mirror of https://github.com/ArduPilot/ardupilot
256 lines
5.8 KiB
Plaintext
256 lines
5.8 KiB
Plaintext
#42605 AND 42688 TOGETHER
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# With suggestions by Andy
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# LUMINOUS BEE 5.32/5.4 bidirectional telemetry
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# hw definition file for processing by chibios_hwdef.py
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MCU_CLOCKRATE_MHZ 480
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1029
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# flash size
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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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define HAL_STORAGE_SIZE 16384
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#define FAST_MCU 1 # HAL_HAVE_FAST_MCU 1 # 480 Mhz
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# only one I2C bus
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I2C_ORDER I2C1
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NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
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# UART4 is GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# Battery & current control
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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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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is sensors bus
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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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# optional baro2
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PA8 BARO2_CS CS
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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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PB2 BOOT1 INPUT
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#PB5 VDD_BRICK_VALID INPUT
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PB5 VDD_BRICK_VALID INPUT PULLDOWN
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# USART1 TX now as led strip control
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PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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# PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# UWB DW1000
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#PB4 UWB_CS CS
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# SPI2 is FRAM
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PB10 SPI2_SCK SPI2
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#PB12 CAN2_RX CAN2
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#PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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#PC0 VBUS_VALID INPUT
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PC0 VBUS_VALID INPUT PULLDOWN
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#BMI088 CS
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#PC2 BMI088_ACCEL_CS CS #opt. second imu
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#PC15 BMI088_GYRO_CS CS #opt. second imu
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PC3 LED_SAFETY OUTPUT
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PC4 SAFETY_IN INPUT PULLDOWN
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PC5 VDD_PERIPH_EN OUTPUT HIGH
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial
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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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#PC13 SBUS_INV OUTPUT
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#PD0 CAN1_RX CAN1
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#PD1 CAN1_TX CAN1
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# USART2 serial1 telem1
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PD3 IMU_CS CS # ex usart2 RTS
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD7 BARO_CS CS
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# USART3 serial2 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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#PD15 20608_DRDY INPUT # IMU Luminous Bee
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# CROSSFIRE RX
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PE0 UART8_RX UART8
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# CROSSFIRE TX
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PE1 UART8_TX UART8
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#set up 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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DMA_NOSHARE for SPI4* #ANDY
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#PE3 VDD_SENSORS_EN OUTPUT HIGH
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#PE4 SPEKTRUM_PWR OUTPUT HIGH
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# UART7 FOR REMOTE ID OPTIONS
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR #52
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PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) BIDIR #50
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
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PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
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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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DMA_PRIORITY TIM1_UP TIM1_CH4 TIM1_CH2
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#PE12 MAG_DRDY INPUT
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PE15 MAG_CS CS
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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# when moving to ChibiOS
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# SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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#SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
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#SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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#SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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#SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
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SPIDEV icm42605 SPI4 DEVID4 IMU_CS MODE3 2*MHZ 16*MHZ
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SPIDEV icm42688 SPI4 DEVID4 IMU_CS MODE3 2*MHZ 16*MHZ
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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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define HAL_STORAGE_SIZE 16384
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# fallback to flash is no FRAM fitted
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#define STORAGE_FLASH_PAGE 22
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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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# pixracer has 3 LEDs, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PB11 LED_RED OUTPUT GPIO(0)
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PB1 LED_GREEN OUTPUT GPIO(1)
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PB3 LED_BLUE OUTPUT GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# battery setup
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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 3.28
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define HAL_BATT_CURR_SCALE 3.06
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# setup serial port defaults for ESP8266
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink
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define DEFAULT_SERIAL5_BAUD 921600
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# 6 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 7
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# two IMUs
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#IMU Invensense SPI:icm20608 ROTATION_YAW_180
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IMU Invensensev3 SPI:icm42605 ROTATION_NONE
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IMU Invensensev3 SPI:icm42688 ROTATION_NONE
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#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# 2 compasses. R15 has LIS3MDL instead of HMC5843
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
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#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# ONE barometer
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BARO DPS280 SPI:dps310
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