AP_HAL_ChibiOS: hwdef: ARK_FPV board support

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

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the ARK FPV 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 size
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# to be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+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
+
+# ADCs
+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PB1 VDD_5V_SENS ADC1 SCALE(2)
+
+# TODO: 12V
+# PA4 SCALED2_V3V3 ADC1 SCALE(2)
+
+PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# Now setup the default battery pins driver analog pins and default
+# scaling for the power brick.
+# See STM32H743xx.py
+define HAL_BATT_VOLT_PIN 9
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 21
+define HAL_BATT_CURR_SCALE 120
+
+# ESC Telem on UART4
+define HAL_SERIAL_ESC_COMM_ENABLED 1
+define HAL_WITH_ESC_TELEM 1
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry
+
+# 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
+
+# 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
+
+# IMU heater
+PB10 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+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
+# 12V EN
+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
+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
+
+# 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
+
+# analog voltage and current
+define HAL_BATT_MONITOR_DEFAULT 4
+
+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
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport