From b2cfeacef8f06d3c61d02a4db17fda33ac3bb223 Mon Sep 17 00:00:00 2001 From: Joshua Henderson Date: Mon, 16 Oct 2023 00:15:17 -0400 Subject: [PATCH] HWDEF : add modalai_fc-v2 & fc-v2-bdshot --- .../hwdef/modalai_fc-v2-bdshot/hwdef-bl.dat | 1 + .../hwdef/modalai_fc-v2-bdshot/hwdef.dat | 16 + .../hwdef/modalai_fc-v2/hwdef-bl.dat | 10 + .../hwdef/modalai_fc-v2/hwdef-bl.inc | 96 ++++ .../hwdef/modalai_fc-v2/hwdef.dat | 14 + .../hwdef/modalai_fc-v2/hwdef.inc | 459 ++++++++++++++++++ .../hwdef/modalai_fc-v2/sdcard.inc | 7 + 7 files changed, 603 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.inc create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.inc create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/sdcard.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef-bl.dat new file mode 100644 index 0000000000000..39a78b75c3fe4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef-bl.dat @@ -0,0 +1 @@ +include ../modalai_fc-v2/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef.dat new file mode 100644 index 0000000000000..e3c6977d4d47d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2-bdshot/hwdef.dat @@ -0,0 +1,16 @@ +# hw definition file for processing by chibios_hwdef.py +# Modal AI FCV2 BDShot + +include ../modalai_fc-v2/hwdef.dat + +undef PI0 PH12 PH11 PH10 PD13 PD14 + +# PWM output pins +PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR +PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) +PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR +PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR + +DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SDMMC* USART6* ADC* UART* USART* diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.dat new file mode 100644 index 0000000000000..9037f4e092071 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.dat @@ -0,0 +1,10 @@ +# hw definition file for processing by chibios_hwdef.py +# for H743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +include hwdef-bl.inc + +# build ABIN for flash-from-bootloader support: +env BUILD_ABIN True diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.inc b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.inc new file mode 100644 index 0000000000000..4d67dde29d821 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef-bl.inc @@ -0,0 +1,96 @@ + +# ModalAI have an ID allocated?? +# USB setup +# USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE +# USB_PRODUCT 0x1016 +# USB_STRING_MANUFACTURER "Hex/ProfiCNC" + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# board ID for firmware load +APJ_BOARD_ID 41776 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +# the H753 has 128k sectors +FLASH_BOOTLOADER_LOAD_KB 128 + +define HAL_LED_ON 0 + +PE5 LED_BOOTLOADER OUTPUT HIGH OPENDRAIN # Blue LED +PE3 LED_ACTIVITY OUTPUT HIGH OPENDRAIN # Red LED + +# order of UARTs (and USB) +# USB1_1 TELEM1 TELEM2 GPS1 Debug +SERIAL_ORDER OTG1 UART7 UART5 USART1 USART3 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PA9 VBUS INPUT OPENDRAIN # This input pin is used to detect that power is valid on USB. + +# UART7 Telem 1, TELEM_UART_4W +PF6 UART7_RX UART7 +PE8 UART7_TX UART7 +PF8 UART7_RTS UART7 +PE10 UART7_CTS UART7 + +# UART5 Telem 2, MSS_UART_4W +PD2 UART5_RX UART5 +PC12 UART5_TX UART5 +PC8 UART5_RTS UART5 +PC9 UART5_CTS UART5 + +# USART1 GPS1, UART_2W +PB7 USART1_RX USART1 +PB6 USART1_TX USART1 + +# USART3 Debug, UART_2W +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 + +# Debug Pins +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# Add CS pins to ensure they are high in bootloader + +/* SPI + * SPI1 : ICM_42688_1 + * SPI2 : ICM_42688_2 + * SPI5 : FRAM 256 Kb + * SPI6 : Reserved + * + */ +PI9 ICM_42688_1_CS CS +PH5 ICM_42688_2_CS CS +PG7 FRAM_CS CS SPEED_VERYLOW +PI10 GYRO_EXT_CS CS + +# enable DFU by default +ENABLE_DFU_BOOT 1 + +# enable flashing from SD card: +include sdcard.inc +define FATFS_HAL_DEVICE SDCD2 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 +define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1 + +# FATFS support: +define CH_CFG_USE_MEMCORE 1 +define CH_CFG_USE_HEAP 1 +define CH_CFG_USE_SEMAPHORES 0 +define CH_CFG_USE_MUTEXES 1 +define CH_CFG_USE_DYNAMIC 1 +define CH_CFG_USE_WAITEXIT 1 +define CH_CFG_USE_REGISTRY 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.dat new file mode 100644 index 0000000000000..37333f4233fee --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.dat @@ -0,0 +1,14 @@ +# hw definition file for processing by chibios_hwdef.py +# Modal AI FCV2 + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +include hwdef.inc + +# to be compatible with the px4 bootloader we need +# to use a different RAM_MAP +env USE_ALT_RAM_MAP 1 + +# build ABIN for flash-from-bootloader support: +env BUILD_ABIN True diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.inc new file mode 100644 index 0000000000000..188a272abb9e0 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/hwdef.inc @@ -0,0 +1,459 @@ +# Modal AI FC v2 + +# FIXME +# Does ModalAI have its own USB Vendor ID? +# USB setup +# USB_VENDOR # 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE +# USB_PRODUCT # 0x1016 +USB_STRING_MANUFACTURER "ModalAI_FCV2" + +# crystal frequency +OSCILLATOR_HZ 16000000 # PHO & PH1, OSC_IN & OSC_OUT + + +# FIXME CHECK THIS +# ChibiOS system timer +STM32_ST_USE_TIMER 2 + +# board ID for firmware load +APJ_BOARD_ID 41776 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + + +FLASH_RESERVE_START_KB 128 + +# flash size +FLASH_SIZE_KB 2048 + +# with 2M flash we can afford to optimize for speed +env OPTIMIZE -O2 + +# enable RAMTROM parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + + +########### UARTS ########## + +# order of UARTs (and USB) +# USB1_1 TELEM1 TELEM2 GPS1 RCIN Debug USB1_2 +SERIAL_ORDER OTG1 UART7 UART5 USART1 USART6 USART3 OTG2 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PA9 VBUS INPUT OPENDRAIN # This input pin is used to detect that power is valid on USB. + +# UART7 Telem 1, TELEM_UART_4W +PF6 UART7_RX UART7 +PE8 UART7_TX UART7 +PF8 UART7_RTS UART7 +PE10 UART7_CTS UART7 + +# UART5 Telem 2, MSS_UART_4W +PD2 UART5_RX UART5 +PC12 UART5_TX UART5 +PC8 UART5_RTS UART5 +PC9 UART5_CTS UART5 + +# USART1 GPS1, UART_2W +PB7 USART1_RX USART1 NODMA +PB6 USART1_TX USART1 + +# USART6, spektrum +# PC7 PIN# G15 +PC7 USART6_RX USART6 NODMA GPIO(74) +PC6 USART6_TX USART6 + +# USART3 Debug, UART_2W_DEBUG +PD9 USART3_RX USART3 NODMA +PD8 USART3_TX USART3 + +########## END UARTS ########## + +# Debug Pins +# Note Pin 8 of J2 connector is Boot0 and is pulled down on the FCV2 +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + + +########## I2C Ports ########## + +# order of I2C buses +# Internal | Modal APM | EXPANSION_I2C | EXT_GPS_I2C +I2C_ORDER I2C4 I2C3 I2C2 I2C1 + +# I2C4, BMP388 BARO (ADDR 0x76), ICP-20100 BARO (ADDR 0x63), & BMM150 MAG (0x10 through 0x13 possible) +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +# I2C3, MODAL_APM_I2C +PA8 I2C3_SCL I2C3 +PH8 I2C3_SDA I2C3 + +# I2C2, EXPANSION_I2C +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + +# I2C1, EXT_GPS_I2C +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +define HAL_I2C_INTERNAL_MASK 1 + +### I2C Sensors: I2C4 +BARO BMP388 I2C:0:0x76 +BARO2 ICP201XX I2C:0:0x63 +COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE +PF3 MAG_DRDY INPUT PULLDOWN + +### Enable external compasses +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +########## END I2C Ports ########## + + +########## SPI Ports ########## +/* SPI + * SPI1 : ICM_42688_1 + * SPI2 : ICM_42688_2 + * SPI3 : Not Used + * SPI4 : Not Used + * SPI5 : FRAM 256 Kb + * SPI6 : External1 Reserved (DISABLED) + * + */ + +# SPI1 - ICM_42688_1 +PA5 SPI1_SCK SPI1 +PG9 SPI1_MISO SPI1 +PB5 SPI1_MOSI SPI1 + +PI9 ICM_42688_1_CS CS +PF2 IMU_1_DRDY INPUT PULLDOWN + +# SPI2 - ICM42688_2 +PI1 SPI2_SCK SPI2 +PI2 SPI2_MISO SPI2 +PI3 SPI2_MOSI SPI2 + +PH5 ICM_42688_2_CS CS +PA10 IMU_2_DRDY INPUT PULLDOWN + +# SPI5 - FRAM +PF7 SPI5_SCK SPI5 +PH7 SPI5_MISO SPI5 +PF11 SPI5_MOSI SPI5 + +# The CS pin for FRAM (ramtron). This one is marked as using +# SPEED_VERYLOW, which matches the HAL_PX4 setup. +PG7 FRAM_CS CS SPEED_VERYLOW + +# Disable for now +# SPI6 External +# PB3 SPI6_SCK SPI6 +# PA6 SPI6_MISO SPI6 +# PG14 SPI6_MOSI SPI6 +# PI10 GYRO_EXT_CS CS + +# FIXME +# FSYNC SPI1 & SPI2 for ICM42688p +# TIM14_CH1 out option for setting a 32K CLK from the timer. +# To use, Drive FSYNC signal LOW (or leave tri-state). PX4 uses this as a Piezo Buzzer. +# PE9 TIM1_CH1 TIM1 IMU1_2_FSYNC PULLDOWN LOW +# PF9 TIM14_CH1 TIM14 + +#define GPIO_SPI4_MAG_INT /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12) + +#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) + +## SPI Devices +SPIDEV icm42688_1 SPI1 DEVID1 ICM_42688_1_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm42688_2 SPI2 DEVID1 ICM_42688_2_CS MODE3 2*MHZ 8*MHZ +SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# SPI6 disabled due to lack of DMA channels +#SPIDEV bmi088_g SPI6 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ + +# All Internal IMUs Enabled +IMU Invensensev3 SPI:icm42688_1 ROTATION_NONE +IMU Invensensev3 SPI:icm42688_2 ROTATION_NONE + +########## END SPI Ports ########## + + +########## Interrupt Pins ########## +PG5 BARO_INT INPUT PULLDOWN # BMP388 DRDY + +########## END Interrupt Pins ########## + + +########## CAN BUS ########## + +# CAN bus +# No FD CAN, 1Mbps Transceiver +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +# PD15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +########## END CAN BUS ########## + + +########## RC Input ########## + +# setup for spektrum satellite bind +define HAL_GPIO_SPEKTRUM_RC 74 +PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) +define HAL_GPIO_SPEKTRUM_PWR 73 +define HAL_SPEKTRUM_PWR_ENABLED 1 + +########## END RC Input ########## + + +########## PWM Channels ########## +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set SERVOx_FUNCTION=-1 to determine which +# PWM outputs on the primary MCU are set up as GPIOs. +# To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +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) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) + +# FIXME : taken from ARKV6X +# we need to disable DMA on the last 2 FMU channels +# as timer 12 doesn't have a TIMn_UP DMA option +PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA +PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA + +########## END PWM Channels ########## + + +########## LED Channels ########## + +# RGB LED +PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH +PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH +PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH + +# setup for "pixracer" RGB LEDs +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 + +########## END LED Channels ########## + + +########## UNUSED PINS ########## + +###### Port A +# AVIATOR Expansion Pins Port +PA0 AVIATOR_ADC1_CH16 INPUT FLOATING +PA4 AVIATOR_ADC1_CH18 INPUT FLOATING + +###### Port B & C +PB0 AVIATOR_ADC1_CH9 INPUT FLOATING + +###### Port D & E + +###### Port F & G +PF12 AVIATOR_ADC1_CH6 INPUT FLOATING + +# PX4 HWID pins, unused +PH3 HW_VER_SENS INPUT FLOATING # ADC3_INP14 +PH4 HW_REV_SENS INPUT FLOATING # ADC3_INP15 +PG0 HW_VER_REV_DRIVE INPUT FLOATING + +# LSE crystal, 32.768kHz unused +PC14 LSE1 INPUT FLOATING +PC15 LSE2 INPUT FLOATING + +########## END UNUSED PINS ########## + + +########## Storage: SDCard ########### + +# Setup the pins for the microSD card +include sdcard.inc + +# Enable FAT filesystem support (needs a microSD defined via SDMMC). +define HAL_OS_FATFS_IO 1 +define FATFS_HAL_DEVICE SDCD2 + +########## END Storage: SDCard ########### + + +######### Power Input Detection & Measurement ######### + +# The VDD sense pin. This is used to sense primary board voltage. +PB1 VDD_5V_SENS ADC1 SCALE(2) # ADC1_CH(5) + +# FIXME PC3_C not handled in script +#PC3_C SCALED_V3V3 ADC3 SCALE(2) # ADC3_INP1 + +define ANALOG_VCC_5V_PIN 5 + +# Power flag pins: these tell the MCU the status of the various power +# supplies that are available. The pin names need to exactly match the +# names used in AnalogIn.cpp. +# FIXME High when powered by DC power connector, low when powered by USB +PG1 VDD_BRICK_VALID INPUT PULLUP + +### Battery + +# from px4 +#define VOXLPM_INA231_ADDR_P5_12VDC 0x45 + +# * VOXLPM v2 - Note that these are unshifted addresses. +#define VOXLPM_LTC2946_ADDR_P5VD 0x6b // 0x6b = 0xd6 >> 1 + +### FIX ME Enable 5V monitor + +# INA231 battery monitor +define HAL_BATTMON_INA2XX_BUS 1 +define HAL_BATTMON_INA2XX_ADDR 0x44 +define HAL_BATT_MONITOR_DEFAULT 21 + +# on some units a LTC2946 is used +define HAL_BATTMON_LTC2946_BUS 1 +define HAL_BATTMON_LTC2946_ADDR 0x6a + +######### END Power Input Detection & Measurement ######### + +######### Analog to Digital Conversion ######### + +define HAL_USE_ADC FALSE + +# FIXME Not sure about this +# define STM32_ADC_USE_ADC1 FALSE +define HAL_DISABLE_ADC_DRIVER TRUE + +######### END Analog to Digital Conversion ######### + + +########## Settings ########## + +### IMU Settings +# Enable all IMUs to be used, two active EKF Lanes +# Enable fast sampling on both IMUs +define HAL_EKF_IMU_MASK_DEFAULT 3 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 + +########## END Settings ########## + + +########## Board Validation Checks ########## + +# Sensor Check alias for validating board type +# CHECK_ICM20649 spi_check_register_inv2("icm20948", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) +# CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) +# CHECK_ICM20948_EXT spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948) +# CHECK_MS5611 check_ms5611("ms5611") +# CHECK_MS5611_EXT check_ms5611("ms5611_ext") + +# Sensor Check Macros to be used for validating board type +# CHECK_IMU0_PRESENT $CHECK_ICM20602_EXT +# CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT +# CHECK_IMU2_PRESENT $CHECK_ICM20649 +# CHECK_BARO0_PRESENT $CHECK_MS5611 +# CHECK_BARO1_PRESENT $CHECK_MS5611_EXT + +# BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT + +########## END Board Validation Checks ########## + + +########## DMA Priority ########## + +DMA_PRIORITY SPI1* SPI2* SDMMC* USART6* ADC* UART* USART* +DMA_NOSHARE SPI1* SPI2* + +########## END DMA Priority ########## + + +########## DFU Reboot ########## +# enable DFU reboot for installing bootloader +# note that if firmware is build with --secure-bl then DFU is +# disabled +ENABLE_DFU_BOOT 1 + +########## END DFU Reboot ########## + +#### Unconnected Pins +# ###### Port A +# PA1 +# PA2 +# PA3 +# PA7 +# PA10 +# PA15 + +# ###### Port B & C +# PB2 +# PB10 +# PB11 +# PB12 +# PB13 + +# PC0 +# PC1 +# PC2_C +# PC4 +# PC5 +# PC10 +# PC11 +# PC13 INPUT FLOATING + +# ###### Port D & E +# PD3 +# PD4 +# PD5 +# PD10 +# PD11 +# PD12 + +# PE0 +# PE1 +# PE2 +# PE6 +# PE7 +# PE11 +# PE12 +# PE13 +# PE14 +# PE15 + +# ###### Port F & G +# PF4 +# PF5 +# PF10 +# PF13 +# PG2 +# PG3 +# PG4 +# PG6 +# PG8 +# PG10 +# PG12 +# PG13 +# PG15 + +# ###### Port H & I +# PH13 +# PH14 +# PH15 + +# PI4 +# PI5 +# PI6 +# PI7 +# PI8 +# PI11 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/sdcard.inc b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/sdcard.inc new file mode 100644 index 0000000000000..3644c2dac3bda --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v2/sdcard.inc @@ -0,0 +1,7 @@ +# pins for SD card: +PB14 SDMMC2_D0 SDMMC2 +PB15 SDMMC2_D1 SDMMC2 +PG11 SDMMC2_D2 SDMMC2 +PB4 SDMMC2_D3 SDMMC2 +PD6 SDMMC2_CK SDMMC2 +PD7 SDMMC2_CMD SDMMC2