AP_HAL_ChibiOS: update HerePro hwdef and move to HereProAP
This commit is contained in:
bugobliterator
Andrew Tridgell
parent
0c5d19ff44
commit
5d5fdbb44d
@ -1,3 +0,0 @@
|
||||
NTF_LED_OVERRIDE 1
|
||||
SCR_ENABLE 1
|
||||
GPS_INJECT_TO 0
|
||||
@ -1,152 +0,0 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H743 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
FULL_FEATURED_BOOTLOADER 1
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5011
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# bootloader is installed at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
PB15 LED_2 OUTPUT LOW
|
||||
PB14 LED OUTPUT LOW
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 330U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 UART7
|
||||
|
||||
define HAL_NO_LOGGING TRUE
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
# USART3 F9
|
||||
PD9 USART3_RX USART3
|
||||
PD8 USART3_TX USART3
|
||||
|
||||
# UART7 F9
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
|
||||
define USB_USE_WAIT TRUE
|
||||
define HAL_USE_USB_MSD 1
|
||||
|
||||
define HAL_DEVICE_THREAD_STACK 2048
|
||||
|
||||
#define AP_PARAM_MAX_EMBEDDED_PARAM 0
|
||||
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
|
||||
define AP_PERIPH_HAVE_LED
|
||||
|
||||
define HAL_COMPASS_MAX_SENSORS 1
|
||||
|
||||
# GPS+MAG
|
||||
define HAL_PERIPH_ENABLE_GPS
|
||||
define HAL_PERIPH_ENABLE_MAG
|
||||
|
||||
# Add MAVLink
|
||||
env FORCE_MAVLINK_INCLUDE 1
|
||||
|
||||
# enable CAN support
|
||||
PB8 CAN1_RX CAN1
|
||||
PB9 CAN1_TX CAN1
|
||||
PB5 CAN2_RX CAN2
|
||||
PB6 CAN2_TX CAN2
|
||||
#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
PF8 blank CS
|
||||
SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
|
||||
|
||||
PE4 MPU_EXT_CS CS
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
|
||||
|
||||
PG15 spi6cs CS
|
||||
PG13 SPI6_SCK SPI6
|
||||
PG12 SPI6_MISO SPI6
|
||||
PG14 SPI6_MOSI SPI6
|
||||
|
||||
PF7 SPI5_SCK SPI5
|
||||
PF9 SPI5_MOSI SPI5
|
||||
|
||||
define BOARD_SER1_RTSCTS_DEFAULT 0
|
||||
|
||||
#gps f9
|
||||
PD10 F91TXR INPUT
|
||||
PD11 F92RST INPUT
|
||||
PD13 F93SB INPUT
|
||||
PD14 F94EXTINT INPUT
|
||||
PD15 F95RSV1 INPUT
|
||||
PG2 F97 INPUT GPIO(100)
|
||||
PG3 F96RSV2 INPUT
|
||||
PD4 RTKSTAT INPUT
|
||||
PD5 GEOFENCESTAT INPUT
|
||||
|
||||
#others
|
||||
PG10 can2int INPUT
|
||||
PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PF1 GNDDET2 INPUT
|
||||
PF2 GNDDET1 INPUT
|
||||
PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
|
||||
PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
|
||||
#sensor enable
|
||||
PC0 SENSEN OUTPUT HIGH
|
||||
PB1 IMUINT INPUT
|
||||
PB3 QCAN2TERM OUTPUT LOW GPIO(4)
|
||||
PB4 QCAN2INT0 INPUT
|
||||
PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PE0 QCAN1INT INPUT
|
||||
PE1 QCAN1INT0 INPUT
|
||||
PE3 QCAN1INT1 INPUT
|
||||
|
||||
PD6 QCAN1TERM OUTPUT LOW GPIO(3)
|
||||
PD7 QCAN2INT1 INPUT
|
||||
PA8 QCAN12OSC1 INPUT
|
||||
|
||||
# This input pin is used to detect that power is valid on USB.
|
||||
PA9 VBUS INPUT
|
||||
PH13 VDD_33V_SENS INPUT
|
||||
|
||||
# This defines some input pins, currently unused.
|
||||
PB2 BOOT1 INPUT
|
||||
|
||||
|
||||
|
||||
# passthrough CAN1
|
||||
define HAL_DEFAULT_CPORT 1
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
|
||||
FULL_CHIBIOS_BOOTLOADER 1
|
||||
@ -1,217 +0,0 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H743 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5001
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
env AP_PERIPH_HEAVY 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors, we leave 2 sectors for BL
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
PB15 LED_SWITCH_2 OUTPUT HIGH
|
||||
PB14 LED_SWITCH_1 OUTPUT HIGH
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 330U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
|
||||
|
||||
define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
|
||||
|
||||
# USART3 F9
|
||||
PD9 USART3_RX USART3
|
||||
PD8 USART3_TX USART3
|
||||
|
||||
# UART7 F9
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
###########################
|
||||
define AP_NOTIFY_PROFILED_SPI_ENABLED 1
|
||||
define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
|
||||
define NOTIFY_LED_LEN_DEFAULT 16
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define HAL_PERIPH_ENABLE_NOTIFY
|
||||
define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
|
||||
|
||||
FLASH_RESERVE_START_KB 256
|
||||
|
||||
define GPS_UBLOX_MOVING_BASELINE TRUE
|
||||
define HAL_GCS_ENABLED 1
|
||||
define HAL_LOGGING_ENABLED TRUE
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
|
||||
define HAL_DISABLE_LOOP_DELAY
|
||||
define USB_USE_WAIT TRUE
|
||||
define HAL_USE_USB_MSD 1
|
||||
|
||||
|
||||
define HAL_DEVICE_THREAD_STACK 2048
|
||||
|
||||
#define AP_PARAM_MAX_EMBEDDED_PARAM 0
|
||||
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
|
||||
# disable dual GPS and GPS blending to save flash space
|
||||
define GPS_MAX_RECEIVERS 1
|
||||
define GPS_MAX_INSTANCES 1
|
||||
define HAL_COMPASS_MAX_SENSORS 1
|
||||
|
||||
# GPS+MAG
|
||||
define HAL_PERIPH_ENABLE_GPS
|
||||
define HAL_PERIPH_ENABLE_MAG
|
||||
define AP_INERTIALSENSOR_ENABLED 1
|
||||
|
||||
|
||||
# enable CAN support
|
||||
PB8 CAN1_RX CAN1
|
||||
PB9 CAN1_TX CAN1
|
||||
PB5 CAN2_RX CAN2
|
||||
PB6 CAN2_TX CAN2
|
||||
|
||||
PA4 MPU_CS CS
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
|
||||
|
||||
PF8 blank CS
|
||||
SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
|
||||
|
||||
IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
||||
|
||||
# compass as part of ICM20948 on newer cubes
|
||||
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
|
||||
|
||||
# one baro
|
||||
#BARO MS56XX I2C:0:0x77
|
||||
|
||||
PE4 CSPI4_CS CS
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
|
||||
|
||||
PG15 CSPI6_CS CS
|
||||
PG13 SPI6_SCK SPI6
|
||||
PG12 SPI6_MISO SPI6
|
||||
PG14 SPI6_MOSI SPI6
|
||||
|
||||
PF7 SPI5_SCK SPI5
|
||||
PF9 SPI5_MOSI SPI5
|
||||
|
||||
# Now setup the pins for the microSD card, if available.
|
||||
PC8 SDMMC1_D0 SDMMC1
|
||||
PC9 SDMMC1_D1 SDMMC1
|
||||
PC10 SDMMC1_D2 SDMMC1
|
||||
PC11 SDMMC1_D3 SDMMC1
|
||||
PC12 SDMMC1_CK SDMMC1
|
||||
PD2 SDMMC1_CMD SDMMC1
|
||||
|
||||
define BOARD_SER1_RTSCTS_DEFAULT 0
|
||||
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define HAL_WITH_DRONECAN 1
|
||||
env HAL_WITH_DRONECAN 1
|
||||
define HAL_PICCOLO_CAN_ENABLE 0
|
||||
define AP_CAN_SLCAN_ENABLED 1
|
||||
|
||||
PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
|
||||
PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
|
||||
|
||||
#gps f9
|
||||
PD10 F91TXR INPUT
|
||||
PD11 F92RST INPUT
|
||||
PD13 F93SB INPUT
|
||||
PD14 F94EXTINT INPUT
|
||||
PD15 F95RSV1 INPUT
|
||||
PG2 F97 INPUT GPIO(100)
|
||||
PG3 F96RSV2 INPUT
|
||||
PD4 RTKSTAT INPUT
|
||||
PD5 GEOFENCESTAT INPUT
|
||||
|
||||
#others
|
||||
PG10 can2int INPUT
|
||||
PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PF1 GNDDET2 INPUT
|
||||
PF2 GNDDET1 INPUT
|
||||
PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
|
||||
PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
|
||||
PD6 TERMCAN1 OUTPUT LOW GPIO(3)
|
||||
PB3 TERMCAN2 OUTPUT LOW GPIO(4)
|
||||
|
||||
#sensor enable
|
||||
PC0 SENSEN OUTPUT HIGH
|
||||
PB1 IMUINT INPUT
|
||||
PB4 QCAN2INT0 INPUT
|
||||
PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PE0 QCAN1INT INPUT
|
||||
PE1 QCAN1INT0 INPUT
|
||||
PE3 QCAN1INT1 INPUT
|
||||
|
||||
PD7 QCAN2INT1 INPUT
|
||||
PA8 QCAN12OSC1 INPUT
|
||||
|
||||
# This defines more ADC inputs.
|
||||
PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
|
||||
PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
|
||||
|
||||
# This input pin is used to detect that power is valid on USB.
|
||||
PA9 VBUS INPUT
|
||||
PH13 VDD_33V_SENS INPUT
|
||||
|
||||
# This defines some input pins, currently unused.
|
||||
PB2 BOOT1 INPUT
|
||||
|
||||
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
# disabled compass cal as it doesn't work for now
|
||||
# define COMPASS_CAL_ENABLED 1
|
||||
|
||||
define HAL_ENABLE_SLCAN 1
|
||||
# passthrough CAN1
|
||||
define HAL_DEFAULT_CPORT 1
|
||||
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define AP_PERIPH_HAVE_LED TRUE
|
||||
|
||||
define SCRIPTING_HEAP_SIZE (64*1024)
|
||||
|
||||
define GPS_MOVING_BASELINE 1
|
||||
|
||||
define AP_RC_CHANNEL_ENABLED 1
|
||||
11
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/defaults.parm
Normal file
11
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/defaults.parm
Normal file
@ -0,0 +1,11 @@
|
||||
GPS_INJECT_TO 0
|
||||
|
||||
# setup for Neopixel
|
||||
OUT1_FUNCTION 120
|
||||
NTF_LED_TYPES 455
|
||||
NTF_LED_BRIGHT 2
|
||||
NTF_LED_LEN 50
|
||||
|
||||
SERIAL2_PROTOCOL 5
|
||||
|
||||
SCR_ENABLE 1
|
||||
85
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/hwdef-bl.dat
Normal file
85
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/hwdef-bl.dat
Normal file
@ -0,0 +1,85 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H757 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H757xx
|
||||
|
||||
define CORE_CM7
|
||||
define SMPS_PWR
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5011
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# bootloader is installed at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
FULL_CHIBIOS_BOOTLOADER TRUE
|
||||
|
||||
define HAL_LED_ON 1
|
||||
|
||||
#PA4 LED_ENABLE OUTPUT HIGH
|
||||
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 180U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1
|
||||
|
||||
define HAL_NO_LOGGING TRUE
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
PC1 USB_RST OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PA7 USB_OSC_EN INPUT FLOATING
|
||||
PB14 USB_CS OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
PA5 OTG_HS_ULPI_CK OTG_HS SPEED_HIGH
|
||||
PC2 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
PC0 OTG_HS_ULPI_STP OTG_HS SPEED_HIGH
|
||||
PC3 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
PA3 OTG_HS_ULPI_D0 OTG_HS SPEED_HIGH
|
||||
PB0 OTG_HS_ULPI_D1 OTG_HS SPEED_HIGH
|
||||
PB1 OTG_HS_ULPI_D2 OTG_HS SPEED_HIGH
|
||||
PB10 OTG_HS_ULPI_D3 OTG_HS SPEED_HIGH
|
||||
PB11 OTG_HS_ULPI_D4 OTG_HS SPEED_HIGH
|
||||
PB12 OTG_HS_ULPI_D5 OTG_HS SPEED_HIGH
|
||||
PB13 OTG_HS_ULPI_D6 OTG_HS SPEED_HIGH
|
||||
PB5 OTG_HS_ULPI_D7 OTG_HS SPEED_HIGH
|
||||
|
||||
define STM32_USB_USE_OTG1 FALSE
|
||||
define STM32_USE_USB_OTG2_HS FALSE
|
||||
define USB_USE_WAIT TRUE
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# enable CAN support
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
PC13 SLEEP_CAN1 OUTPUT LOW
|
||||
|
||||
#PB5 CAN2_RX CAN2
|
||||
#PB6 CAN2_TX CAN2
|
||||
PE12 SLEEP_CAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PB7 SWITCH_CAN2_USB OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
245
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/hwdef.dat
Normal file
245
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/hwdef.dat
Normal file
@ -0,0 +1,245 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H743 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H757xx
|
||||
|
||||
define CORE_CM7
|
||||
define SMPS_PWR
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5001
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
env AP_PERIPH_HEAVY 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
MAIN_STACK 0x2000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors, we leave 2 sectors for BL
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 180U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 EMPTY USART3 UART7
|
||||
|
||||
define HAL_SERIAL0_PROTOCOL SerialProtocol_None
|
||||
|
||||
# USART3 F9
|
||||
PD9 USART3_RX USART3
|
||||
PD8 USART3_TX USART3
|
||||
|
||||
# UART7 F9
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
|
||||
PC1 USB_RST OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PA7 USB_OSC_EN INPUT FLOATING
|
||||
PB14 USB_CS OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
define STM32_USB_USE_OTG1 FALSE
|
||||
define STM32_USE_USB_OTG2_HS TRUE
|
||||
|
||||
PA5 OTG_HS_ULPI_CK OTG_HS SPEED_HIGH
|
||||
PC2 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
#PI11 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
PC0 OTG_HS_ULPI_STP OTG_HS SPEED_HIGH
|
||||
PC3 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
#PH4 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
PA3 OTG_HS_ULPI_D0 OTG_HS SPEED_HIGH
|
||||
PB0 OTG_HS_ULPI_D1 OTG_HS SPEED_HIGH
|
||||
PB1 OTG_HS_ULPI_D2 OTG_HS SPEED_HIGH
|
||||
PB10 OTG_HS_ULPI_D3 OTG_HS SPEED_HIGH
|
||||
PB11 OTG_HS_ULPI_D4 OTG_HS SPEED_HIGH
|
||||
PB12 OTG_HS_ULPI_D5 OTG_HS SPEED_HIGH
|
||||
PB13 OTG_HS_ULPI_D6 OTG_HS SPEED_HIGH
|
||||
PB5 OTG_HS_ULPI_D7 OTG_HS SPEED_HIGH
|
||||
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
#PA13 JTMS-SWDIO INPUT
|
||||
#PA14 JTCK-SWCLK INPUT
|
||||
|
||||
|
||||
#PA13 SIG1 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
#PA14 SIG2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
|
||||
###########################
|
||||
define BUILD_DEFAULT_LED_TYPE Notify_LED_NeoPixel
|
||||
define NOTIFY_LED_LEN_DEFAULT 51
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define HAL_PERIPH_ENABLE_NOTIFY
|
||||
define HAL_PERIPH_ENABLE_RC_OUT
|
||||
|
||||
FLASH_RESERVE_START_KB 256
|
||||
|
||||
define GPS_UBLOX_MOVING_BASELINE TRUE
|
||||
define HAL_GCS_ENABLED 1
|
||||
define HAL_LOGGING_ENABLED TRUE
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
|
||||
define HAL_DISABLE_LOOP_DELAY
|
||||
define USB_USE_WAIT TRUE
|
||||
|
||||
define HAL_MINIMIZE_FEATURES 0
|
||||
|
||||
|
||||
define HAL_DEVICE_THREAD_STACK 2048
|
||||
|
||||
#define AP_PARAM_MAX_EMBEDDED_PARAM 0
|
||||
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
|
||||
# disable dual GPS and GPS blending to save flash space
|
||||
define GPS_MAX_RECEIVERS 1
|
||||
define GPS_MAX_INSTANCES 1
|
||||
define HAL_COMPASS_MAX_SENSORS 1
|
||||
|
||||
# GPS+MAG
|
||||
define HAL_PERIPH_ENABLE_GPS
|
||||
define HAL_PERIPH_ENABLE_MAG
|
||||
define AP_INERTIALSENSOR_ENABLED 1
|
||||
|
||||
|
||||
# enable CAN support
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
PC13 SLEEP_CAN1 OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
PB7 SWITCH_CAN2_USB OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PE12 SLEEP_CAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
CANFD_SUPPORTED 8
|
||||
|
||||
PE4 MPU_CS CS
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
PD12 ICM_CLK OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PF0 ICM_CLK_ENABLE OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
SPIDEV icm42688 SPI4 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
|
||||
|
||||
PB15 TIM1_CH3N TIM1 PWM(1) SPEED_HIGH OPENDRAIN
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
||||
|
||||
PB3 SPI1_SCK SPI1
|
||||
PB4 SPI1_MISO SPI1
|
||||
PD7 SPI1_MOSI SPI1
|
||||
PE9 MAG_CS CS
|
||||
SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
|
||||
|
||||
IMU Invensensev3 SPI:icm42688 ROTATION_NONE
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
||||
|
||||
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
|
||||
|
||||
# Now setup the pins for the microSD card, if available.
|
||||
PC8 SDMMC1_D0 SDMMC1 SPEED_HIGH
|
||||
PC9 SDMMC1_D1 SDMMC1 SPEED_HIGH
|
||||
PC10 SDMMC1_D2 SDMMC1 SPEED_HIGH
|
||||
PC11 SDMMC1_D3 SDMMC1 SPEED_HIGH
|
||||
PB8 SDMMC1_D4 SDMMC1 SPEED_HIGH
|
||||
PB9 SDMMC1_D5 SDMMC1 SPEED_HIGH
|
||||
PC6 SDMMC1_D6 SDMMC1 SPEED_HIGH
|
||||
PC7 SDMMC1_D7 SDMMC1 SPEED_HIGH
|
||||
PC12 SDMMC1_CK SDMMC1 SPEED_HIGH
|
||||
PD2 SDMMC1_CMD SDMMC1 SPEED_HIGH
|
||||
PC5 RESET OUTPUT PUSHPULL LOW
|
||||
|
||||
define HAL_SDMMC_TYPE_EMMC TRUE
|
||||
|
||||
define BOARD_SER1_RTSCTS_DEFAULT 0
|
||||
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define HAL_WITH_UAVCAN 1
|
||||
env HAL_WITH_UAVCAN 1
|
||||
define HAL_PICCOLO_CAN_ENABLE 0
|
||||
define AP_UAVCAN_SLCAN_ENABLED 1
|
||||
|
||||
PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
|
||||
PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
|
||||
|
||||
#gps f9
|
||||
PD10 F91TXR INPUT
|
||||
PD11 F92RST INPUT
|
||||
PD13 F93SB INPUT
|
||||
PD14 F94EXTINT INPUT
|
||||
PD15 F95RSV1 INPUT
|
||||
PG2 F97 INPUT GPIO(100)
|
||||
PG3 F96RSV2 INPUT
|
||||
PD4 RTKSTAT INPUT
|
||||
PD5 GEOFENCESTAT INPUT
|
||||
|
||||
#others
|
||||
PF1 GNDDET2 INPUT
|
||||
PF2 GNDDET1 INPUT
|
||||
#shared with SWD
|
||||
|
||||
#PE0 EXTERN_GPIO1 OUTPUT PUSHPULL SPEED_HIGH LOW
|
||||
#PE1 EXTERN_GPIO2 OUTPUT PUSHPULL SPEED_HIGH LOW
|
||||
|
||||
PD6 TERM_CAN1 OUTPUT LOW GPIO(3)
|
||||
PE11 TERM_CAN2 OUTPUT LOW GPIO(4)
|
||||
|
||||
#USB PD
|
||||
#PA8 CC_DB INPUT
|
||||
#PA9 CC1 INPUT
|
||||
#PA10 CC2 INPUT
|
||||
|
||||
# This defines more ADC inputs.
|
||||
PA6 ANALOG_VCC_1_8V ADC1 SCALE(2)
|
||||
PA4 ANALOG_VCC_3_3V ADC1 SCALE(2)
|
||||
PC4 VDD_5V_SENS ADC1 SCALE(3)
|
||||
PA0 USB_VBUS_SENS ADC1 SCALE(41)
|
||||
|
||||
define HAL_USB_VBUS_SENS_CHAN 16
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
define COMPASS_CAL_ENABLED 1
|
||||
|
||||
define HAL_ENABLE_SLCAN 1
|
||||
# passthrough CAN1
|
||||
define HAL_DEFAULT_CPORT 1
|
||||
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define AP_PERIPH_HAVE_LED TRUE
|
||||
|
||||
define SCRIPTING_HEAP_SIZE (64*1024)
|
||||
|
||||
define GPS_MOVING_BASELINE 1
|
||||
|
||||
define HAL_CAN_POOL_SIZE 16384
|
||||
|
||||
# use last 2 pages for flash storage
|
||||
# H757 has 16 pages of 128k each
|
||||
STORAGE_FLASH_PAGE 14
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
define STM32_SDC_MAX_CLOCK 200000000
|
||||
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
|
||||
|
||||
HAL_USE_USB_MSD 1
|
||||
define MSD_THD_PRIO HIGHPRIO
|
||||
define AP_RC_CHANNEL_ENABLED 1
|
||||
#define HAL_BRD_OPTIONS_DEFAULT 8
|
||||
@ -1,5 +1,4 @@
|
||||
-- This script is a test of led override
|
||||
-- luacheck: only 0
|
||||
|
||||
local count = 0
|
||||
local num_leds = 16
|
||||
Loading…
Reference in New Issue
Block a user