mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
eec4a12cc2
this uses SRAM1 and SRAM2 for main memory, which enables the use of the data cache for faster operation, and using DTCM for all DMA operations.
245 lines
5.3 KiB
Plaintext
245 lines
5.3 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for FMUv3 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4)
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# MCU class and specific type. It is a F765, which is the same as F767
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# but without the TFT interface
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MCU STM32F7xx STM32F767xx
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# use SRAM1 and SRAM2 as main memory, giving the fastest possible
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# memory. Use DTCM for DMA memory as it needs no data cache operations
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RAM_SIZE_KB 384
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RAM_BASE_ADDRESS 0x20020000
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define DTCM_RAM_SIZE 128
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define DTCM_BASE_ADDRESS 0x20000000
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define STM32_LSECLK 32768U
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define STM32_LSEDRV (3U << 3U)
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define STM32_PLLSRC STM32_PLLSRC_HSE
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define STM32_PLLM_VALUE 8
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define STM32_PLLN_VALUE 216
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define STM32_PLLP_VALUE 2
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define STM32_PLLQ_VALUE 9
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
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define HAL_CHIBIOS_ARCH_FMUV5 1
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# board ID for firmware load
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APJ_BOARD_ID 50
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FLASH_RESERVE_START_KB 32
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# board voltage
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STM32_VDD 330U
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# flash size
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FLASH_SIZE_KB 2048
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6
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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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# SPI1 - internal sensors
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PG11 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 - FRAM
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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# SPI4 - sensors2
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PE2 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# SPI5 - external1 (disabled to save DMA channels)
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# PF7 SPI5_SCK SPI5
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# PF8 SPI5_MISO SPI5
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# PF9 SPI5_MOSI SPI5
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# SPI6 - external2 (disabled to save DMA channels)
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# PG13 SPI6_SCK SPI6
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# PG12 SPI6_MISO SPI6
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# PB5 SPI6_MOSI SPI6
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# sensor CS
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PF10 MS5611_CS CS
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PF2 ICM20689_CS CS SPEED_VERYLOW
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PF3 ICM20602_CS CS SPEED_VERYLOW
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PF4 BMI055_G_CS CS
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PG10 BMI055_A_CS CS
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PF5 FRAM_CS CS SPEED_VERYLOW
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# I2C buses
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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#PF14 I2C4_SCK I2C4
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#PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C2 I2C1 I2C3
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# enable pins
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PF12 nVDD_5V_HIPOWER_EN OUTPUT LOW
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PG4 nVDD_5V_PERIPH_EN OUTPUT LOW
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PG5 VDD_5V_RC_EN OUTPUT HIGH
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PG6 VDD_5V_WIFI_EN OUTPUT HIGH
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PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# UARTs
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# USART2 is telem1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART1 is GPS1
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PB7 USART1_RX USART1 NODMA
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PB6 USART1_TX USART1 NODMA
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# USART3 is telem2
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 GPS2
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PD0 UART4_RX UART4 NODMA
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PD1 UART4_TX UART4 NODMA
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# USART6 is telem3
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PG9 USART6_RX USART6 NODMA
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PG14 USART6_TX USART6 NODMA
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PG15 USART6_CTS USART6
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PG8 USART6_RTS USART6
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# UART7 is debug
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PF6 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 is for IOMCU
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# UART for IOMCU
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IOMCU_UART UART8
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# enable RTSCTS support
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define AP_FEATURE_RTSCTS 1
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# enable SBUS_OUT on IOMCU (if you have an IOMCU)
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define AP_FEATURE_SBUS_OUT 1
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# PWM AUX channels
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PA10 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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#PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56)
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#PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57)
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# PWM output for buzzer
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PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
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# analog in
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)
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PC4 SPARE1_ADC1 ADC1 SCALE(1)
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PA4 SPARE2_ADC1 ADC1 SCALE(1)
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PB0 RSSI_IN ADC1 SCALE(1)
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#PC3 HW_REV_SENS ADC1 SCALE(1)
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#PC2 HW_VER_SENS ADC1 SCALE(1)
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PC0 VDD_5V_SENS ADC1 SCALE(2)
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PC1 SCALED_V3V3 ADC1 SCALE(2)
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# setup scaling defaults for PixHackV5 power brick
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define HAL_BATT_VOLT_SCALE 18.0
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define HAL_BATT_CURR_SCALE 24.0
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define HAL_BATT_VOLT_PIN 0
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define HAL_BATT_CURR_PIN 1
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# CAN bus
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PI9 CAN1_RX CAN1
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PH13 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# GPIOs
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PA7 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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PG1 VDD_BRICK_VALID INPUT PULLUP
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PG2 VDD_BRICK2_VALID INPUT PULLUP
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PG3 VBUS INPUT
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PF13 VDD_5V_HIPOWER_OC INPUT PULLUP
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PE15 VDD_5V_PERIPH_OC INPUT PULLUP
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PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH
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# SPI devices
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SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE0 2*MHZ 8*MHZ
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SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE0 2*MHZ 8*MHZ
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SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 8*MHZ 8*MHZ
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SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 8*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# microSD support
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#PC8 SDMMC_D0 SDMMC1
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#PC9 SDMMC_D1 SDMMC1
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#PC10 SDMMC_D2 SDMMC1
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#PC11 SDMMC_D3 SDMMC1
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#PC12 SDMMC_CK SDMMC1
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 16384
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define HAL_WITH_RAMTRON 1
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# define STORAGE_FLASH_PAGE 11
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define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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DMA_PRIORITY UART8* ADC* SPI* TIM*
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define CH_DBG_ENABLE_ASSERTS TRUE
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define CH_DBG_ENABLE_CHECKS TRUE
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define CH_DBG_SYSTEM_STATE_CHECK TRUE
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define CH_DBG_ENABLE_STACK_CHECK TRUE
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# define HAL_SPI_CHECK_CLOCK_FREQ 1
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ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin
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