC0 VDD_5V_SENS ADC1 SCALE(2)
|
|
PC1 SCALED_V3V3 ADC1 SCALE(2)
|
|
|
|
# setup scaling defaults
|
|
define HAL_BATT_VOLT_SCALE 18.0
|
|
define HAL_BATT_CURR_SCALE 24.0
|
|
define HAL_BATT_VOLT_PIN 0
|
|
define HAL_BATT_CURR_PIN 1
|
|
define HAL_BATT2_VOLT_PIN 2
|
|
define HAL_BATT2_CURR_PIN 3
|
|
|
|
# CAN bus
|
|
PI9 CAN1_RX CAN1
|
|
PH13 CAN1_TX CAN1
|
|
|
|
PB12 CAN2_RX CAN2
|
|
PB13 CAN2_TX CAN2
|
|
|
|
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
|
|
PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
|
|
|
|
# GPIOs
|
|
PA7 HEATER_EN OUTPUT LOW GPIO(80)
|
|
define HAL_HEATER_GPIO_PIN 80
|
|
|
|
PG1 VDD_BRICK_VALID INPUT PULLUP
|
|
PG2 VDD_BRICK2_VALID INPUT PULLUP
|
|
PG3 nVBUS INPUT PULLDOWN
|
|
PA9 VBUS INPUT
|
|
PF13 VDD_5V_HIPOWER_OC INPUT PULLUP
|
|
PE15 VDD_5V_PERIPH_OC INPUT PULLUP
|
|
|
|
# capture pins
|
|
PA5 FMU_CAP1 INPUT GPIO(58)
|
|
PB3 FMU_CAP2 INPUT GPIO(59)
|
|
PB11 FMU_CAP3 INPUT GPIO(60)
|
|
PI0 FMU_SPARE_4 INPUT GPIO(61)
|
|
|
|
# SPI devices
|
|
SPIDEV ms5611 SPI4 DEVID5 BARO_CS MODE3 5*MHZ 5*MHZ
|
|
SPIDEV icm42688 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV icm20602_2 SPI1 DEVID2 ICM20602_CS2 MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
# 3 IMUs
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
|
|
IMU Invensense SPI:icm20602 ROTATION_YAW_90
|
|
IMU Invensense SPI:icm20602_2 ROTATION_YAW_90
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
|
|
|
# probe external I2C compasses plus some internal IST8310
|
|
# we also probe some external IST8310 with a non-standard orientation
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
|
|
|
|
# baro
|
|
BARO MS56XX SPI:ms5611
|
|
|
|
# microSD support
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
PC12 SDMMC1_CK SDMMC1
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
# red LED marked as B/E
|
|
PB1 LED_RED OUTPUT OPENDRAIN GPIO(90)
|
|
|
|
# green LED of FMU RGB LED
|
|
PC6 LED_GREEN OUTPUT GPIO(91) LOW
|
|
|
|
# blue LED of FMU RGB LED
|
|
PC7 LED_BLUE OUTPUT GPIO(92) HIGH
|
|
|
|
# setup for Board LEDs
|
|
define HAL_GPIO_A_LED_PIN 90
|
|
define HAL_GPIO_B_LED_PIN 92
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
# enable RAMTROM parameter storage
|
|
define HAL_STORAGE_SIZE 32768
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# don't share IOMCU DMA
|
|
DMA_NOSHARE UART8* SPI1* TIM*UP*
|
|
|
|
DMA_PRIORITY SDMMC* UART8* ADC* SPI1* 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_f103_8MHz_lowpolh.bin
|
|
|
|
|
|
|
|
|