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AP_HAL_ChibiOS: hwdef: ARK_FPV board support
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dakejahl committed Dec 10, 2024
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75 changes: 75 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
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# hw definition file for processing by chibios_hwdef.py
# for the ARKV6X hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 59

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0

# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -Os

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 UART5 USART3

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# CS pins

# ICM20602
PI9 IMU1_CS CS
# BMMI088 Accel
PI4 BMI088_A_CS CS
# BMMI088 Gyro
PI8 BMI088_G_CS CS
# Unused
# PG7 FRAM_CS CS
PI10 EXT1_CS CS

# telem1
PE8 UART7_TX UART7
PF6 UART7_RX UART7

# telem2
PC12 UART5_TX UART5
PD2 UART5_RX UART5

# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# armed indication
PE6 nARMED OUTPUT HIGH

# 12V peripheral enable
PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH

# LEDs
PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
define HAL_LED_ON 0

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable DFU by default
ENABLE_DFU_BOOT 1
248 changes: 248 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
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# hw definition file for processing by chibios_hwdef.py
# for the ARKV6X hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# TODO: changing clockrate causes the build to fail
# MCU_CLOCKRATE_MHZ 320

# ChibiOS system timer
STM32_ST_USE_TIMER 2

# board ID for firmware load
APJ_BOARD_ID 59

FLASH_RESERVE_START_KB 128

# to be compatible with the px4 bootloader we need
# to use a different RAM_MAP
env USE_ALT_RAM_MAP 1

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2

# debug console
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# telem1
PE8 UART7_TX UART7
PF6 UART7_RX UART7
PF8 UART7_RTS UART7
PE10 UART7_CTS UART7

# telem2
PC8 UART5_RTS UART5
PC9 UART5_CTS UART5
PC12 UART5_TX UART5
PD2 UART5_RX UART5

# telem3
PA3 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# GPS1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# uart4
PH13 UART4_TX UART4
PH14 UART4_RX UART4

# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# used for RC SBUS
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)
PA4 SCALED2_V3V3 ADC1 SCALE(2)
PB0 SCALED3_V3V3 ADC1 SCALE(2)

PB1 VDD_5V_SENS ADC1 SCALE(2)

# ESC Telem on UART4
define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_WITH_ESC_TELEM 1
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry

# TODO: ESC analog current (CURR_IN)
# PC2 ADC1_6V6 ADC1 SCALE(2)

# SPI1 - IIM42653
PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1
PI9 IMU1_CS CS
PF2 IMU1_DRDY INPUT

# SPI6 - external1
PB3 SPI6_SCK SPI6
PA6 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
PI10 EXT1_CS CS
PD11 DRDY_ADIS16507 INPUT GPIO(93)

# use GPIO(93) for data ready on ADIS16507
#define ADIS_DRDY_PIN 93

# PWM output pins
PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50)
PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
PI5 TIM8_CH1 TIM8 PWM(5) GPIO(54)
PI6 TIM8_CH2 TIM8 PWM(6) GPIO(55)
PI7 TIM8_CH3 TIM8 PWM(7) GPIO(56)
PI2 TIM8_CH4 TIM8 PWM(8) GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# I2C buses

# I2C1 (GPS1 compass, external)
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1

# I2C2 (BMP390 baro, internal)
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C4 (IIS2MDC compass, internal)
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C4
define HAL_I2C_INTERNAL_MASK 6

# TODO: where does these GPIO numbers come from? ie, GPIO(80)
PB10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80

# 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
# TODO: should we use this?
# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5

# armed indication
PE6 nARMED OUTPUT HIGH

# power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH

# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for
# bootloader hold
PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH

# power sensing
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP

PG1 VDD_BRICK_nVALID INPUT PULLUP

# microSD support
PD6 SDMMC2_CK SDMMC2
PD7 SDMMC2_CMD SDMMC2
PB14 SDMMC2_D0 SDMMC2
PB15 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PB4 SDMMC2_D3 SDMMC2
define FATFS_HAL_DEVICE SDCD2

# LEDs
PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH

# setup for "pixracer" RGB LEDs
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92

define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# ID pins
PG0 HW_VER_REV_DRIVE OUTPUT LOW
# PH3 HW_VER_SENS ADC3 SCALE(1)
# PH4 HW_REV_SENS ADC3 SCALE(1)

# PWM output for buzzer
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM

# barometer on i2c_2
BARO BMP388 I2C:1:0x76

# compass
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# builtin compass
COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE

# IIM42653 on SPI1
SPIDEV iim42653 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
#SPIDEV adis16507 SPI6 DEVID1 EXT1_CS MODE3 1*MHZ 2*MHZ

# ARKV6X 1 IIM42653 IMU
IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270

# IMU Invensensev3 SPI:iim42652 ROTATION_YAW_270
#IMU ADIS1647x SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN

define HAL_DEFAULT_INS_FAST_SAMPLE 1

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768

# INA226 battery monitor
define HAL_BATTMON_INA2XX_BUS 2
define HAL_BATTMON_INA2XX_ADDR 0
define HAL_BATT_MONITOR_DEFAULT 21

DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*

# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1

# ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin

# enable DFU reboot for installing bootloader
# note that if firmware is build with --secure-bl then DFU is
# disabled
ENABLE_DFU_BOOT 1

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

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