mirror of https://github.com/ArduPilot/ardupilot
332 lines
10 KiB
Plaintext
332 lines
10 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x1016
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USB_STRING_MANUFACTURER "Hex/ProfiCNC"
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 140
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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FLASH_RESERVE_START_KB 128
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FLASH_RESERVE_END_KB 128
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define HAL_STORAGE_SIZE 32768
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# order of I2C buses
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I2C_ORDER I2C2 I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
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# If the board has an IOMCU connected via a UART then this defines the
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# UART to talk to that MCU. Leave it out for boards with no IOMCU.
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# UART for IOMCU
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IOMCU_UART USART6
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# UART4 serial GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4 NODMA
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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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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PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# This is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN.
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PA9 VBUS INPUT OPENDRAIN
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# Now we define the pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# This defines a couple of general purpose outputs, mapped to GPIO
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# numbers 1 and 2 for users.
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PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
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PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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PB3 FMU_SW0 INPUT
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# This defines the pins for the 2nd CAN interface, if available.
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PB6 CAN2_TX CAN2
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PB12 CAN2_RX CAN2
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# Now the first I2C bus. The pin speeds are automatically setup
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# correctly, but can be overridden here if needed.
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# the 2nd I2C bus
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# the 2nd SPI bus
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# This input pin is used to detect that power is valid on USB.
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PC0 VBUS_nVALID INPUT PULLUP
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# This defines the CS pin for the magnetometer and first IMU. Note
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# that CS pins are software controlled, and are not tied to a particular
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# SPI bus.
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PC1 MAG_CS CS
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PC2 MPU_CS CS
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# This defines more ADC inputs.
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PC3 AUX_POWER ADC1 SCALE(1)
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PC4 AUX_ADC2 ADC1 SCALE(1)
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# And the analog input for airspeed (rarely used these days).
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PC5 PRESSURE_SENS ADC1 SCALE(2)
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# USART6 to IO
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# More CS pins for more sensors. The labels for all CS pins need to
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# match the SPI device table later in this file.
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PC13 GYRO_EXT_CS CS
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PC14 BARO_EXT_CS CS
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PC15 ACCEL_EXT_CS CS
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PD7 BARO_CS CS
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PE4 MPU_EXT_CS CS
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# the first CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# Another USART, this one for telem1. This one has RTS and CTS lines.
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# USART2 serial2 telem1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# telem1 RTS and CTS as GPIO in alt config 1
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PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1)
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PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1)
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# The telem2 USART, also with RTS/CTS available.
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# USART3 serial3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# The CS pin for FRAM (ramtron). This one is marked as using
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# SPEED_VERYLOW, which matches the HAL_PX4 setup.
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PD10 FRAM_CS CS SPEED_VERYLOW
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
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# outputs on the primary MCU are setup as PWM and how many as
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# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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# Pin for PWM Voltage Selection
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PB4 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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# This is the invensense data-ready pin. We don't use it in the
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# default driver.
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PD15 MPU_DRDY INPUT
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# the 2nd GPS UART
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# UART8 serial4 GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8 NODMA
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# Now setup SPI bus4.
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# This is the pin to enable the sensors rail. It can be used to power
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# cycle sensors to recover them in case there are problems with power on
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# timing affecting sensor stability. We pull it LOW on startup, which
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# means sensors off, then it is pulled HIGH in peripheral_power_enable()
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Define a LED, mapping it to GPIO(0). LOW will illuminate the LED
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PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PB5 VDD_BRICK_nVALID INPUT PULLUP
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PB7 VDD_BRICK2_nVALID INPUT PULLUP
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PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
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SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ
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SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ
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SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ
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SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ
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SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ
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# three IMUs, but allow for different variants. First two IMUs are
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# isolated, 3rd isn't
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IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
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# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
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# and the H variant of the gyro
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IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90
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# 3rd non-isolated IMU
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IMU Invensense SPI:mpu9250 ROTATION_YAW_270
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# alternative IMU set for newer cubes
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IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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# Sensor Check alias for validating board type
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CHECK_ICM20649 spi_check_register_inv2("icm20948", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
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CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)
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CHECK_ICM20948_EXT spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948)
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CHECK_MS5611 check_ms5611("ms5611")
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CHECK_MS5611_EXT check_ms5611("ms5611_ext")
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# Sensor Check Macros to be used for validating board type
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CHECK_IMU0_PRESENT $CHECK_ICM20602_EXT
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CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT
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CHECK_IMU2_PRESENT $CHECK_ICM20649
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CHECK_BARO0_PRESENT $CHECK_MS5611
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CHECK_BARO1_PRESENT $CHECK_MS5611_EXT
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BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# two baros
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BARO MS56XX SPI:ms5611_ext
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BARO MS56XX SPI:ms5611
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# two compasses. First is in the LSM303D
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COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
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# 2nd compass is part of the 2nd invensense IMU
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COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# offset the internal compass for EM impact of the IMU heater
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# this is in sensor frame mGauss
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define HAL_AK09916_HEATER_OFFSET Vector3f(30,10,235)
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# also probe for external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_CHIBIOS_ARCH_FMUV3 1
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define BOARD_TYPE_DEFAULT 3
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# Nnow some defines for logging and terrain data files.
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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# Enable RAMTROM parameter storage.
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define HAL_WITH_RAMTRON 1
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# Setup the IMU heater
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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# Enable all IMUs to be used and therefore three active EKF Lanes
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define HAL_EKF_IMU_MASK_DEFAULT 7
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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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# Now setup the default battery pins driver analog pins and default
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# scaling for the power brick.
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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define HAL_GPIO_PWM_VOLT_PIN 3
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define HAL_GPIO_PWM_VOLT_3v3 1
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# List of files to put in ROMFS. For fmuv3 we need an IO firmware so
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# we can automatically update the IOMCU firmware on boot. The format
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# is "ROMFS ROMFS-filename source-filename". Paths are relative to the
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# ardupilot root.
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin
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DMA_NOSHARE SPI1* SPI4* USART6*
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