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+:105FA000EC26002014260020A82500200000000078 +:105FB000D45A000883040000DF5A0008500400008F +:105FC000ED5A00080096000000000800960000004E +:105FD00000080000040000007C5D000800000000D4 +:105FE00000000000000000000000000000000000B1 +:045FF00000000000AD +:00000001FF diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png new file mode 100644 index 00000000000000..862035aba53f7e Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_pinout.png new file mode 100644 index 00000000000000..d56e4c71656f03 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_pinout.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/README.md b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/README.md new file mode 100644 index 00000000000000..6b9ef27e2ebac7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/README.md @@ -0,0 +1,386 @@ +# JFB-200 Flight Controller + +JFB-200 flight controller of [JAE](https://www.jae.com/Motion_Sensor_Control/eVTOL/FlightController/) +The JFB-200 consists of an octa module with a CPU and sensors—and an I/O board. +Some of the sensors mounted on the octa module are vibration-isolated and feature built-in heaters. +![JFB-200 overview](JFB-200_overview.png) + +## Features + +- Processor + + - STM32H755 microcontroller + +- Sensors + + - Three IMUs: ICM45686, ASM330 and IIM42653 SPI IMU + - Two BAROs: two BMP390 SPI barometer + - Two Mags: builtin I2C BMM350 and IST8310 magnetometer + +- Interfaces + + - microSD card slot + - 7 UARTs plus USB (including GPS1, GPS2, RCIN and S.OUT) + - 16 PWM outputs (16 PWM shares GPIO) + - Three I2C and two CAN ports + - Two external Buzzer (Open/Drain and 24V Out) + - external safety Switch + - voltage monitoring for servo rail and Vcc + - Ethernet port + +- Power + + - two dedicated power input ports for external power bricks + - two analog battery voltage and current sensing port + +## Pinout + +![JFB-200 pinout](JFB-200_pinout.png) + +## UART Mapping + +- SERIAL0 -> USB (MAVLink2) +- SERIAL1 -> UART7 (TELEM1, MAVLink2, DMA-enabled) +- SERIAL2 -> UART5 (TELEM2, MAVLink2, DMA-enabled) +- SERIAL3 -> USART3 (TELEM3, MAVLink2, DMA-enabled) +- SERIAL4 -> USART1 (GPS1, DMA-enabled) +- SERIAL5 -> USART2 (GPS2, DMA-enabled) +- SERIAL6 -> UART8 (RCIN, DMA-enabled) +- SERIAL7 -> USART6 (SBUSOUT, DMA-enabled) +- SERIAL8 -> USB (MAVLink2) + +The TELEM1, TELEM2 and TELEM3 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS. + +## RC Input + +RC input is configured on the port marked RCIN/UART. +This connector supports all RC unidirectional RC protocols. Two cables are available for this port. +To use software binding of Spektrum satellite receivers you need to use the Spektrum satellite cable. +To use bi-directional protocols such as CRSF/ELRS, a full UART must be used instead. UART8 is pre-configured for these RC inputs. See [RC systems](https://ardupilot.org/copter/docs/common-rc-systems.html) for more details. + +## PWM Output + +The JFB-200 supports up to 16 PWM/DShot outputs. + +The 16 PWM outputs are in 4 groups: + +- PWM 1, 2, 3 and 4 in group1 (TIM1) +- PWM 5, 6, 7 and 8 in group2 (TIM3) +- PWM 9, 10, 11 and 12 in group3 (TIM4) +- PWM 13, 14, 15 and 16 in group4 (TIM8) + +Channels within the same group need to use the same output rate. +If any channel in a group uses DShot then all channels in the group need to use DShot. +PWM output voltage can be changed setting BRD_PWM_VOLT_SEL parameter. + +## Battery Monitoring + +The board has two dedicated power monitor ports on 8 pin connectors. +The correct battery setting parameters are dependent on the type of power brick which is connected. +Recomended input voltage is 4.9 to 5.5 volt. + +First battery monitor is enabled by default: + +- BATT_MONITOR 4 (Analog Voltage and Current) +- BATT_VOLT_PIN 16 +- BATT_CURR_PIN 18 +- BATT_VOLT_MULT 1 (must need adjustment depending on the connected power monitor) +- BATT_AMP_PERVLT 1 (must need adjustment depending on the connected power monitor) + +The second battery monitor is not enabled by default, but its parameter defaults have been set: + +- BATT2_VOLT_PIN 4 +- BATT2_CURR_PIN 6 +- BATT2_VOLT_MULT 1 (must need adjustment depending on the connected power monitor) +- BATT2_AMP_PERVLT 1 (must need adjustment depending on the connected power monitor) + +## Compass + +The JFB-200 has two builtin compasses BMM350 and IST8310. +Due to potential interference the board is usually used with an external I2C compass as part of a GPS/Compass combination. + +## GPIOs + +PWM 1-8 can be used as GPIO outputs only for relays,etc. +PMW 9-16 can be used as GPIOs for relays, buttons, RPM etc. + +The numbering of the GPIOs for PIN variables in ArduPilot is: + +- PWM(1) 50 +- PWM(2) 51 +- PWM(3) 52 +- PWM(4) 53 +- PWM(5) 54 +- PWM(6) 55 +- PWM(7) 56 +- PWM(8) 57 +- PWM(9) 58 +- PWM(10) 59 +- PWM(11) 60 +- PWM(12) 61 +- PWM(13) 62 +- PWM(14) 63 +- PWM(15) 64 +- PWM(16) 65 +- CAP1 66 +- CAP2 67 + +## Analog inputs + +The JFB-200 has 10 analog inputs + +- ADC Pin2 -> +3.3V Sense +- ADC Pin4 -> Battery Voltage 2 +- ADC Pin6 -> Battery Current Sensor 2 +- ADC Pin8 -> ADC IN 1 (6.6V) +- ADC Pin10 -> RSSI voltage monitoring +- ADC Pin13 -> ADC IN 2 (3.3V) +- ADC Pin14 -> SERVORAIL sense +- ADC Pin15 -> 5V sense +- ADC Pin16 -> Battery Voltage +- ADC Pin18 -> Battery Current Sensor + +## I2C Buses + +The JFB-200 has 4 I2C interfaces. +I2C 3 is for internal only. + +- the internal I2C port is bus 3 in ArduPilot (I2C3 in hardware) +- the port labelled GPS1 is bus 1 in ArduPilot (I2C1 in hardware) +- the port labelled GPS2 is bus 2 in ArduPilot (I2C2 in hardware) +- the port labelled I2C is bus 4 in ArduPilot (I2C4 in hardware) + +## CAN + +The JFB-200 has two independent CAN buses with terminating resistors. + +## Dedicated Signal input/output + +The JFB-200 has the following dedicated discrete signals on the AUX port + +- ARMED status signal output +- Hardware WDT Fail signal output +- HW reset signal input + +## Connectors + +Unless noted otherwise all connectors are JST GH 1.25mm pitch + +### AUX port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | ARMEDn | +3.3V | | +| 2 | WDT_FAILn | +3.3V | | +| 3 | EXT_RESETn | +3.3V | | +| 4 | SHEILD | GND | | + +### PWM1 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | PWM(1) | +3.3V or +5V | GPIO 50 (Output only) | +| 3 | PWM(2) | +3.3V or +5V | GPIO 51 (Output only) | +| 4 | PWM(3) | +3.3V or +5V | GPIO 52 (Output only) | +| 5 | PWM(4) | +3.3V or +5V | GPIO 53 (Output only) | +| 6 | PWM(5) | +3.3V or +5V | GPIO 54 (Output only) | +| 7 | PWM(6) | +3.3V or +5V | GPIO 55 (Output only) | +| 8 | PWM(7) | +3.3V or +5V | GPIO 56 (Output only) | +| 9 | PWM(8) | +3.3V or +5V | GPIO 57 (Output only) | +| 10 | GND | | + +### PWM2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | PWM(9) | +3.3V or +5V | GPIO 58 | +| 3 | PWM(10) | +3.3V or +5V | GPIO 59 | +| 4 | PWM(11) | +3.3V or +5V | GPIO 60 | +| 5 | PWM(12) | +3.3V or +5V | GPIO 61 | +| 6 | PWM(13) | +3.3V or +5V | GPIO 62 | +| 7 | PWM(14) | +3.3V or +5V | GPIO 63 | +| 8 | PWM(15) | +3.3V or +5V | GPIO 64 | +| 9 | PWM(16) | +3.3V or +5V | GPIO 65 | +| 10 | GND | | + +### SPI port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | SPI5_SCK | +3.3V | +| 3 | SPI5_MISO | +3.3V | +| 4 | SPI5_MOSI | +3.3V | +| 5 | SPI5_CSn | +3.3V | +| 6 | N.C. | | +| 7 | GND | | + +### CAN1, CAN2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | CAN_H | | +| 3 | CAN_L | | +| 4 | GND | | + +### ADC/IO port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC3high | +3.3V | +| 2 | CAP1 | +3.3V | GPIO 66 | +| 3 | CAP2 | +3.3V | GPIO 67 | +| 4 | AIN3 | +3.3V | +| 5 | AIN6 | +6.6V | +| 6 | GND | | + +### TELEM1 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | UART7_TX (OUT) | +3.3V | +| 3 | UART7_RX (IN) | +3.3V | +| 4 | UART7_CTS | +3.3V | +| 5 | UART7_RTS | +3.3V | +| 6 | GND || + +### TELEM2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | UART5_TX (OUT) | +3.3V | +| 3 | UART5_RX (IN) | +3.3V | +| 4 | UART5_CTS | +3.3V | +| 5 | UART5_RTS | +3.3V | +| 6 | GND || + +### TELEM3 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART3_TX (OUT) | +3.3V | +| 3 | USART3_RX (IN) | +3.3V | +| 4 | USART3_CTS | +3.3V | +| 5 | USART3_RTS | +3.3V | +| 6 | GND || + +### GPS2 port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART2_TX (OUT) | +3.3V | +| 3 | USART2_RX (IN) | +3.3V | +| 4 | I2C2 SCL | +3.3V | +| 5 | I2C2 SDA | +3.3V | +| 6 | GND | | + +### ETH port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | RXN | | +| 2 | RXP | | +| 3 | TXN | | +| 4 | TXP | | + +### GPS1 port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART1_TX (OUT) | +3.3V | +| 3 | USART1_RX (IN) | +3.3V | +| 4 | I2C1 SCL | +3.3V(pullup) | +| 5 | I2C1 SDA| +3.3V(pullup) | +| 6 | Safety Button | +3.3V | +| 7 | Safety LED | +3.3V | +| 8 | VCC3 | +3.3V | +| 9 | BUZZER | OPEN/DRAIN | +| 10 | GND | | + +### BUZZER port **(See Note **1**)** + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | BUZZER VCC | +24V/GND | +| 2 | GND | | + +* **1** **[CAUTION]** To prevent malfunction caused by overvoltage, do not connect any buzzer other than 24V. + +### RCIN/UART port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | USART6_TX (OUT) | +3.3V | SBUSOUT | +| 3 | USART6_RX (IN) | +3.3V | SBUSOUT | +| 4 | RSSI | +3.3V | +| 5 | PPM | +3.3V | Low Reso | +| 6 | USART8_TX (OUT) | +3.3V | RCIN | +| 7 | USART8_RX (IN) | +3.3V | RCIN | +| 8 | GND | | + +### I2C port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | I2C4 SCL | +3.3V | +| 3 | I2C4 SDA | +3.3V | +| 4 | GND | | + +### USB port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | Power IN | +| 2 | D_Minus | | +| 3 | D_Plus | | +| 4 | GND | | + +### RCIN port + +2.54mm pitch pin header + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | RCIN | +3.3V | +| 2 | VCChigh | +5V | +| 3 | GND | | + +### SOUT port + +2.54mm pitch pin header + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | SOUT | +3.3V | +| 2 | VCChigh | +5V | +| 3 | GND | | + +### POWER1, POWER2 ports + +Molex picoblade 5024430670 + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC IN | +4.9V ～ +5V | Power IN | +| 2 | VCC IN | +4.9V ～ +5V | Power IN | +| 3 | CURRENT | +3.3V | +| 4 | VOLTAGE | +3.3V | +| 5 | GND | | +| 6 | GND | | + +## Loading Firmware + +Firmware for these boards can be found at the [ArduPilot firmware server](https://firmware.ardupilot.org) in sub-folders labeled "JFB200". + +The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station. +The JFB-200 can be booted into DFU mode using a dedicated adapter. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm new file mode 100644 index 00000000000000..3da10ead6fcafb --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm @@ -0,0 +1,6 @@ +# board setting +BRD_VBUS_MIN 4.75 + +# CAN setting +CAN_P1_DRIVER 1 +CAN_P2_DRIVER 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat new file mode 100644 index 00000000000000..7763d0d8021573 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat @@ -0,0 +1,167 @@ +## hw definition file for processing by chibios_hwdef.py +## for the JFB200 hardware + +## board ID. See Tools/AP_Bootloader/board_types.txt +APJ_BOARD_ID AP_HW_JFB200 + +## MCU class and specific type +MCU STM32H7xx STM32H755xx +define CORE_CM7 + +## crystal frequency 24MHz +OSCILLATOR_HZ 24000000 + +## the H755 has 128k sectors +## the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 128 + +## bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +## with 2M flash we can afford to optimize for speed +FLASH_SIZE_KB 2048 + +## order of UARTs (and USB) +## SERIAL | 0 | 1 | 2 | 3 | +SERIAL_ORDER OTG1 UART7 UART5 UART4 + +## serial port for stdout, set SERIAL3_PROTOCOL 0(none) when using +## The value for STDOUT_SERIAL is a serial device name, and must be for a +## serial device for which pins are defined in this file. For example, SD3 +## is for USART3 (SD3 == "serial device 3" in ChibiOS). +STDOUT_SERIAL SD4 +STDOUT_BAUDRATE 921600 + +## default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +## USB OTG1 SERIAL0 +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +## pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +## telem1 +PE8 UART7_TX UART7 SPEED_VERYLOW +PE10 UART7_CTS UART7 SPEED_VERYLOW +PE7 UART7_RX UART7 SPEED_VERYLOW +PF8 UART7_RTS UART7 SPEED_VERYLOW + +## telem2 +PC12 UART5_TX UART5 SPEED_VERYLOW +PC9 UART5_CTS UART5 SPEED_VERYLOW +PD2 UART5_RX UART5 SPEED_VERYLOW +PC8 UART5_RTS UART5 SPEED_VERYLOW + +## telem3 +PD8 USART3_TX USART3 SPEED_VERYLOW +PD11 USART3_CTS USART3 SPEED_VERYLOW +PD9 USART3_RX USART3 SPEED_VERYLOW +PD12 USART3_RTS USART3 SPEED_VERYLOW + +## GPS1 +PA9 USART1_TX USART1 SPEED_VERYLOW +PB7 USART1_RX USART1 SPEED_VERYLOW + +## GPS2 +PD5 USART2_TX USART2 SPEED_VERYLOW +PA3 USART2_RX USART2 SPEED_VERYLOW + +## RC input or Ext UART +PE1 UART8_TX UART8 SPEED_VERYLOW +PE0 UART8_RX UART8 SPEED_VERYLOW # UART8_RX_SBUS + +## SBUS OUT or Ext UART +PG14 USART6_TX USART6 SPEED_VERYLOW +PG9 USART6_RX USART6 SPEED_VERYLOW + +## debug uart +PH13 UART4_TX UART4 SPEED_VERYLOW NODMA +PH14 UART4_RX UART4 SPEED_VERYLOW NODMA + +## VDD Sense Pins +## Now the VDD sense pin. This is used to sense primary board voltage. +PH4 VDD_5V_SENS INPUT # ADC3_15 +PA10 VBUS_RESERVED INPUT +PF11 SCALED_V3V3 INPUT # ADC1_2 + +## JFB200 has SERVORAIL ADC +PH3 FMU_SERVORAIL_VCC_SENS INPUT # ADC3_14 + +## This defines an output pin which will default to output HIGH. It is +## 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 # VDD_5V_HIPOWER_CEn +PK1 nVDD_5V_PERIPH_EN OUTPUT HIGH # VDD_5V_PERIPH_CEn +PJ2 VDD_3V3_SENSORS_EN OUTPUT LOW +PG0 VDD_3V3_SENSORS2_EN OUTPUT LOW # VDD_3V3_GPS_EN +PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW # BUZZER_VCC_EN + +PI13 HEATER_CEn OUTPUT HIGH # HEATER_CEn + +## Control of Spektrum power pin +## no SPEKTRUM_RC pin so this is controlled manually +PA15 SPEKTRUM_PWR OUTPUT LOW # VDD_3V3_SPEKTRUM_EN + +## CS pins +PK5 FRAM_SPI1_CS CS SPEED_VERYLOW # SPI1_CS +PJ3 IMU3_SPI1_CS CS SPEED_VERYLOW # SPI1_CS + +PB10 BARO1_SPI2_CS CS SPEED_VERYLOW # SPI2_CS +PI4 IMU1_SPI2_CS CS SPEED_VERYLOW # SPI2_CS + +PI10 IMU2_SPI3_CS CS SPEED_VERYLOW # SPI3_CS +PB11 BARO2_SPI3_CS CS SPEED_VERYLOW # SPI3_CS + +PH15 BARO3_SPI4_CS CS SPEED_VERYLOW # SPI4_CS +PG6 EEPROM_SPI4_CS CS SPEED_VERYLOW # SPI4_CS + +PE2 EXT_SPI5_CS CS SPEED_VERYLOW # SPI5_CS + +## PWM output pins +PE9 PWMOUT1 OUTPUT LOW +PJ11 PWMOUT2 OUTPUT LOW +PJ9 PWMOUT3 OUTPUT LOW +PE14 PWMOUT4 OUTPUT LOW +PC6 PWMOUT5 OUTPUT LOW +PC7 PWMOUT6 OUTPUT LOW +PB0 PWMOUT7 OUTPUT LOW +PB1 PWMOUT8 OUTPUT LOW +PB6 PWMOUT9 OUTPUT LOW +PD13 PWMOUT10 OUTPUT LOW +PD14 PWMOUT11 OUTPUT LOW +PD15 PWMOUT12 OUTPUT LOW +PI5 PWMOUT13 OUTPUT LOW +PI6 PWMOUT14 OUTPUT LOW +PI7 PWMOUT15 OUTPUT LOW +PI2 PWMOUT16 OUTPUT LOW +PK2 PWM_OE OUTPUT HIGH +PJ6 PWM_VOLTAGE_SEL_5V_3Vn OUTPUT LOW + +## CAN bus +PK4 GPIO_CAN_SILENT OUTPUT PUSHPULL LOW # CAN_OEn + +## armed indication +PF2 nARMED OUTPUT HIGH SPEED_VERYLOW + +## microSD +PD6 SDMMC2_CK SDMMC2 SPEED_LOW +PD7 SDMMC2_CMD SDMMC2 SPEED_LOW +PB14 SDMMC2_D0 SDMMC2 SPEED_LOW +PB15 SDMMC2_D1 SDMMC2 SPEED_LOW +PB3 SDMMC2_D2 SDMMC2 SPEED_LOW +PB4 SDMMC2_D3 SDMMC2 SPEED_LOW +define FATFS_HAL_DEVICE SDCD2 +PC13 SD_CARD_IN INPUT + +## LEDs +PE3 DUMMY1 OUTPUT HIGH # LED_REDn +PE4 LED_BOOTLOADER OUTPUT HIGH # LED_GREENn +PE5 DUMMY2 OUTPUT HIGH # LED_BLUEn +define HAL_LED_ON 0 + +## Ethernet +PH2 GPIO_ETH_ENABLE OUTPUT LOW SPEED_VERYLOW # ETH_RMII_POWER_EN diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat new file mode 100644 index 00000000000000..571873d619f70d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat @@ -0,0 +1,377 @@ +## hw definition file for processing by chibios_hwdef.py +## for the JFB200 hardware + +## board ID. See Tools/AP_Bootloader/board_types.txt +APJ_BOARD_ID AP_HW_JFB200 + +## MCU class and specific type +MCU STM32H7xx STM32H755xx +define CORE_CM7 + +## crystal frequency 24MHz +OSCILLATOR_HZ 24000000 + +## the H755 has 128k sectors +## bootloader is installed at 128kb offset +FLASH_BOOTLOADER_LOAD_KB 128 +FLASH_RESERVE_START_KB 128 +## with 2M flash we can afford to optimize for speed +FLASH_SIZE_KB 2048 + +## order of UARTs (and USB) +## SERIAL | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | +SERIAL_ORDER OTG1 UART7 UART5 USART3 USART1 USART2 UART8 USART6 OTG2 + +## Serial Default Setting +define DEFAULT_SERIAL3_BAUD 57 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MAVLink2 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL5_BAUD 230 +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_Sbus1 + +## serial port for stdout, set SERIAL8_PROTOCOL 0(none) when using +## The value for STDOUT_SERIAL is a serial device name, and must be for a +## serial device for which pins are defined in this file. For example, SD3 +## is for USART3 (SD3 == "serial device 3" in ChibiOS). +STDOUT_SERIAL SD4 +STDOUT_BAUDRATE 921600 + +## default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +## USB OTG1 SERIAL0 +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +## default the 2nd interface to MAVLink2 +define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 + +## pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +## telem1 +PE8 UART7_TX UART7 SPEED_VERYLOW +PE10 UART7_CTS UART7 SPEED_VERYLOW +PE7 UART7_RX UART7 SPEED_VERYLOW +PF8 UART7_RTS UART7 SPEED_VERYLOW + +## telem2 +PC12 UART5_TX UART5 SPEED_VERYLOW +PC9 UART5_CTS UART5 SPEED_VERYLOW +PD2 UART5_RX UART5 SPEED_VERYLOW +PC8 UART5_RTS UART5 SPEED_VERYLOW + +## telem3 +PD8 USART3_TX USART3 SPEED_VERYLOW +PD11 USART3_CTS USART3 SPEED_VERYLOW +PD9 USART3_RX USART3 SPEED_VERYLOW +PD12 USART3_RTS USART3 SPEED_VERYLOW + +## GPS1 +PA9 USART1_TX USART1 SPEED_VERYLOW +PB7 USART1_RX USART1 SPEED_VERYLOW + +## GPS2 +PD5 USART2_TX USART2 SPEED_VERYLOW +PA3 USART2_RX USART2 SPEED_VERYLOW + +## RC input or Ext UART +PE1 UART8_TX UART8 SPEED_VERYLOW +PE0 UART8_RX UART8 SPEED_VERYLOW # UART8_RX_SBUS + +## SBUS OUT or Ext UART +PG14 USART6_TX USART6 SPEED_VERYLOW +PG9 USART6_RX USART6 SPEED_VERYLOW + +## debug uart +PH13 UART4_TX UART4 SPEED_VERYLOW NODMA +PH14 UART4_RX UART4 SPEED_VERYLOW NODMA + +## ADC +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 + +## setup scaling defaults for supplied power brick +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_SCALE 1 +define HAL_BATT_CURR_SCALE 1 +define HAL_BATT2_VOLT_SCALE 1 +define HAL_BATT2_CURR_SCALE 1 +define HAL_BATT_VOLT_PIN 16 +define HAL_BATT_CURR_PIN 18 +define HAL_BATT2_VOLT_PIN 4 +define HAL_BATT2_CURR_PIN 6 + +## VDD Sense Pins +## Now the VDD sense pin. This is used to sense primary board voltage. +PH4 VDD_5V_SENS ADC3 SCALE(2) # ADC3_15 +define ANALOG_VCC_5V_PIN 15 +define HAL_HAVE_BOARD_VOLTAGE 1 +PA10 VBUS_RESERVED INPUT +PF11 SCALED_V3V3 ADC1 SCALE(2) # ADC1_2 + +## JFB200 has SERVORAIL ADC +PH3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(2) # ADC3_14 + +## RSSI Input +PC0 RSSI_IN ADC1 SCALE(1) # ADC1_10 +define BOARD_RSSI_ANA_PIN 10 + +## External ADC +PF6 ADC3_6V6 ADC3 SCALE(2) # ADC3_8 +PC3 ADC1_3V3 ADC1 SCALE(1) # ADC1_13 + +## This defines an output pin which will default to output HIGH. It is +## 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 # VDD_5V_HIPOWER_CEn +PK1 nVDD_5V_PERIPH_EN OUTPUT HIGH # VDD_5V_PERIPH_CEn +PJ2 VDD_3V3_SENSORS_EN OUTPUT LOW +PG0 VDD_3V3_SENSORS2_EN OUTPUT LOW # VDD_3V3_GPS_EN +PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW # BUZZER_VCC_EN + +#PI13 nVDD_3V3_SD_CARD_EN OUTPUT HIGH # HEATER_CEn +PI13 HEATER_CEn OUTPUT LOW # HEATER_CEn +# To Do : nVDD_5V_HEATER_EN needed to create + +## Control of Spektrum power pin +## no SPEKTRUM_RC pin so this is controlled manually +PA15 SPEKTRUM_PWR OUTPUT HIGH GPIO(69) # VDD_3V3_SPEKTRUM_EN +define HAL_GPIO_SPEKTRUM_PWR 69 +define HAL_SPEKTRUM_PWR_ENABLED 1 + +## Checked in Analogin.cpp -> MAV_POWER_STATUS +PG1 VDD_BRICK_nVALID INPUT # VDD_BRICK_VALIDn +PG2 VDD_BRICK2_nVALID INPUT # VDD_BRICK2_VALIDn +PG3 VBUS_nVALID INPUT # (VBUS)VDD_BRICK3_VALIDn +PF10 VDD_5V_HIPOWER_nOC INPUT PULLDOWN # VDD_5V_HIPOWER_FAULTn +PJ15 VDD_5V_PERIPH_nOC INPUT PULLDOWN # VDD_5V_PERIPH_FAULTn +PE15 5V_HEATER_FAULTn INPUT +# To Do : Vdd_5V_HEATER_VCC needed to create + +## SPI1 +PA5 SPI1_SCK SPI1 SPEED_VERYLOW +PB5 SPI1_MOSI SPI1 SPEED_VERYLOW +PA6 SPI1_MISO SPI1 SPEED_VERYLOW +PK5 FRAM_SPI1_CS CS SPEED_VERYLOW # FM25V02A-DGTR +PJ3 IMU3_SPI1_CS CS SPEED_VERYLOW # IIM-42653 + +## SPI2 +PI1 SPI2_SCK SPI2 SPEED_VERYLOW +PI3 SPI2_MOSI SPI2 SPEED_VERYLOW +PC2 SPI2_MISO SPI2 SPEED_VERYLOW +PB10 BARO1_SPI2_CS CS SPEED_VERYLOW # BMP390 on FSU +PI4 IMU1_SPI2_CS CS SPEED_VERYLOW # ICM-45686 on FSU + +## SPI3 +PC10 SPI3_SCK SPI3 SPEED_VERYLOW +PB2 SPI3_MOSI SPI3 SPEED_VERYLOW +PC11 SPI3_MISO SPI3 SPEED_VERYLOW +PI10 IMU2_SPI3_CS CS SPEED_VERYLOW # ASM330LHH on FSU + +## SPI4 +PE12 SPI4_SCK SPI4 SPEED_VERYLOW +PE6 SPI4_MOSI SPI4 SPEED_VERYLOW +PE13 SPI4_MISO SPI4 SPEED_VERYLOW +PH15 BARO3_SPI4_CS CS SPEED_VERYLOW # BMP390 on MCM +PG6 EEPROM_SPI4_CS CS SPEED_VERYLOW # AT25512-TH-T + +## SPI5 +PF7 SPI5_SCK SPI5 SPEED_VERYLOW +PJ10 SPI5_MOSI SPI5 SPEED_VERYLOW +PH7 SPI5_MISO SPI5 SPEED_VERYLOW +PE2 EXT_SPI5_CS CS SPEED_VERYLOW + +## SPI devices +SPIDEV iim42653 SPI1 DEVID1 IMU3_SPI1_CS MODE3 2*MHZ 20*MHZ # IIM-42653 (24MHz max) +SPIDEV ramtron SPI1 DEVID2 FRAM_SPI1_CS MODE3 2*MHZ 38*MHZ # FM25V02A-DGTR (40MHz max) + +SPIDEV icm45686 SPI2 DEVID1 IMU1_SPI2_CS MODE3 2*MHZ 20*MHZ # ICM-45686 on FSU (24MHz max) +SPIDEV bmp390_1 SPI2 DEVID2 BARO1_SPI2_CS MODE3 2*MHZ 8*MHZ # BMP390 on FSU (10MHz max) + +SPIDEV asm330lhh SPI3 DEVID1 IMU2_SPI3_CS MODE3 2*MHZ 8*MHZ # ASM330LHH on FSU (10MHz max) + +SPIDEV bmp390_2 SPI4 DEVID1 BARO3_SPI4_CS MODE3 2*MHZ 8*MHZ # BMP390 on MCM (10MHz max) +SPIDEV at25512 SPI4 DEVID2 EEPROM_SPI4_CS MODE3 2*MHZ 8*MHZ # AT25512-TH-T (10MHz max) + +## JFB200 has 3 IMUs +## IMU devices for JFB200. The JFB200 board has ICM-45686 and ASM330LHH, IIM-42653. +IMU Invensensev3 SPI:icm45686 ROTATION_NONE # ICM-45686 on FSU +IMU ASM330 SPI:asm330lhh ROTATION_NONE # ASM330LHH on FSU +IMU Invensensev3 SPI:iim42653 ROTATION_ROLL_180 # IIM-42653 + +define HAL_DEFAULT_INS_FAST_SAMPLE 7 +define HAL_EKF_IMU_MASK_DEFAULT 7 + +## JFB200 has 2 BAROs +BARO BMP388 SPI:bmp390_1 # BMP390 on FSU +BARO BMP388 SPI:bmp390_2 # BMP390 on MCM + +## PWM output pins +PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) SPEED_VERYLOW +PJ11 TIM1_CH2 TIM1 PWM(2) GPIO(51) SPEED_VERYLOW +PJ9 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 +PB6 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 +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 +PJ6 PWM_VOLTAGE_SEL_5V_3Vn OUTPUT LOW GPIO(3) +define HAL_GPIO_PWM_VOLT_PIN 3 +define HAL_GPIO_PWM_VOLT_3v3 0 # PWM Output 3.3V is GPIO Low. + +## GPIOs +PE11 FMU_CAP1 INPUT PULLDOWN GPIO(66) +PI9 FMU_CAP2 INPUT PULLDOWN GPIO(67) + +## CAN bus +PD0 CAN1_RX CAN1 SPEED_VERYLOW # FDCAN1_RX +PD1 CAN1_TX CAN1 SPEED_VERYLOW # FDCAN1_TX +PB12 CAN2_RX CAN2 SPEED_VERYLOW # FDCAN2_RX +PB13 CAN2_TX CAN2 SPEED_VERYLOW # FDCAN2_TX + +PK4 GPIO_CAN_SILENT OUTPUT PUSHPULL LOW # CAN_OEn + +## I2C buses +define HAL_I2C_MAX_CLOCK 100000 + +## I2C1, external +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +## I2C2, external +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + +## I2C3, IST8310 Internal, BMM350 Internal on FSU +PA8 I2C3_SCL I2C3 SPEED_VERYLOW +PH8 I2C3_SDA I2C3 SPEED_VERYLOW + +## I2C4, external +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +## order of I2C buses +I2C_ORDER I2C3 I2C1 I2C2 I2C4 +define HAL_I2C_INTERNAL_MASK 1 + +## this board is very tight on DMA channels. To allow for more UART DMA +## we disable DMA on I2C. This also prevents a problem with DMA on I2C +## interfering with IMUs +NODMA I2C* +define STM32_I2C_USE_DMA FALSE + +## builtin compass on JAE JFB200 +define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0 +define AP_COMPASS_PROBING_ENABLED 1 +COMPASS BMM350 I2C:ALL_INTERNAL:0x14 false ROTATION_ROLL_180 +COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_NONE + +COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 + +## armed indication +PF2 nARMED OUTPUT HIGH SPEED_VERYLOW + +## microSD +PD6 SDMMC2_CK SDMMC2 SPEED_LOW +PD7 SDMMC2_CMD SDMMC2 SPEED_LOW +PB14 SDMMC2_D0 SDMMC2 SPEED_LOW +PB15 SDMMC2_D1 SDMMC2 SPEED_LOW +PB3 SDMMC2_D2 SDMMC2 SPEED_LOW +PB4 SDMMC2_D3 SDMMC2 SPEED_LOW +define FATFS_HAL_DEVICE SDCD2 +PC13 SD_CARD_IN INPUT + +## safety +## allow to have a dedicated safety switch pin +PD10 LED_SAFETY OUTPUT HIGH # SAFETY_LEDn +PG15 SAFETY_IN INPUT PULLDOWN # SAFETY_SWITCH_IN +define HAL_HAVE_SAFETY_SWITCH 1 + +## LEDs +PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH SPEED_VERYLOW # LED_REDn +PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW SPEED_VERYLOW # LED_GREENn +PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) HIGH SPEED_VERYLOW # LED_BLUEn + +## setup for "AP_BoardLED" RGB LEDs +define AP_NOTIFY_GPIO_LED_2_ENABLED 1 +define HAL_GPIO_A_LED_PIN 72 +define HAL_GPIO_B_LED_PIN 70 + +## PWM output for buzzer +PF9 TIM14_CH1 TIM14 GPIO(73) ALARM SPEED_VERYLOW +define AP_NOTIFY_BUZZER_ENABLED 1 + +## RC input (PPM) +## note: For only low resolution +PH6 TIM12_CH1 TIM12 RCININT PULLDOWN LOW + +## enable RAMTRON parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + +## DMA +DMA_PRIORITY SDMMC* UART* USART* ADC* SPI* TIM* + +## enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +## enable DFU reboot for installing bootloader +## note that if firmware is build with --secure-bl then DFU is +## disabled +ENABLE_DFU_BOOT 1 + +## External watchdog gpio +PI0 EXT_WDOG OUTPUT LOW SPEED_VERYLOW # WDOG +define EXT_WDOG_INTERVAL_MS 50 + +## 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 +PH2 GPIO_ETH_ENABLE OUTPUT GPIO(113) HIGH SPEED_VERYLOW # ETH_RMII_POWER_EN +define HAL_GPIO_ETH_ENABLE 113 + +define BOARD_PHY_ID MII_LAN8742A_ID +define BOARD_PHY_RMII + +## Refer to https://maclookup.app/vendors/japan-aviation-electronics-industry-ltd +## Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID +define AP_NETWORKING_DEFAULT_MAC_ADDR "00:E0:5E:00:00:00" + +define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.100.1" +define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0" +define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.100.254" + +## HEATER +## 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 +define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 + +PI12 IMU_TEMP_CTL OUTPUT LOW SPEED_VERYLOW GPIO(80) # IMU_TEMP_CTRL + +## HEATER define +define HAL_HEATER_GPIO_PIN 80