From c36f677c946af26bccda28ecd86833a562a5e5f2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 8 Feb 2019 17:46:08 +1100 Subject: [PATCH] HAL_ChibiOS: initial hwdef for Pixhawk4Pro --- .../hwdef/Pixhawk4Pro/hwdef-bl.dat | 6 +- .../hwdef/Pixhawk4Pro/hwdef.dat | 274 +++++++++++++++++- 2 files changed, 266 insertions(+), 14 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef-bl.dat index 700355e88e..bf7e9acbfa 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef-bl.dat @@ -29,7 +29,11 @@ define HAL_LED_ON 0 STM32_VDD 330U # order of UARTs (and USB) -UART_ORDER OTG1 +UART_ORDER OTG1 UART7 + +# UART7 is debug +PF6 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat index 51039f7250..6f5e692d6f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat @@ -12,18 +12,8 @@ APJ_BOARD_ID 139 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 -define FLASH_BOOTLOADER_LOAD_KB 128 - -PB1 LED_RED OUTPUT LOW # red -PC6 LED_ACTIVITY OUTPUT HIGH # green -PC7 LED_BOOTLOADER OUTPUT HIGH # blue - -define HAL_LED_ON 0 +# bootloader takes first sector +FLASH_RESERVE_START_KB 128 # board voltage STM32_VDD 330U @@ -31,11 +21,269 @@ STM32_VDD 330U # order of UARTs (and USB) UART_ORDER OTG1 +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 +define HAL_CHIBIOS_ARCH_FMUV5 1 + +# board voltage +STM32_VDD 330U + +# flash size +FLASH_SIZE_KB 2048 + +# order of UARTs (and USB) +UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 + +# now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 +# these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD -define HAL_USE_EMPTY_STORAGE 1 +# SPI1 - internal sensors +PG11 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 + +# SPI2 - FRAM +PI1 SPI2_SCK SPI2 +PI2 SPI2_MISO SPI2 +PI3 SPI2_MOSI SPI2 + +# SPI4 - sensors2 +PE2 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# SPI5 - external1 (disabled to save DMA channels) +# PF7 SPI5_SCK SPI5 +# PF8 SPI5_MISO SPI5 +# PF9 SPI5_MOSI SPI5 + +# SPI6 - external2 (disabled to save DMA channels) +# PG13 SPI6_SCK SPI6 +# PG12 SPI6_MISO SPI6 +# PB5 SPI6_MOSI SPI6 + +# sensor CS +PF10 MS5611_CS CS +PF2 ICM20689_CS CS SPEED_VERYLOW +PF3 ICM20602_CS CS SPEED_VERYLOW +PF4 BMI055_G_CS CS +PG10 BMI055_A_CS CS +PF5 FRAM_CS CS SPEED_VERYLOW + +# I2C buses + +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + +PH7 I2C3_SCL I2C3 +PH8 I2C3_SDA I2C3 + +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +# order of I2C buses +I2C_ORDER I2C3 I2C1 I2C2 I2C4 + + +# enable pins +PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# 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 +PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH + +# drdy pins +PE7 DRDY8_NC INPUT +PB4 DRDY1_ICM20689 INPUT +PB14 DRDY2_BMI055_GYRO INPUT +PB15 DRDY3_BMI055_ACC INPUT +PC5 DRDY4_ICM20602 INPUT +PC13 DRDY5_BMI055_GYRO INPUT +PD10 DRDY6_BMI055_ACC INPUT +PD15 DRDY7_EXTERNAL1 INPUT + +# UARTs + +# USART2 is telem1 +PD6 USART2_RX USART2 +PD5 USART2_TX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# USART1 is GPS1 +PB7 USART1_RX USART1 NODMA +PB6 USART1_TX USART1 NODMA + +# USART3 is telem2 +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# UART4 GPS2 +PD0 UART4_RX UART4 NODMA +PD1 UART4_TX UART4 NODMA + +# USART6 is telem3 +PG9 USART6_RX USART6 NODMA +# we leave PG14 as an input to prevent it acting as a pullup +# on the IOMCU SBUS input +# PG14 USART6_TX USART6 NODMA +PG15 USART6_CTS USART6 +PG8 USART6_RTS USART6 + +# UART7 is debug +PF6 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +# UART8 is for IOMCU +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# UART for IOMCU +IOMCU_UART UART8 + +# enable RTSCTS support +define AP_FEATURE_RTSCTS 1 + +# enable SBUS_OUT on IOMCU (if you have an IOMCU) +define AP_FEATURE_SBUS_OUT 1 + +# 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) +PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) +# we need to disable DMA on the last 2 FMU channels +# as timer 12 doesn't have a TIMn_UP DMA option +PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA +PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA + +define BOARD_PWM_COUNT_DEFAULT 8 + +# PWM output for buzzer +# PE5 TIM9_CH1 TIM9 GPIO(77) ALARM + +# analog in +PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA1 BATT_CURRENT_SENS ADC1 SCALE(1) + +PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT2_CURRENT_SENS ADC1 SCALE(1) + +PC4 SPARE1_ADC1 ADC1 SCALE(1) +PA4 SPARE2_ADC1 ADC1 SCALE(1) + +PB0 RSSI_IN ADC1 SCALE(1) + +#PC3 HW_REV_SENS ADC1 SCALE(1) +#PC2 HW_VER_SENS ADC1 SCALE(1) + +PC0 VDD_5V_SENS ADC1 SCALE(2) +PC1 SCALED_V3V3 ADC1 SCALE(2) + +# setup scaling defaults for PixHackV5 power brick +define HAL_BATT_VOLT_SCALE 18.0 +define HAL_BATT_CURR_SCALE 24.0 +define HAL_BATT_VOLT_PIN 0 +define HAL_BATT_CURR_PIN 1 + +# CAN bus +#PI9 CAN1_RX CAN1 +#PH13 CAN1_TX CAN1 + +#PB12 CAN2_RX CAN2 +#PB13 CAN2_TX CAN2 + +PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) +PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) +PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) + +# GPIOs +PA7 HEATER_EN OUTPUT LOW GPIO(80) +define HAL_HEATER_GPIO_PIN 80 + +PG1 VDD_BRICK_VALID INPUT PULLUP +PG2 VDD_BRICK2_VALID INPUT PULLUP +PG3 VBUS INPUT +PF13 VDD_5V_HIPOWER_OC INPUT PULLUP +PE15 VDD_5V_PERIPH_OC INPUT PULLUP +PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH + +# capture pins +PA5 FMU_CAP1 INPUT GPIO(58) +PB3 FMU_CAP2 INPUT GPIO(59) +PB11 FMU_CAP3 INPUT GPIO(60) +PI0 FMU_SPARE_4 INPUT GPIO(61) + +# SPI devices +SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ +SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ +SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# microSD support +#PC8 SDMMC_D0 SDMMC1 +#PC9 SDMMC_D1 SDMMC1 +#PC10 SDMMC_D2 SDMMC1 +#PC11 SDMMC_D3 SDMMC1 +#PC12 SDMMC_CK SDMMC1 +#PD2 SDMMC_CMD SDMMC1 + +# red LED marked as B/E +PB1 LED_RED OUTPUT GPIO(90) + +# green LED marked as PWR. We leave this solid on, but allow +# for it to be controlled as a relay if needed +PC6 LED_GREEN OUTPUT GPIO(91) LOW + +# blue LED marked as ACT +PC7 LED_BLUE OUTPUT GPIO(92) HIGH + +# setup for BoardLED2 +define HAL_GPIO_A_LED_PIN 90 +define HAL_GPIO_B_LED_PIN 92 +define HAL_GPIO_LED_ON 0 + + +# enable RAMTROM parameter storage define HAL_STORAGE_SIZE 16384 +define HAL_WITH_RAMTRON 1 + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI + +define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +define HAL_SPI_CHECK_CLOCK_FREQ 1 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +# define HAL_OS_FATFS_IO 1 + +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin