diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat new file mode 100644 index 00000000000000..5c8cb9539707f1 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat @@ -0,0 +1,49 @@ +# hw definition file for processing by chibios_pins.py +# for Matek H7A3 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H7A3xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_MatekH7A3 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +# the H7A3 has 8k sectors +FLASH_BOOTLOADER_LOAD_KB 32 + + +# order of UARTs (and USB). Allow bootloading on USB and telem1 +SERIAL_ORDER OTG1 UART7 + +# UART7 (telem1) +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA + +# PA10 IO-debug-console +PA11 OTG_HS_DM OTG1 +PA12 OTG_HS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make sure Vsw is on during bootloader +PD10 PINIO1 OUTPUT LOW + +PE3 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PC15 IMU1_CS CS +PB12 MAX7456_CS CS +PE11 IMU2_CS CS +PD4 EXT_CS1 CS +PE2 EXT_CS2 CS +PC13 IMU3_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat new file mode 100644 index 00000000000000..7892d581544716 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat @@ -0,0 +1,226 @@ +# hw definition file for processing by chibios_pins.py +# for Matek H7A3 + +# MCU class and specific type +MCU STM32H7xx STM32H7A3xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_MatekH7A3 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 +env OPTIMIZE -Os + +# bootloader takes first 4 sectors +FLASH_RESERVE_START_KB 32 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# USB +PA11 OTG_HS_DM OTG1 +PA12 OTG_HS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for IMU1 (MPU6000) +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 +PC15 IMU1_CS CS + +# SPI2 for MAX7456 OSD +PB12 MAX7456_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI3 - external +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 + +# external CS pins +PD4 EXT_CS1 CS +PE2 EXT_CS2 CS + +# SPI4 for IMU2 (ICM20602) +PE11 IMU2_CS CS +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 + +# add ICM42605 on SPI4 as a backup to replace ICM20602 +PC13 IMU3_CS CS + +# two I2C bus +I2C_ORDER I2C2 I2C1 + +# I2C1 +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C2 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# ADC +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1) +PA7 BATT2_CURRENT_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT2_VOLT_PIN 18 +define HAL_BATT2_CURR_PIN 7 +define HAL_BATT_VOLT_SCALE 11.0 +define HAL_BATT_CURR_SCALE 40.0 +define HAL_BATT2_VOLT_SCALE 11.0 + +PC4 PRESSURE_SENS ADC1 SCALE(2) +define HAL_DEFAULT_AIRSPEED_PIN 4 + +PC5 RSSI_ADC ADC1 +#define BOARD_RSSI_ANA_PIN 8 + +# LED +# green LED1 marked as B/E +# blue LED0 marked as ACT +PE3 LED0 OUTPUT LOW GPIO(90) # blue +PE4 LED1 OUTPUT LOW GPIO(91) # green +define HAL_GPIO_A_LED_PIN 91 +define HAL_GPIO_B_LED_PIN 90 +define HAL_GPIO_LED_OFF 1 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 + +# USART1 (telem2) +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +# USART2 (GPS1) +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 (GPS2) +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 + +# UART4 (spare) +PB9 UART4_TX UART4 +PB8 UART4_RX UART4 + +# USART6 (RC input), SERIAL7 +PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW +PC6 USART6_TX USART6 NODMA + +# as an alternative config setup the RX6 pin as a uart. This allows +# for bi-directional UART based receiver protocols such as FPort +# without any extra hardware +PC7 USART6_RX USART6 NODMA ALT(1) + +# UART7 (telem1) +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 +PE10 UART7_CTS UART7 +PE9 UART7_RTS UART7 + +# UART8 (spare) +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +# Motors +PB0 TIM8_CH2N TIM8 PWM(1) GPIO(50) +PB1 TIM8_CH3N TIM8 PWM(2) GPIO(51) +PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) +PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) +PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) +PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) +PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) +PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) +PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) +PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED + +# Beeper +PA15 TIM2_CH1 TIM2 GPIO(32) ALARM + +# microSD support +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# GPIOs +PD10 PINIO1 OUTPUT GPIO(81) LOW +PD11 PINIO2 OUTPUT GPIO(82) LOW + +DMA_PRIORITY S* + +define HAL_STORAGE_SIZE 15360 + +# use last 4 pages for flash storage +# H7A3 has 256 pages of 8k each +STORAGE_FLASH_PAGE 252 + +# use double page size for flash storage to effectively +# give 16k pages +define AP_FLASH_STORAGE_DOUBLE_PAGE 1 + +# spi devices +SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8 +SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm42605 SPI4 DEVID1 IMU3_CS MODE3 2*MHZ 16*MHZ +SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ + + +DMA_NOSHARE SPI1* SPI4* + +# SPI3 external connections +SPIDEV pixartflow SPI3 DEVID1 EXT_CS1 MODE3 2*MHZ 2*MHZ + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# two IMUs +# H743-V1, ICM20602, MPU6000 +# H743-V1.5/V2, ICM42605, MPU6000 +# H743-V3, ICM42688P, ICM42605 +IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 +IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270 +IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270 +IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer +BARO MS56XX I2C:0:0x77 +BARO DPS310 I2C:0:0x76 +BARO BMP280 I2C:0:0x76 + +define HAL_OS_FATFS_IO 1 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin