diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat index fd43aa0fbc865..3b1936fb89b3c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat @@ -53,14 +53,14 @@ STDOUT_BAUDRATE 921600 DEFAULTGPIO OUTPUT LOW PULLDOWN # USB OTG1 SERIAL0 -PA11 OTG_FS_DM OTG1 -PA12 OTG_FS_DP OTG1 +PA11 OTG_FS_DM OTG1 SPEED_VERYLOW +PA12 OTG_FS_DP OTG1 SPEED_VERYLOW # default the 2nd interface to MAVLink2 define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 # pins for SWD debugging -PA13 JTMS-SWDIO SWD -PA14 JTCK-SWCLK SWD +PA13 JTMS-SWDIO SWD SPEED_VERYLOW +PA14 JTCK-SWCLK SWD SPEED_VERYLOW # telem1 PE8 UART7_TX UART7 SPEED_VERYLOW @@ -101,8 +101,8 @@ PD8 USART3_TX USART3 SPEED_VERYLOW NODMA PD9 USART3_RX USART3 SPEED_VERYLOW NODMA # ADC -PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_16 -PA4 BATT_CURRENT_SENS ADC1 SCALE(1) # ADC1_18 +PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_16 +PA4 BATT_CURRENT_SENS ADC1 SCALE(1) # ADC1_18 PF5 BATT2_VOLTAGE_SENS ADC3 SCALE(1) # ADC3_4 PF12 BATT2_CURRENT_SENS ADC1 SCALE(1) # ADC1_6 @@ -120,11 +120,11 @@ define HAL_BATT2_CURR_PIN 6 PH4 VDD_5V_SENS ADC3 SCALE(2) # ADC3_15 define ANALOG_VCC_5V_PIN 15 define HAL_HAVE_BOARD_VOLTAGE 1 -PA9 VBUS_RESERVED INPUT +PA9 VBUS_RESERVED INPUT # JFB110 has SERVORAIL ADC -PF11 SCALED_V3V3 ADC1 SCALE(2) # ADC1_2 -PH3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(2) # ADC3_14 +PF11 SCALED_V3V3 ADC1 SCALE(2) # ADC1_2 +PH3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(2) # ADC3_14 PC0 RSSI_IN ADC1 SCALE(1) # ADC1_10 define RSSI_ANA_PIN 10 @@ -136,12 +136,12 @@ PC3 ADC1_3V3 ADC1 SCALE(1) # ADC1_13 # 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() -PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH -PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH -PJ1 VDD_3V3_SENSORS_EN OUTPUT LOW -PJ5 VDD_3V3_SENSORS2_EN OUTPUT LOW -PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW -PG8 VDD_3V3_SENSORS4_EN OUTPUT LOW +PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH SPEED_VERYLOW +PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH SPEED_VERYLOW +PJ1 VDD_3V3_SENSORS_EN OUTPUT LOW SPEED_VERYLOW +PJ5 VDD_3V3_SENSORS2_EN OUTPUT LOW SPEED_VERYLOW +PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW SPEED_VERYLOW +PG8 VDD_3V3_SENSORS4_EN OUTPUT LOW SPEED_VERYLOW #VDD_3V3_SD_CARD_EN OUTPUT LOW # controlled manually @@ -151,7 +151,7 @@ PK4 GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW # Control of Spektrum power pin # no SPEKTRUM_RC pin so this is controlled # manually -PJ14 SPEKTRUM_PWR OUTPUT HIGH GPIO(69) +PJ14 SPEKTRUM_PWR OUTPUT HIGH GPIO(69) SPEED_VERYLOW define HAL_GPIO_SPEKTRUM_PWR 69 define HAL_SPEKTRUM_PWR_ENABLED 1 @@ -202,7 +202,7 @@ PF7 SPI5_SCK SPI5 SPEED_VERYLOW PH7 SPI5_MISO SPI5 SPEED_VERYLOW PJ10 SPI5_MOSI SPI5 SPEED_VERYLOW PE2 EXT_SPI5_CS1 CS SPEED_VERYLOW -PD11 EXT_SPI5_CS2 CS +PD11 EXT_SPI5_CS2 CS SPEED_VERYLOW # IMU Device Ready Signal Input PA15 DRDY1_IIM42652_1 INPUT @@ -210,7 +210,7 @@ PF2 DRDY2_IIM42652_1 INPUT PK3 DRDY1_IIM42652_2 INPUT PK7 DRDY2_IIM42652_2 INPUT -PI15 SCHA63T_RESET OUTPUT LOW +PI15 SCHA63T_RESET OUTPUT LOW SPEED_VERYLOW # SPI devices SPIDEV scha63t_g SPI1 DEVID1 SCHA63T_G_CS MODE0 10*MHZ 10*MHZ @@ -240,24 +240,24 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 7 # PWM output pins # we need to disable DMA on the last 2 FMU channels # as timer 12 doesn't have a TIMn_UP DMA option -PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) SPEED_VERYLOW -PJ11 TIM1_CH2 TIM1 PWM(2) GPIO(51) SPEED_VERYLOW -PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) SPEED_VERYLOW -PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) SPEED_VERYLOW -PC6 TIM3_CH1 TIM3 PWM(5) GPIO(54) SPEED_VERYLOW -PC7 TIM3_CH2 TIM3 PWM(6) GPIO(55) SPEED_VERYLOW -PB0 TIM3_CH3 TIM3 PWM(7) GPIO(56) SPEED_VERYLOW -PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57) SPEED_VERYLOW -PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) SPEED_VERYLOW -PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) SPEED_VERYLOW -PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) SPEED_VERYLOW +PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) SPEED_VERYLOW +PJ11 TIM1_CH2 TIM1 PWM(2) GPIO(51) SPEED_VERYLOW +PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) SPEED_VERYLOW +PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) SPEED_VERYLOW +PC6 TIM3_CH1 TIM3 PWM(5) GPIO(54) SPEED_VERYLOW +PC7 TIM3_CH2 TIM3 PWM(6) GPIO(55) SPEED_VERYLOW +PB0 TIM3_CH3 TIM3 PWM(7) GPIO(56) SPEED_VERYLOW +PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57) SPEED_VERYLOW +PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) SPEED_VERYLOW +PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) SPEED_VERYLOW +PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) SPEED_VERYLOW PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) SPEED_VERYLOW PI5 TIM8_CH1 TIM8 PWM(13) GPIO(62) SPEED_VERYLOW -PI6 TIM8_CH2 TIM8 PWM(14) GPIO(63) SPEED_VERYLOW +PI6 TIM8_CH2 TIM8 PWM(14) GPIO(63) SPEED_VERYLOW PI7 TIM8_CH3 TIM8 PWM(15) GPIO(64) SPEED_VERYLOW PI2 TIM8_CH4 TIM8 PWM(16) GPIO(65) SPEED_VERYLOW -PK2 PWM_OE OUTPUT HIGH -PJ12 PWM_OE2 OUTPUT HIGH +PK2 PWM_OE OUTPUT HIGH SPEED_VERYLOW +PJ12 PWM_OE2 OUTPUT HIGH SPEED_VERYLOW # GPIOs PE11 FMU_CAP1 INPUT GPIO(66) @@ -271,20 +271,20 @@ PB13 CAN2_TX CAN2 SPEED_VERYLOW # I2C buses # I2C1, GPS+MAG -PB8 I2C1_SCL I2C1 -PB9 I2C1_SDA I2C1 +PB8 I2C1_SCL I2C1 SPEED_VERYLOW +PB9 I2C1_SDA I2C1 SPEED_VERYLOW # I2C2, GPS2+MAG -PF1 I2C2_SCL I2C2 -PF0 I2C2_SDA I2C2 +PF1 I2C2_SCL I2C2 SPEED_VERYLOW +PF0 I2C2_SDA I2C2 SPEED_VERYLOW # I2C3, IST8310 Internal PA8 I2C3_SCL I2C3 SPEED_VERYLOW PH8 I2C3_SDA I2C3 SPEED_VERYLOW # I2C4 external -PF14 I2C4_SCL I2C4 -PF15 I2C4_SDA I2C4 +PF14 I2C4_SCL I2C4 SPEED_VERYLOW +PF15 I2C4_SDA I2C4 SPEED_VERYLOW # order of I2C buses I2C_ORDER I2C3 I2C1 I2C2 I2C4 @@ -303,7 +303,7 @@ COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 # armed indication -PB10 nARMED OUTPUT HIGH # TP8 +PB10 nARMED OUTPUT HIGH SPEED_VERYLOW # TP8 # microSD support PD6 SDMMC2_CK SDMMC2 SPEED_VERYLOW @@ -316,7 +316,7 @@ define FATFS_HAL_DEVICE SDCD2 PC13 SD_CARD_EN INPUT # safety -PD10 LED_SAFETY OUTPUT +PD10 LED_SAFETY OUTPUT SPEED_VERYLOW PJ13 SAFETY_IN INPUT PULLDOWN # LEDs @@ -359,18 +359,18 @@ define EXT_WDOG_INTERVAL_MS 50 # Ethernet -PA1 ETH_RMII_REF_CLK ETH1 -PA2 ETH_MDIO ETH1 -PA7 ETH_RMII_CRS_DV ETH1 -PC1 ETH_MDC ETH1 -PC4 ETH_RMII_RXD0 ETH1 -PC5 ETH_RMII_RXD1 ETH1 -PG11 ETH_RMII_TX_EN ETH1 -PG13 ETH_RMII_TXD0 ETH1 -PG12 ETH_RMII_TXD1 ETH1 -#PJ0 EXT_ETH_POWER_EN ETH1 - -PJ0 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet +PA1 ETH_RMII_REF_CLK ETH1 SPEED_VERYLOW +PA2 ETH_MDIO ETH1 SPEED_VERYLOW +PA7 ETH_RMII_CRS_DV ETH1 SPEED_VERYLOW +PC1 ETH_MDC ETH1 SPEED_VERYLOW +PC4 ETH_RMII_RXD0 ETH1 SPEED_VERYLOW +PC5 ETH_RMII_RXD1 ETH1 SPEED_VERYLOW +PG11 ETH_RMII_TX_EN ETH1 SPEED_VERYLOW +PG13 ETH_RMII_TXD0 ETH1 SPEED_VERYLOW +PG12 ETH_RMII_TXD1 ETH1 SPEED_VERYLOW +#PJ0 EXT_ETH_POWER_EN ETH1 + +PJ0 Ethernet_PWR_EN OUTPUT HIGH SPEED_VERYLOW # disable power on ethernet define BOARD_PHY_ID MII_LAN8742A_ID define BOARD_PHY_RMII @@ -382,16 +382,19 @@ 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 +define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 -PI13 HEATER_OC OUTPUT LOW GPIO(80) -PI14 HEATER_EN OUTPUT LOW GPIO(81) -define HAL_HEATER_GPIO_PIN 81 +PI12 IMU_TEMP_CTL OUTPUT LOW GPIO(80) SPEED_VERYLOW +PI13 5V_HEATER_OC INPUT LOW GPIO(81) +PI14 5V_HEATER_EN OUTPUT LOW GPIO(82) SPEED_VERYLOW +define HAL_IMUHEAT_CTL_GPIO_PIN 80 +define HAL_HEATER_OC_GPIO_PIN 81 +define HAL_HEATER_ENGPIO_PIN 82 -# compensate for magnetic field generated by the heater on CUAV-6X RM3100 -define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24) +# compensate for magnetic field generated by the heater on JFB-x IST8310 +define HAL_HEATER_MAG_OFFSET_IST8310_1 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(0,0,0) -# compensate for magnetic field generated by the heater on Holybro6X BMM150 -define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23) +# compensate for magnetic field generated by the heater on JFB-X IST8310 +define HAL_HEATER_MAG_OFFSET_IST8310_2 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(0,0,0) -define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150} \ No newline at end of file +define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_IST8310_1, HAL_HEATER_MAG_OFFSET_IST8310_2} \ No newline at end of file