From e6b41fbe0b1764c9e2538a9dc6bebe3c7a1bf7a7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 10 Feb 2019 08:52:58 +1100 Subject: [PATCH] HAL_ChibiOS: added initial CubeH7 hwdef --- .../AP_HAL_ChibiOS/hwdef/CubeH7/hwdef-bl.dat | 41 +++ .../AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat | 267 ++++++++++++++++++ 2 files changed, 308 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef-bl.dat new file mode 100644 index 0000000000..1919ed099c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef-bl.dat @@ -0,0 +1,41 @@ +# hw definition file for processing by chibios_hwdef.py +# for F743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +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 + +define HAL_LED_ON 0 + +# board voltage +STM32_VDD 330U + +# order of UARTs (and USB) +UART_ORDER OTG1 UART7 + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat new file mode 100644 index 0000000000..a67082bd2f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat @@ -0,0 +1,267 @@ +# hw definition file for processing by chibios_hwdef.py +# for F743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID 139 + +FLASH_SIZE_KB 2048 + +FLASH_RESERVE_START_KB 128 + +# board voltage +STM32_VDD 330U + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# order of I2C buses +I2C_ORDER I2C2 I2C1 + +# order of UARTs (and USB) +UART_ORDER OTG1 UART4 USART2 USART3 UART8 UART7 + +# If the board has an IOMCU connected via a UART then this defines the +# UART to talk to that MCU. Leave it out for boards with no IOMCU. + +# UART for IOMCU +#IOMCU_UART USART6 + +# UART4 serial GPS +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# Now the VDD sense pin. This is used to sense primary board voltage. +PA4 VDD_5V_SENS ADC1 SCALE(2) + +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +PA8 VDD_5V_PERIPH_EN OUTPUT LOW + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PA9 VBUS INPUT OPENDRAIN + +# 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 + +# PWM output for buzzer +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM + +# This defines a couple of general purpose outputs, mapped to GPIO +# numbers 1 and 2 for users. +PB0 EXTERN_GPIO1 OUTPUT GPIO(1) +PB1 EXTERN_GPIO2 OUTPUT GPIO(2) + +# This defines some input pins, currently unused. +PB2 BOOT1 INPUT +PB3 FMU_SW0 INPUT + +# This defines the pins for the 2nd CAN interface, if available. +#PB6 CAN2_TX CAN2 +#PB12 CAN2_RX CAN2 + +# Now the first I2C bus. The pin speeds are automatically setup +# correctly, but can be overridden here if needed. +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# the 2nd I2C bus +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# the 2nd SPI bus +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# This input pin is used to detect that power is valid on USB. +PC0 VBUS_VALID INPUT + +# This defines the CS pin for the magnetometer and first IMU. Note +# that CS pins are software controlled, and are not tied to a particular +# SPI bus. +PC1 MAG_CS CS +PC2 MPU_CS CS + +# This defines more ADC inputs. +PC3 AUX_POWER ADC1 SCALE(1) +PC4 AUX_ADC2 ADC1 SCALE(1) + +# And the analog input for airspeed (rarely used these days). +PC5 PRESSURE_SENS ADC1 SCALE(2) + +# USART6 to IO +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA + +# Now setup the pins for the microSD card, if available. +#PC8 SDIO_D0 SDIO +#PC9 SDIO_D1 SDIO +#PC10 SDIO_D2 SDIO +#PC11 SDIO_D3 SDIO +#PC12 SDIO_CK SDIO +#PD2 SDIO_CMD SDIO + +# More CS pins for more sensors. The labels for all CS pins need to +# match the SPI device table later in this file. +PC13 GYRO_EXT_CS CS +PC14 BARO_EXT_CS CS +PC15 ACCEL_EXT_CS CS +PD7 BARO_CS CS +PE4 MPU_EXT_CS CS + +# the first CAN bus +#PD0 CAN1_RX CAN1 +#PD1 CAN1_TX CAN1 + +# Another USART, this one for telem1. This one has RTS and CTS lines. +# USART2 serial2 telem1 +PD3 USART2_CTS USART2 NODMA +PD4 USART2_RTS USART2 NODMA +PD5 USART2_TX USART2 NODMA +PD6 USART2_RX USART2 NODMA + +# The telem2 USART, also with RTS/CTS available. +# USART3 serial3 telem2 +PD8 USART3_TX USART3 NODMA +PD9 USART3_RX USART3 NODMA +PD11 USART3_CTS USART3 NODMA +PD12 USART3_RTS USART3 NODMA + +# The CS pin for FRAM (ramtron). This one is marked as using +# SPEED_VERYLOW, which matches the HAL_PX4 setup. +PD10 FRAM_CS CS SPEED_VERYLOW + +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set BRD_PWM_COUNT to choose how many of the PWM +# outputs on the primary MCU are setup as PWM and how many as +# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) +PE13 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) + +define BOARD_PWM_COUNT_DEFAULT 4 + +# Relays default to use GPIO pins 54 and 55. +define RELAY1_PIN_DEFAULT 54 +define RELAY2_PIN_DEFAULT 55 + +# This is the invensense data-ready pin. We don't use it in the +# default driver. +PD15 MPU_DRDY INPUT + +# the 2nd GPS UART +# UART8 serial4 GPS2 +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA + +# Now setup SPI bus4. +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# 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 high by default. +PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +# Define a LED, mapping it to GPIO(0). LOW will illuminate the LED +PE12 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. +PB5 VDD_BRICK_VALID INPUT PULLUP +PB7 VDD_SERVO_VALID INPUT PULLUP +PE10 VDD_5V_HIPOWER_OC INPUT PULLUP +PE15 VDD_5V_PERIPH_OC INPUT PULLUP + +SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ +SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ +SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ +SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ +SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ +SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ +SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ +SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ +SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ +SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ +SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ +SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ +SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ +SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ +SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ + +define HAL_CHIBIOS_ARCH_FMUV3 1 + +define BOARD_TYPE_DEFAULT 3 + +# Nnow some defines for logging and terrain data files. +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +# Enable RAMTROM parameter storage. +define HAL_WITH_RAMTRON 1 + +# Setup for the possibility of an IMU heater since the pixhawk2 cube has +# an IMU heater. +define HAL_HAVE_IMU_HEATER 1 + +# Enable FAT filesystem support (needs a microSD defined via SDIO). +# define HAL_OS_FATFS_IO 1 + +# Enable RTSCTS support. You should define this if you have any UARTs +with RTS/CTS pins. +define AP_FEATURE_RTSCTS 1 + +# Enable SBUS_OUT on IOMCU (if you have an IOMCU). +define AP_FEATURE_SBUS_OUT 1 + +# Now setup the default battery pins driver analog pins and default +# scaling for the power brick. +define HAL_BATT_VOLT_PIN 2 +define HAL_BATT_CURR_PIN 3 +define HAL_BATT_VOLT_SCALE 10.1 +define HAL_BATT_CURR_SCALE 17.0 + +# This defines the default maximum clock on I2C devices. +define HAL_I2C_MAX_CLOCK 100000 + +# List of files to put in ROMFS. For fmuv3 we need an IO firmware so +# we can automatically update the IOMCU firmware on boot. The format +# is "ROMFS ROMFS-filename source-filename". Paths are relative to the +# ardupilot root. +ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin + +define HAL_SPI_CHECK_CLOCK_FREQ + +# define HAL_DISABLE_DCACHE