mirror of https://github.com/ArduPilot/ardupilot
281 lines
6.3 KiB
Plaintext
281 lines
6.3 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# for Modal AI FC v1
|
|
|
|
# MCU class and specific type. It is a F765, which is the same as F767
|
|
# but without the TFT interface
|
|
MCU STM32F7xx STM32F767xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 41775
|
|
|
|
# default to all pins low to avoid ESD issues
|
|
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
|
|
|
FLASH_RESERVE_START_KB 32
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART2 USART6 USART3 OTG2
|
|
|
|
# default the 2nd interface to MAVLink2
|
|
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
|
|
PA9 VBUS INPUT
|
|
|
|
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# SPI1 - ICM20602
|
|
PA5 SPI1_SCK SPI1
|
|
PB4 SPI1_MISO SPI1
|
|
PB5 SPI1_MOSI SPI1
|
|
|
|
# SPI2 - ICM42688
|
|
PI1 SPI2_SCK SPI2
|
|
PI2 SPI2_MISO SPI2
|
|
PI3 SPI2_MOSI SPI2
|
|
|
|
# SPI5 - FRAM
|
|
PF7 SPI5_SCK SPI5
|
|
PF8 SPI5_MISO SPI5
|
|
PF11 SPI5_MOSI SPI5
|
|
|
|
# SPI6 - BMI088 6DoF, disabled due to lack of DMA channels
|
|
#PB3 SPI6_SCK SPI6
|
|
#PA6 SPI6_MISO SPI6
|
|
#PG14 SPI6_MOSI SPI6
|
|
|
|
# sensor CS
|
|
PI9 ICM20602_CS CS
|
|
PH5 ICM42688_CS CS
|
|
PA15 BMI088_G_CS CS
|
|
PI10 BMI088_A_CS CS
|
|
PG7 FRAM_CS CS SPEED_VERYLOW
|
|
|
|
# fsync pins
|
|
PA0 IMU_2_FSYNC INPUT FLOATING
|
|
PA1 IMU_3_FSYNC INPUT FLOATING
|
|
|
|
# interrupt pins
|
|
PF2 IMU_1_DRDY INPUT PULLDOWN
|
|
PH12 IMU_2_DRDY INPUT PULLDOWN
|
|
PG5 BARO_INT INPUT PULLDOWN
|
|
PF3 SPARE_INT INPUT PULLDOWN
|
|
PI6 IMU_3_ACCEL_INT INPUT PULLDOWN
|
|
PI7 IMU_3_GYRO_INT INPUT PULLDOWN
|
|
|
|
# LSE crystal, unused
|
|
PC14 LSE1 INPUT FLOATING
|
|
PC15 LSE2 INPUT FLOATING
|
|
|
|
# HWID pins, unused
|
|
PA4 HWID_DAC1 INPUT FLOATING
|
|
PF4 HW_VER_SENS INPUT FLOATING
|
|
PF5 HW_REV_SENS INPUT FLOATING
|
|
PG0 HW_VR_DRIVE INPUT FLOATING
|
|
|
|
# security module, A71CH
|
|
PH3 SEC_RESET INPUT PULLDOWN
|
|
|
|
|
|
# I2C buses
|
|
|
|
# I2C1, EXT_GPS_I2C
|
|
PB8 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
# I2C2, DISPLAY_I2C
|
|
PF1 I2C2_SCL I2C2
|
|
PF0 I2C2_SDA I2C2
|
|
|
|
# I2C3, EXP_I2C
|
|
PH7 I2C3_SCL I2C3
|
|
PH8 I2C3_SDA I2C3
|
|
|
|
# I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49)
|
|
PF14 I2C4_SCL I2C4
|
|
PF15 I2C4_SDA I2C4
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C4 I2C3 I2C2 I2C1
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
# GPIOs
|
|
PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110)
|
|
# PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111)
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
# on PE4
|
|
PE4 SAFETY_IN INPUT PULLDOWN
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
define BOARD_SAFETY_ENABLE_DEFAULT 0
|
|
|
|
# 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
|
|
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
|
|
|
|
# UARTs
|
|
|
|
# USART1 is EXT_GPS
|
|
PB15 USART1_RX USART1 NODMA
|
|
PB14 USART1_TX USART1
|
|
|
|
# USART2 is telem3, MSS_SPARE_4W
|
|
PA3 USART2_RX USART2 NODMA
|
|
PD5 USART2_TX USART2
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
|
|
# USART3, UART_2W_DEBUG
|
|
PD9 USART3_RX USART3 NODMA
|
|
PD8 USART3_TX USART3
|
|
|
|
# UART4 GPS2, EXP_UART_2W
|
|
PH14 UART4_RX UART4 NODMA
|
|
PH13 UART4_TX UART4
|
|
|
|
# UART5 Telem 2, MSS_UART_4W
|
|
PD2 UART5_RX UART5
|
|
PB9 UART5_TX UART5
|
|
PC8 UART5_RTS UART5
|
|
PC9 UART5_CTS UART5
|
|
|
|
# USART6, spektrum
|
|
PC7 USART6_RX USART6 NODMA GPIO(74)
|
|
PC6 USART6_TX USART6
|
|
|
|
# RC input. Support all serial protocols on both PPM and spektrum
|
|
# ports. PPM protocol also supported on the PPM port
|
|
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
|
|
|
|
# setup for spektrum satellite bind
|
|
define HAL_GPIO_SPEKTRUM_RC 74
|
|
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
|
define HAL_GPIO_SPEKTRUM_PWR 73
|
|
define HAL_SPEKTRUM_PWR_ENABLED 1
|
|
|
|
# setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and
|
|
# auto-switch inversion as needed
|
|
define HAL_SERIAL6_PROTOCOL 23
|
|
define HAL_SERIAL6_BAUD 115200
|
|
|
|
# UART7 Telem 1, TELEM_UART_4W
|
|
PE7 UART7_RX UART7
|
|
PE8 UART7_TX UART7
|
|
PE9 UART7_RTS UART7
|
|
PE10 UART7_CTS UART7
|
|
|
|
# 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)
|
|
PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
|
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
|
PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
|
|
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
|
|
|
|
# PWM output for buzzer
|
|
#PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
|
|
|
|
define HAL_USE_ADC FALSE
|
|
define HAL_DISABLE_ADC_DRIVER TRUE
|
|
|
|
# INA231 battery monitor
|
|
define HAL_BATTMON_INA2XX_BUS 1
|
|
define HAL_BATTMON_INA2XX_ADDR 0x44
|
|
define HAL_BATT_MONITOR_DEFAULT 21
|
|
|
|
# on some units a LTC2946 is used
|
|
define HAL_BATTMON_LTC2946_BUS 1
|
|
define HAL_BATTMON_LTC2946_ADDR 0x6a
|
|
|
|
PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10
|
|
PC1 SCALED_V3V3 ADC1 SCALE(2)
|
|
|
|
define ANALOG_VCC_5V_PIN 10
|
|
|
|
# CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
#PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
# SPI devices
|
|
SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
# SPI6 disabled due to lack of DMA channels
|
|
#SPIDEV bmi088_g SPI6 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
|
|
#SPIDEV bmi088_a SPI6 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
|
|
# two IMUs enabled
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
|
|
IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90
|
|
#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
|
|
|
# one baro on I2C4
|
|
BARO BMP388 I2C:0:0x76
|
|
|
|
# microSD support on SDMMC2
|
|
PG9 SDMMC2_D0 SDMMC2
|
|
PG10 SDMMC2_D1 SDMMC2
|
|
PG11 SDMMC2_D2 SDMMC2
|
|
PG12 SDMMC2_D3 SDMMC2
|
|
PD6 SDMMC2_CK SDMMC2
|
|
PD7 SDMMC2_CMD SDMMC2
|
|
|
|
define FATFS_HAL_DEVICE SDCD2
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
# red LED
|
|
PB0 LED_RED OUTPUT OPENDRAIN GPIO(90)
|
|
PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91)
|
|
PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92)
|
|
|
|
# 2nd bank of LEDs
|
|
PI0 LED_RED_2 OUTPUT OPENDRAIN LOW GPIO(93)
|
|
PA2 LED_BLUE_2 OUTPUT OPENDRAIN LOW GPIO(94)
|
|
PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95)
|
|
|
|
# setup for BoardLED2
|
|
define HAL_GPIO_A_LED_PIN 90
|
|
define HAL_GPIO_B_LED_PIN 92
|
|
define HAL_GPIO_C_LED_PIN 91
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
# enable RAMTROM parameter storage
|
|
define HAL_STORAGE_SIZE 32768
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART*
|
|
|