AP_HAL_ChibiOS: add CubeRedPrimary hwdef

2023-01-17 15:16:23 +11:00 · 2023-01-17 15:16:23 +11:00 · 918a7355c5
commit 918a7355c5
parent 9663b3d409
3 changed files with 357 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/defaults.parm
@ -0,0 +1,9 @@
+# serial 7 talks to secondary controller, and pins need to be swapped
+SERIAL7_OPTIONS 8
+
+# setup ADSB
+ADSB_TYPE 1
+SERIAL5_BAUD 57
+SERIAL5_PROTOCOL 1
+EK2_PRIMARY 1
+EK3_PRIMARY 1
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef-bl.dat
@ -0,0 +1,72 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x1059
+USB_STRING_MANUFACTURER "CubePilot"
+USB_STRING_PRODUCT "CubeRed-BL"
+
+define CORE_CM7
+define SMPS_PWR
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1069
+
+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 128
+
+define HAL_LED_ON 0
+
+PG5 LED_BOOTLOADER OUTPUT
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2
+# USART2 USART6 USART3 UART8 UART7 UART4
+
+define STM32_SERIAL_USE_USART2 TRUE
+define HAL_USE_SERIAL TRUE
+
+define BOOTLOADER_DEBUG SD2
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# QSPI Flash
+PD11 QUADSPI_BK1_IO0 QUADSPI1
+PD12 QUADSPI_BK1_IO1 QUADSPI1
+PE2  QUADSPI_BK1_IO2 QUADSPI1
+PD13 QUADSPI_BK1_IO3 QUADSPI1
+PB10 QUADSPI_BK1_NCS QUADSPI1
+PB2  QUADSPI_CLK QUADSPI1
+
+EXT_FLASH_SIZE_MB 32
+INT_FLASH_PRIMARY 1
+
+# IFace     Device Name     Bus         QSPI Mode     Clk Freq  Size (Pow2)  NCS Delay
+QSPIDEV     w25q-dtr       QUADSPI1      MODE1         100*MHZ      31            1
+
+# disable peripheral and sensor power in the bootloader
+PG0 VDD_3V3_SENSORS_EN OUTPUT LOW
+PF2 nVDD_5V_PERIPH_EN OUTPUT LOW
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@ -0,0 +1,276 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x1059
+USB_STRING_MANUFACTURER "CubePilot"
+USB_STRING_PRODUCT "CubeRed"
+
+define CORE_CM7
+define SMPS_PWR
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1069
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 128
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+define HAL_LED_ON 0
+
+# Nnow some defines for logging and terrain data files.
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+
+# Setup the IMU heater
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
+
+
+# supports upto 8MBits/s
+CANFD_SUPPORTED 8
+
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# use last 2 pages for flash storage
+# H757 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# ADC setup
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(14)
+PF11 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(15)
+
+PB1 AUX_POWER ADC2 SCALE(1) ANALOG(13) # AUX Volt
+PF12 AUX_ADC2 ADC1 SCALE(1) ANALOG(4) # AUX Curr
+
+PF13 VDD_5V_SENS ADC2 SCALE(2) ANALOG(18)
+
+# And the analog input for airspeed (rarely used these days).
+PF3 PRESSURE_SENS ADC3 SCALE(2) ANALOG(8)
+PC3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(3) ANALOG(9)
+
+# CAN config
+PE10 GPIOCAN1_TERM OUTPUT HIGH
+PG4 GPIOCAN2_TERM OUTPUT HIGH
+
+PB8    CAN1_RX    CAN1
+PB9    CAN1_TX    CAN1
+PB5    CAN2_RX    CAN2
+PB6    CAN2_TX    CAN2
+
+
+# SPI1
+PE13   BARO_0_CS    CS
+PE9    ICM42688_0_CS    CS
+PB3    SPI1_SCK    SPI1
+PB4    SPI1_MISO    SPI1
+PD7    SPI1_MOSI    SPI1
+
+# SPI2
+PD15   RM3100_CS    CS
+PD14   ICM42688_1_CS    CS
+PA9    SPI2_SCK    SPI2
+PB14   SPI2_MISO    SPI2
+PB15   SPI2_MOSI    SPI2
+
+# SPI4
+PF5    ICM20649_CS   CS
+PC2    BARO_1_CS   CS
+PE12    SPI4_SCK    SPI4
+PE5    SPI4_MISO    SPI4
+PE6    SPI4_MOSI    SPI4
+
+# Sensors
+SPIDEV icm42688_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV ms5611_0         SPI1 DEVID2  BARO_0_CS          MODE3 20*MHZ 20*MHZ
+
+SPIDEV icm42688_1       SPI2 DEVID1  ICM42688_1_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV rm3100           SPI2 DEVID2  RM3100_CS          MODE3  2*MHZ  8*MHZ
+
+SPIDEV icm20649         SPI4 DEVID1  ICM20649_CS        MODE3  4*MHZ  8*MHZ
+SPIDEV ms5611_1         SPI4 DEVID2  BARO_1_CS          MODE3 20*MHZ 20*MHZ
+
+IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
+IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
+IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
+
+BARO MS56XX SPI:ms5611_0
+BARO MS56XX SPI:ms5611_1
+
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270 
+
+CHECK_ICM20649        spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
+
+CHECK_ICM42688_0      spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+
+CHECK_ICM42688_1      spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+
+CHECK_MS5611_0        check_ms5611("ms5611_0")
+CHECK_MS5611_1        check_ms5611("ms5611_1")
+
+
+CHECK_IMU0_PRESENT      $CHECK_ICM20649
+CHECK_IMU1_PRESENT      $CHECK_ICM42688_0
+CHECK_IMU2_PRESENT      $CHECK_ICM42688_1
+CHECK_BARO0_PRESENT     $CHECK_MS5611_0
+CHECK_BARO1_PRESENT     $CHECK_MS5611_1
+
+BOARD_VALIDATE  $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT $CHECK_IMU1_PRESENT $CHECK_BARO1_PRESENT $CHECK_IMU2_PRESENT 
+
+define HAL_CHIBIOS_ARCH_FMUV3 1
+
+define BOARD_TYPE_DEFAULT 3
+
+# MCO output
+PA8    RCC_MCO_1    OUTPUT LOW
+
+# I2C
+PF0    I2C2_SDA    I2C2
+PF1    I2C2_SCL    I2C2
+PF14    I2C4_SCL    I2C4
+PF15    I2C4_SDA    I2C4
+I2C_ORDER I2C2 I2C4
+
+# Ethernet
+# PA1    ETH_RMII_REF_CLK    ETH1
+# PA2    ETH_MDIO    ETH1
+# PA7    ETH_RMII_CRS_DV    ETH1
+# PB11    ETH_RMII_TX_EN    ETH1
+# PB12    ETH_RMII_TXD0    ETH1
+# PB13    ETH_RMII_TXD1    ETH1
+# PC1    ETH_MDC    ETH1
+# PC4    ETH_RMII_RXD0    ETH1
+# PC5    ETH_RMII_RXD1    ETH1
+# define BOARD_PHY_ID  MII_LAN8720_ID
+# define BOARD_PHY_RMII
+
+# RCIN
+PB7  TIM4_CH2 TIM4 RCININT  PULLDOWN
+
+# QUADSPI
+PD11    QUADSPI_BK1_IO0    QUADSPI1
+PD12    QUADSPI_BK1_IO1    QUADSPI1
+PE2    QUADSPI_BK1_IO2    QUADSPI1
+PD13    QUADSPI_BK1_IO3    QUADSPI1
+PB10    QUADSPI_BK1_NCS    QUADSPI1
+PB2    QUADSPI_CLK    QUADSPI1
+
+# SDMMC
+PC10    SDMMC1_D2    SDMMC1
+PC11    SDMMC1_D3    SDMMC1
+PC12    SDMMC1_CK    SDMMC1
+PC8    SDMMC1_D0    SDMMC1
+PC9    SDMMC1_D1    SDMMC1
+PD2    SDMMC1_CMD    SDMMC1
+
+# USB
+PA11    OTG_FS_DM    OTG1
+PA12    OTG_FS_DP    OTG1
+
+# SWD
+PA13    JTMS-SWDIO    SWD
+PA14    JTCK-SWCLK    SWD
+
+
+# GPIO
+
+PG5 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
+
+# Power flag pins: these tell the MCU the status of the various power
+# supplies that are available. The pin names need to exactly match the
+# names used in AnalogIn.cpp. 
+PE15 VDD_BRICK_nVALID INPUT PULLUP
+PE4 VDD_BRICK2_nVALID INPUT PULLUP
+PF4 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PD10 VDD_5V_PERIPH_nOC INPUT PULLUP
+
+
+# This is the pin to enable the sensors rail. It can be used to power
+# cycle sensors to recover them in case there are problems with power on
+# timing affecting sensor stability. We pull it LOW on startup, which
+# means sensors off, then it is pulled HIGH in peripheral_power_enable()
+PG0 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# This defines an output pin which will default to output HIGH. It is
+# a pin that enables peripheral power on this board. It starts in the
+# off state, then is pulled low to enable peripherals in
+# peripheral_power_enable()
+PF2 nVDD_5V_PERIPH_EN OUTPUT LOW
+
+PA0 TIM5_CH1 TIM5 GPIO(79) ALARM
+
+PE3 VBUS_nVALID INPUT PULLUP
+
+# upper
+PG2 HEATER_EN OUTPUT LOW GPIO(81)
+# lower
+# PG1 HEATER_EN OUTPUT LOW GPIO(80)
+
+define HAL_HEATER_GPIO_PIN 81
+# define HAL_HEATER_GPIO_PIN2 80
+define HAL_HAVE_IMU_HEATER 1
+
+# Timer
+PE11    TIM1_CH2    TIM1 PWM(1) GPIO(50) BIDIR
+PE14    TIM1_CH4    TIM1 PWM(2) GPIO(51) BIDIR
+PA15    TIM2_CH1    TIM2 PWM(3) GPIO(52) BIDIR
+PA3    TIM2_CH4    TIM2 PWM(4) GPIO(53) BIDIR
+PA6    TIM3_CH1    TIM3 PWM(5) GPIO(54) BIDIR
+PB0    TIM3_CH3    TIM3 PWM(6) GPIO(55) BIDIR
+
+# UART
+PD1    UART4_TX    UART4
+PD0    UART4_RX    UART4
+
+PE0    UART8_RX    UART8
+PE1    UART8_TX    UART8
+
+PD3    USART2_CTS    USART2
+PD4    USART2_RTS    USART2
+PD5    USART2_TX    USART2
+PD6    USART2_RX    USART2
+
+PD8    USART3_TX    USART3
+PD9    USART3_RX    USART3
+
+PC6    USART6_TX    USART6
+PC7    USART6_RX    USART6
+
+PG15    USART6_CTS    USART6
+PG8    USART6_RTS    USART6
+
+# primary <-> secondary 
+PE7    UART7_RX    UART7
+PE8    UART7_TX    UART7
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 EMPTY UART7
+
+EXT_FLASH_SIZE_MB 32
+INT_FLASH_PRIMARY 1
+
+# forward Serial traffic from USB OTG2 to Serial7(UART7)
+define HAL_FORWARD_OTG2_SERIAL 7
+define HAL_HAVE_DUAL_USB_CDC 1
+define HAL_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
+define HAL_SERIAL7_BAUD 2000000