mirror of https://github.com/ArduPilot/ardupilot
236 lines
5.3 KiB
Plaintext
236 lines
5.3 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# for the RadiolinkPIX6 hardware
|
|
|
|
# MCU class and specific type.
|
|
MCU STM32F7xx STM32F767xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1410
|
|
|
|
FLASH_RESERVE_START_KB 32
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART7 OTG2
|
|
|
|
# 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 sensors
|
|
PB3 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PD7 SPI1_MOSI SPI1
|
|
|
|
# SPI2 - FRAM
|
|
PA9 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
# SPI4 - sensors2
|
|
PE2 SPI4_SCK SPI4
|
|
PE13 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# sensor CS
|
|
PB12 BMI088_A_CS CS
|
|
PB4 ICM42688_CS CS SPEED_VERYLOW
|
|
PD10 FRAM_CS CS SPEED_VERYLOW
|
|
PA8 AT7456_CS CS
|
|
PE12 BMI088_G_CS CS
|
|
PC14 EXTERNAL1_CS1 CS
|
|
PC15 EXTERNAL1_CS2 CS
|
|
|
|
# I2C buses
|
|
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C1 I2C2
|
|
|
|
# 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
|
|
PD13 nVDD_5V_HIPOWER_EN OUTPUT HIGH
|
|
PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
|
|
|
# drdy pins
|
|
PD15 DRDY7_EXTERNAL1 INPUT
|
|
|
|
# Control of Spektrum power pin
|
|
PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
|
define HAL_GPIO_SPEKTRUM_PWR 73
|
|
|
|
# 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
|
|
PB6 USART1_TX USART1
|
|
|
|
# USART3 is telem2
|
|
PD9 USART3_RX USART3
|
|
PD8 USART3_TX USART3
|
|
PD11 USART3_CTS USART3
|
|
PD12 USART3_RTS USART3
|
|
|
|
# UART4 GPS2
|
|
PA1 UART4_RX UART4 NODMA
|
|
PA0 UART4_TX UART4 NODMA
|
|
|
|
# UART7 is debug
|
|
PE7 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
|
|
|
|
# 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)
|
|
PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
|
|
PA7 TIM3_CH2 TIM3 PWM(6) GPIO(55)
|
|
PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56)
|
|
PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57)
|
|
|
|
# PWM output for buzzer
|
|
PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
|
|
|
|
# analog in
|
|
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA5 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
PC3 SPARE1_ADC1 ADC1 SCALE(1)
|
|
PA4 SPARE2_ADC1 ADC1 SCALE(1)
|
|
|
|
PC0 VDD_5V_SENS ADC1 SCALE(2)
|
|
PC2 SCALED_V3V3 ADC1 SCALE(2)
|
|
|
|
# setup scaling defaults for PixHackV5 power brick
|
|
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
|
|
|
|
# CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
PB5 CAN2_RX CAN2
|
|
PB13 CAN2_TX CAN2
|
|
|
|
# GPIOs
|
|
PC5 VDD_BRICK_nVALID INPUT PULLUP
|
|
PB1 VDD_BRICK2_nVALID INPUT PULLUP
|
|
PB2 VBUS_nVALID INPUT PULLUP
|
|
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
|
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
|
|
|
|
|
# SPI devices
|
|
SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV imu2 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV osd SPI2 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
|
|
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
# up to 2 IMUs
|
|
IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_270
|
|
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
|
|
# 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
|
|
|
|
# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
|
|
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
|
|
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_180
|
|
|
|
# one baro
|
|
BARO SPL06 I2C:0:0x76
|
|
|
|
# microSD support
|
|
PC8 SDMMC_D0 SDMMC1
|
|
PC9 SDMMC_D1 SDMMC1
|
|
PC10 SDMMC_D2 SDMMC1
|
|
PC11 SDMMC_D3 SDMMC1
|
|
PC12 SDMMC_CK SDMMC1
|
|
PD2 SDMMC_CMD SDMMC1
|
|
|
|
# red LED marked as B/E
|
|
PD14 LED_RED OUTPUT GPIO(90)
|
|
|
|
# green LED marked as PWR. We leave this solid on, but allow
|
|
# for it to be controlled as a relay if needed
|
|
PC1 LED_GREEN OUTPUT GPIO(91)
|
|
|
|
# blue LED marked as ACT
|
|
PC7 LED_BLUE OUTPUT GPIO(92)
|
|
|
|
# setup for "pixracer" RGB LEDs
|
|
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
|
|
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
|
|
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
|
|
|
|
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
|
|
|
# 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_AUTO_ROT_DEFAULT 2
|
|
|
|
DMA_PRIORITY SDMMC* UART8* ADC* USART3_RX TIM1_UP USART2_RX USART1_RX TIM1_CH3 SPI4* SPI1_RX SPI2* TIM1_CH1 SPI1_TX TIM*
|
|
|
|
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|