【开源飞控应用程序硬件描述文件hwdef.dat详解-以CUAV-X7为例】

农村电工_Mz

于 2024-10-19 09:39:15 发布

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分类专栏： ardupilot 艰辛的开源飞控ardupilot学习之路文章标签：开源

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开源飞控ardupilot硬件描述文件hwdef.dat讲解-以CUAV-X7为例

环境描述

1.ardupilot软件版本：Plane-4.5.5
2.编辑软件：VS code
3.编译软件：Cygwin64

X7硬件参数

X7各系列所用主控制器一样 CUAV-X7参数表

硬件描述文件讲解

源代码中路径：ardupilot\libraries\AP_HAL_ChibiOS\hwdef\CUAV-X7\hwdef.dat
#后面带的是注释，下面的代码需要根据自己的硬件原理图来进行修改适配。

# hw definition file for processing by chibios_hwdef.py for CUAV-X7

# MCU class and specific type  定义主控MCU的类型
MCU STM32H7xx STM32H743xx

# crystal frequency   晶振频率
OSCILLATOR_HZ 16000000

# board ID for firmware load  板子ID，与bootloader保持一致
APJ_BOARD_ID 1010

# MCU FLASH大小2M
FLASH_SIZE_KB 2048

# with 2M flash we can afford to optimize for speed 允许优化单片机速度
env OPTIMIZE -O2

# ChibiOS system timer ChibiOS系统所用为timer2
STM32_ST_USE_TIMER 2

# bootloader takes first sector   引导程序预留的内存大小 与hwdef-bl.dat保持一致
FLASH_RESERVE_START_KB 128

# order of UARTs (and USB)  串口顺序 serial0 - 7
SERIAL_ORDER OTG1 USART2 USART6 USART1 UART4 UART8 UART7 OTG2

# now we define the pins that USB is connected on 定义USB引脚
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS 定义USB控制引脚
PH15 USB_HS_ENABLE OUTPUT HIGH
define USB_HW_ENABLE_HS 0

# these are the pins for SWD debugging with a STlinkv2 or black-magic probe 定义SWD接口引脚
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 - internal sensors 定义SPI1 外部传感器引脚
PG11 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI2 - FRAM 定义SPI2 外部SRAM引脚
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2

# SPI4 - sensors2 定义SPI4 引脚
PE2 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# SPI5 - external1 定义SPI5 引脚
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5

# SPI6 - external2 定义SPI6 引脚
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PA7 SPI6_MOSI SPI6

# sensor 定义各个传感器SPI的使能引脚
PF10 ADIS16470_CS CS
PF2  RM3100_CS  CS
PG6  ICM20689_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PA15 ICM42688_CS CS SPEED_VERYLOW
PF3  BMI088_A_CS CS
PF4  BMI088_G_CS CS
PF5  FRAM_CS CS SPEED_VERYLOW
PG10 MS5611_IMU_CS CS
PI8  MS5611_BOARD_CS CS

# external CS pins, SPI5 connector 定义外接SPI的使能引脚
PI4  EXT1_CS1 CS
PI10 EXT1_CS2 CS
PI13 EXT1_CS3 CS

# I2C buses

# I2C1 is on GPS port 定义I2C1的接口引脚
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# I2C2 on GPS2 connector 定义I2C2的接口引脚
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C3 for onboard mag 定义I2C3的接口引脚
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4 is on BDMA on DMAMUX2 定义I2C4的接口引脚
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses 定义I2C的顺序
I2C_ORDER I2C3 I2C1 I2C2 I2C4

# 外部I2C总线的总线掩码
define HAL_I2C_INTERNAL_MASK 1

# enable pins 传感器电源使能引脚 
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW

# start peripheral power on 外围电源使能引脚 默认输出高
PD11 VDD_5V_HIPOWER_EN OUTPUT HIGH
PG4  VDD_5V_PERIPH_EN OUTPUT HIGH

PG5  VDD_5V_RC_EN OUTPUT HIGH
PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH

# drdy pins 定义传感器DRDY引脚 输入模式
PE7  DRDY1_ADIS16470 INPUT GPIO(93)
PH5  DRDY2_ICM20649 INPUT
PB14 DRDY3_BMI088_GYRO1 INPUT
PB15 DRDY4_BMI088_ACC1 INPUT
PJ0  DRDY5_ICM20689 INPUT
PC13 DRDY6_BMI088_GYRO2 INPUT
PI14 DRDY7_BMI088_ACC2 INPUT
PE4  DRDY8_RM3100 INPUT

# use GPIO(93) for data ready on ADIS16470 定义ADIS16470的DRDY引脚为 GPIO93
define ADIS_DRDY_PIN 93

# UARTs

# USART2 is telem1  定义串口2的RX、TX、CTS、RTS引脚
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# USART1 is GPS1 定义串口1的RX、TX引脚 不使用DMA
PB7 USART1_RX USART1 NODMA
PB6 USART1_TX USART1 NODMA

# UART4 GPS2 定义串口4的RX、TX引脚 不使用DMA
PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA

# USART6 is telem2 定义串口6的RX、TX、CTS、RTS引脚
PG9 USART6_RX USART6 
PG14 USART6_TX USART6
PG15 USART6_CTS USART6
PG8 USART6_RTS USART6

# UART7 is debug 定义串口7的RX、TX引脚 不使用DMA
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# SBUS, DSM port 定义串口8的RX、TX引脚
PE0 UART8_RX UART8
PE1 UART8_TX UART8 

# PWM AUX channels 定义PWM输出的引脚 如果要支持DSHOT数字电调协议 timer io必须支持DMA才行
PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50)
PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52)
PI0  TIM5_CH4 TIM5 PWM(4) GPIO(53)
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)

PE9  TIM1_CH1  TIM1  PWM(9)  GPIO(58)
PE11 TIM1_CH2  TIM1  PWM(10) GPIO(59)
PA10 TIM1_CH3  TIM1  PWM(11) GPIO(60)
PE14 TIM1_CH4  TIM1  PWM(12) GPIO(61)
PH6  TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
PH9  TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA

# allow for 14 PWMs by default 默认允许14路PWM

# PWM output for buzzer   定义蜂鸣器输出引脚
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM

# RC input   定义遥控输入引脚 
PB4 TIM3_CH1 TIM3 RCININT PULLDOWN LOW

# analog in 定义模拟输入引脚 PA0测电压 PA1测电流
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)

# ADC3.3/ADC6.6  定义3.3V/6.6V电源测量引脚
PC4 SPARE1_ADC1 ADC1 SCALE(1)

# Note that this should be SCALE(2), but we don't want to break existing setups
# See: https://github.com/ArduPilot/ardupilot/pull/22831  定义备用ADC引脚
PA4 SPARE2_ADC1 ADC1 SCALE(1)

# 定义信号强度测量ADC引脚 
PF12 RSSI_IN ADC1 SCALE(1)

# 定义5V传感器电源测量ADC引脚
PC5 VDD_5V_SENS ADC1 SCALE(2)

# 定义3V3 IMU电源测量ADC引脚
PC1 SCALED_V3V3 ADC1 SCALE(2)

# FMU_SERVORAIL_VCC电源测量ADC引脚
PB1 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)

# CAN bus 定义CAN1总线引脚
PI9  CAN1_RX CAN1
PH13 CAN1_TX CAN1

# 2nd CAN bus. Cannot be used at same time as USB_HS 定义CAN2总线引脚
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

# control for silent (no output) for CAN 定义CAN1/2芯片使能引脚 输出模式 输出速度低 默认低
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)

# GPIOs 定义HEATER_EN 引脚

PA8 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1

# 定义一些其他功能的引脚
PG1  VDD_BRICK_nVALID INPUT PULLUP # for PowerC (CAN), considered primary power
PG2  VDD_BRICK2_nVALID INPUT PULLUP # for PowerA
PG0  VBUS_nVALID INPUT PULLUP
PJ3  VDD_5V_HIPOWER_nOC INPUT PULLUP
PJ4  VDD_5V_PERIPH_nOC INPUT PULLUP
PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH

# SPI devices 定义SPI上所接传感器类型 SPI使能引脚 SPI模式 速度
SPIDEV adis16470      SPI1 DEVID2  ADIS16470_CS    MODE3  1*MHZ  2*MHZ
SPIDEV icm20689       SPI1 DEVID2  ICM20689_CS     MODE3  2*MHZ  8*MHZ
SPIDEV bmi088_a       SPI4 DEVID2  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
SPIDEV bmi088_g       SPI4 DEVID3  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
SPIDEV ms5611_imu     SPI4 DEVID1  MS5611_IMU_CS   MODE3  20*MHZ 20*MHZ
SPIDEV ms5611_board   SPI6 DEVID1  MS5611_BOARD_CS MODE3  20*MHZ 20*MHZ
SPIDEV ramtron        SPI2 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ

#Mount icm20649 or icm20689 on SPI6
SPIDEV icm20649       SPI6 DEVID2  ICM20649_CS       MODE3  2*MHZ  8*MHZ
SPIDEV icm20689_board SPI6 DEVID2  ICM20689_BOARD_CS MODE3  2*MHZ  8*MHZ

#Mount bmi088_a or icm42688 on SPI4
SPIDEV icm42688       SPI4 DEVID2  ICM42688_CS     MODE3  2*MHZ  8*MHZ

# RM3100 may be on SPI1 or SPI2 (not both). Later board revisions
# have the RM3100 on SPI2, to leave SPI1 free for ADIS1647x
SPIDEV rm3100-1       SPI1 DEVID1  RM3100_CS       MODE3  1*MHZ  1*MHZ
SPIDEV rm3100-2       SPI2 DEVID2  RM3100_CS       MODE3  1*MHZ  1*MHZ

# two baro 定义两个气压计接口
BARO MS56XX SPI:ms5611_imu
BARO MS56XX SPI:ms5611_board

# three IMUs, only one of ICM20689 and ADIS16470 will be included 定义三个IMU的接口 安装方向
IMU ADIS1647x    SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
IMU Invensense   SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensense   SPI:icm20689_board ROTATION_NONE

# 默认惯导实例5个
define HAL_DEFAULT_INS_FAST_SAMPLE 5

# compasses 定义外部I2C地磁传感器 地址 是否使用 板上安装角度

define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

# probe for RM3100 on SPI1 or SPI2 定义SPI接口的地磁 是否使用 板上安装角度
COMPASS RM3100 SPI:rm3100-1 false ROTATION_NONE
COMPASS RM3100 SPI:rm3100-2 false ROTATION_NONE


# microSD support  定义SD卡接口引脚
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

# red LED marked as B/E  定义三色灯IO引脚 名称 输出模式 默认输出电平

PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PI6 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# 定义LED开关电平
define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# use pixracer style 3-LED indicators LED指示类型
define HAL_HAVE_PIXRACER_LED

# enable RAMTROM parameter storage 储存参数的RAM
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

# allow to have have a dedicated safety switch pin 定义安全开关引脚和安全开关LED指示
define HAL_HAVE_SAFETY_SWITCH 1
PE12 LED_SAFETY OUTPUT
PE10 SAFETY_IN INPUT PULLDOWN

# enable FAT filesystem support (needs a microSD defined via SDMMC) 使能文件系统
define HAL_OS_FATFS_IO 1

# DMA优先级 DMA不共享
DMA_PRIORITY  ADC* SPI1* TIM*UP*
DMA_NOSHARE  SPI1* TIM*UP* 

# default to 45C target temp 定义IMU默认温度
define HAL_IMU_TEMP_DEFAULT 45

# Enable Sagetech MXS ADSB transponder 定义ADSB
define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED