2018-03-22 09:43:45 -03:00
|
|
|
# hw definition file for processing by chibios_hwdef.py
|
2022-05-24 11:20:17 -03:00
|
|
|
# for F4BY v2.1.5 board description http://swift-flyer.com/?page_id=83
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F4xx STM32F407xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
2018-07-13 18:01:05 -03:00
|
|
|
APJ_BOARD_ID 20
|
2020-03-13 17:38:58 -03:00
|
|
|
|
2018-03-22 09:43:45 -03:00
|
|
|
# USB setup
|
2022-05-24 11:20:17 -03:00
|
|
|
USB_VENDOR 0x27AC # Swift-Flyer
|
|
|
|
|
USB_PRODUCT 0x0201 # fmu usb driver
|
2018-03-22 09:43:45 -03:00
|
|
|
USB_STRING_MANUFACTURER "Swift-Flyer"
|
|
|
|
|
|
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
# this is the STM32 timer that ChibiOS will use for the low level
|
|
|
|
|
# driver. This must be a 32 bit timer. We currently only support
|
|
|
|
|
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
|
|
|
|
|
|
|
|
|
|
# ChibiOS system timer
|
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
|
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# the normal usage of this ordering is:
|
|
|
|
|
# 1) SERIAL0: console (primary mavlink, usually USB)
|
|
|
|
|
# 2) SERIAL3: primary GPS
|
|
|
|
|
# 3) SERIAL1: telem1
|
|
|
|
|
# 4) SERIAL2: telem2
|
|
|
|
|
# 5) SERIAL4: GPS2
|
|
|
|
|
# 6) SERIAL5: extra UART (usually RTOS debug console)
|
|
|
|
|
|
2018-06-23 07:56:05 -03:00
|
|
|
# use UART for stdout, so no STDOUT_SERIAL
|
|
|
|
|
#STDOUT_SERIAL SD5
|
|
|
|
|
#STDOUT_BAUDRATE 57600
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# this is the pin that senses USB being connected. It is an input pin
|
|
|
|
|
# setup as OPENDRAIN
|
|
|
|
|
PA9 VBUS INPUT OPENDRAIN
|
|
|
|
|
|
2020-04-24 08:10:08 -03:00
|
|
|
SERIAL_ORDER OTG1 USART2 USART1 USART3 UART5
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# UART1 as board 2.1.5 for serial 3 gps
|
|
|
|
|
PB6 USART1_TX USART1
|
|
|
|
|
PB7 USART1_RX USART1
|
|
|
|
|
|
|
|
|
|
# USART2 serial2 telem2
|
|
|
|
|
PD5 USART2_TX USART2 NODMA
|
|
|
|
|
PD6 USART2_RX USART2
|
|
|
|
|
|
|
|
|
|
# USART3 serial3 telem1
|
|
|
|
|
PD8 USART3_TX USART3 NODMA
|
|
|
|
|
PD9 USART3_RX USART3
|
|
|
|
|
|
|
|
|
|
PC10 UART4_TX UART4 NODMA
|
2022-05-24 11:20:17 -03:00
|
|
|
PC11 UART4_RX UART4
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# SHARE dma with I2C2_TX
|
|
|
|
|
PC12 UART5_TX UART5 NODMA
|
|
|
|
|
PD2 UART5_RX UART5 NODMA
|
|
|
|
|
|
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
|
|
|
|
|
|
|
|
#SPI1 for MPU
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
PA4 MPU_CS CS
|
|
|
|
|
|
|
|
|
|
# spi bus for dataflash AND SD
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
PB12 FRAM_CS CS SPEED_VERYLOW
|
|
|
|
|
PE15 FLASH_CS CS
|
|
|
|
|
|
2018-05-23 17:39:44 -03:00
|
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
|
2022-05-24 11:20:17 -03:00
|
|
|
SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
|
2018-05-23 17:39:44 -03:00
|
|
|
SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 25*MHZ
|
2018-03-22 09:43:45 -03:00
|
|
|
|
2019-05-29 23:27:25 -03:00
|
|
|
# one IMU
|
|
|
|
|
IMU Invensense SPI:mpu6000 ROTATION_NONE
|
|
|
|
|
|
|
|
|
|
# one baro, check both addresses
|
|
|
|
|
BARO MS56XX I2C:0:0x76
|
|
|
|
|
BARO MS56XX I2C:0:0x77
|
|
|
|
|
|
2018-03-22 09:43:45 -03:00
|
|
|
# enable RAMTROM parameter storage
|
|
|
|
|
define HAL_WITH_RAMTRON 1
|
2018-05-23 17:39:44 -03:00
|
|
|
# enable FAT filesystem support
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# this defines the default maximum clock on I2C devices.
|
|
|
|
|
define HAL_I2C_MAX_CLOCK 100000
|
|
|
|
|
I2C_ORDER I2C2 I2C1
|
2022-05-24 11:20:17 -03:00
|
|
|
PB8 I2C1_SCL I2C1
|
|
|
|
|
PB9 I2C1_SDA I2C1
|
2018-03-22 09:43:45 -03:00
|
|
|
PB10 I2C2_SCL I2C2
|
|
|
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
|
|
2019-05-29 23:27:25 -03:00
|
|
|
# look for I2C compass
|
|
|
|
|
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
|
2018-07-28 02:36:37 -03:00
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# PWM out pins
|
2018-10-31 02:10:16 -03:00
|
|
|
PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
|
|
|
|
|
PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
|
|
|
|
|
PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
|
|
|
|
|
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
|
|
|
|
|
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
|
|
|
|
|
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
|
|
|
|
|
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
|
|
|
|
|
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
|
|
|
|
|
|
|
|
|
|
PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
|
|
|
|
|
PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
|
|
|
|
|
PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# also USART6_RX for serial RC
|
2021-10-10 18:31:01 -03:00
|
|
|
PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW DMA_CH0
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# LED setup is similar to PixRacer
|
|
|
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
|
PE3 LED_RED OUTPUT GPIO(10)
|
|
|
|
|
PE2 LED_GREEN OUTPUT GPIO(11)
|
|
|
|
|
PE1 LED_BLUE OUTPUT GPIO(12)
|
|
|
|
|
PE0 LED_YELOW OUTPUT GPIO(13)
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 10
|
|
|
|
|
define HAL_GPIO_B_LED_PIN 11
|
|
|
|
|
define HAL_GPIO_C_LED_PIN 12
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
|
|
|
|
PC0 PRESSURE_SENS ADC1 SCALE(1)
|
|
|
|
|
PC1 RSSI_IN ADC1
|
|
|
|
|
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
|
|
|
|
|
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
|
|
|
|
|
PC4 VDD_5V_SENS ADC1 SCALE(2)
|
2022-05-24 11:20:17 -03:00
|
|
|
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2)
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
PE5 TIM9_CH1 TIM9 ALARM
|
2021-10-03 14:40:15 -03:00
|
|
|
PC14 EXTERN_GPIO1 OUTPUT GPIO(1)
|
|
|
|
|
PC13 EXTERN_GPIO2 OUTPUT GPIO(2)
|
|
|
|
|
PE4 EXTERN_GPIO3 OUTPUT GPIO(3)
|
|
|
|
|
PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
|
|
|
|
|
PC9 EXTERN_GPIO5 OUTPUT GPIO(5)
|
2018-03-22 09:43:45 -03:00
|
|
|
|
|
|
|
|
# IRQ for MPU6000
|
|
|
|
|
PB0 EXTI_MPU6000 INPUT PULLUP
|
|
|
|
|
PB1 DRDY_HMC5883 INPUT PULLUP
|
