#XLINK x2 飞控硬件引脚文件
# hw definition file for processing by chibios_hwdef.py
# for the XLINK X2 hardware
# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# crystal frequency
OSCILLATOR_HZ 16000000
# ChibiOS system timer
STM32_ST_USE_TIMER 2
# board ID for firmware load
APJ_BOARD_ID 8005
define XLINK_BOARD_ID 3
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
# supports upto 8MBits/s
CANFD_SUPPORTED 8
env OPTIMIZE -O2
# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
# 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
#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
# GPS1
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# GPS2
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# uart4
PH13 UART4_TX UART4
PH14 UART4_RX UART4
# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3
# USART6 is for IOMCU
PC6 USART6_TX USART6
PC7 USART6_RX USART6
IOMCU_UART USART6
# Ethernet
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PG13 ETH_RMII_TXD0 ETH1
PG12 ETH_RMII_TXD1 ETH1
PB11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
#PG15 ETH_POWER_EN ETH1
PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)
PA4 SCALED2_V3V3 ADC1 SCALE(2)
PB0 SCALED3_V3V3 ADC1 SCALE(2)
PF12 SCALED4_V3V3 ADC1 SCALE(2)
PB1 VDD_5V_SENS ADC1 SCALE(2)
# pin7 on AD&IO, analog 12
PC2 ADC1_6V6 ADC1 SCALE(2)
# pin6 on AD&IO, analog 13
PC3 ADC1_3V3 ADC1 SCALE(1)
# SPI1 - IMU3 ICM45686
PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1
PI9 SP1_CS1 CS
# SPI2 -IMU1 ICM45686
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2
PH5 SP2_CS1 CS
PA10 SP2_DRDY2 INPUT
# SPI3 -IMU2 BMI088
PB2 SPI3_MOSI SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PI4 SP3_CS1 CS
PI7 SP3_DRDY1 INPUT
#PI7 SP3_DRDY2 INPUT GPIO(93)
#define SP3_DRDY2 93
# SPI4 - unused
#PE12 SPI4_SCK SPI4
#PE13 SPI4_MISO SPI4
#PE14 SPI4_MOSI SPI4
#PF3 SP4_DRDY1 INPUT
PH15 SP4_CS1 CS
# SPI5 - FRAM
PF7 SPI5_SCK SPI5
PH7 SPI5_MISO SPI5
PF11 SPI5_MOSI SPI5
PG7 FRAM_CS CS
# PWM output pins
PD13 TIM4_CH2 TIM4 PWM(1) GPIO(50)
PD14 TIM4_CH3 TIM4 PWM(2) GPIO(51)
PH9 TIM12_CH2 TIM12 PWM(3) GPIO(52) NODMA
PH6 TIM12_CH1 TIM12 PWM(4) GPIO(53) NODMA
PH10 TIM5_CH1 TIM5 PWM(5) GPIO(54)
PH11 TIM5_CH2 TIM5 PWM(6) GPIO(55)
PH12 TIM5_CH3 TIM5 PWM(7) GPIO(56)
PI0 TIM5_CH4 TIM5 PWM(8) GPIO(57)
# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(3)
define HAL_GPIO_PWM_VOLT_PIN 3
define HAL_GPIO_PWM_VOLT_3v3 0
# GPIOs
PE11 FMU_CAP1 INPUT GPIO(58)
PC0 NFC_GPIO INPUT GPIO(60)
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
# I2C buses
# I2C1, GPS+MAG
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1
# I2C2, GPS2+MAG
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2
# I2C3, MS5611, external
PA8 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
# I2C4 internal
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
# order of I2C buses
I2C_ORDER I2C4 I2C1 I2C2 I2C3
define HAL_I2C_INTERNAL_MASK 1
# heater
PB10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
# drdy pins
PG5 DRDY1_ICP20100 INPUT
PF3 DRDY2_IST8310 INPUT
# 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
# armed indication
PE6 nARMED OUTPUT HIGH
# power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
# start peripheral power on
PG10 VDD_5V_HIPOWER_EN OUTPUT
PG4 VDD_5V_PERIPH_EN OUTPUT
# Control of Spektrum power pin
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
define HAL_GPIO_SPEKTRUM_PWR 73
# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 1
# power sensing
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
PG1 VDD_BRICK_nVALID INPUT PULLUP
PG2 VDD_BRICK2_nVALID INPUT PULLUP
PG3 VDD_BRICK3_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
# safety
PD10 LED_SAFETY OUTPUT
PF5 SAFETY_IN INPUT PULLDOWN
# GPIO 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
# PWM output for buzzer
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
# RC input
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
# barometers (XLINK X2)
BARO ICP201XX I2C:0:0x64
BARO ICP201XX I2C:2:0x63
# probe external I2C compasses plus some internal RM3100
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
# IMU devices for XLINK X2
SPIDEV icm40609-1 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm40609-2 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm40609-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
# XLINK X2 3 IMUs
IMU Invensensev3 SPI:icm40609-1 ROTATION_NONE
IMU Invensensev3 SPI:icm40609-2 ROTATION_ROLL_180_YAW_90
IMU Invensensev3 SPI:icm40609-3 ROTATION_PITCH_180
define HAL_INS_HIGHRES_SAMPLE 7
define HAL_DEFAULT_INS_FAST_SAMPLE 7
# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART*
# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_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
# build ABIN for flash-from-bootloader support:
env BUILD_ABIN True
# enable support for dshot on iomcu
#github suggestion
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
define HAL_WITH_IO_MCU_DSHOT 1