2023-02-06 02:50:40 -04:00
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F4xx STM32F427xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1096
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
|
|
|
|
|
|
# ChibiOS system timer
|
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
|
|
|
|
|
|
# flash size
|
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
|
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
|
# USB setup
|
|
|
|
|
USB_STRING_MANUFACTURER "ArduPilot"
|
|
|
|
|
|
|
|
|
|
# serial port for stdout, disabled so console is on USB
|
|
|
|
|
#STDOUT_SERIAL SD7
|
|
|
|
|
#STDOUT_BAUDRATE 57600
|
|
|
|
|
|
|
|
|
|
# order of I2C buses
|
|
|
|
|
I2C_ORDER I2C3 I2C2 I2C1
|
|
|
|
|
|
2023-12-11 13:07:23 -04:00
|
|
|
# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
|
|
|
|
|
# shorter list then HAL_Empty::UARTDriver objects are substituted for later
|
|
|
|
|
# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
|
2023-02-06 02:50:40 -04:00
|
|
|
# 1) SERIAL0: console (primary mavlink, usually USB)
|
2023-12-11 13:07:23 -04:00
|
|
|
# 2) SERIAL1: telem1
|
|
|
|
|
# 3) SERIAL2: telem2
|
|
|
|
|
# 4) SERIAL3: primary GPS
|
2023-02-06 02:50:40 -04:00
|
|
|
# 5) SERIAL4: GPS2
|
|
|
|
|
# 6) SERIAL5: extra UART (usually RTOS debug console)
|
|
|
|
|
|
2023-12-11 13:07:23 -04:00
|
|
|
# order of SERIALn (incl. USB)
|
2023-02-06 02:50:40 -04:00
|
|
|
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7
|
|
|
|
|
|
|
|
|
|
# UART for IOMCU
|
|
|
|
|
IOMCU_UART USART6
|
|
|
|
|
|
|
|
|
|
# UART4 is GPS
|
|
|
|
|
PA0 UART4_TX UART4 NODMA
|
|
|
|
|
PA1 UART4_RX UART4 NODMA
|
|
|
|
|
PA2 BATT_VOLTAGE_SENS ADC1
|
|
|
|
|
PA3 BATT_CURRENT_SENS ADC1
|
|
|
|
|
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
|
|
|
|
|
|
# SPI1 is sensors bus
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
|
|
|
|
|
PA9 VBUS INPUT
|
|
|
|
|
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# PWM output for buzzer
|
|
|
|
|
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
|
|
|
|
|
|
|
|
|
PB2 BOOT1 INPUT
|
|
|
|
|
|
|
|
|
|
PB8 I2C1_SCL I2C1
|
|
|
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
|
|
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
|
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
|
|
|
|
|
|
PA8 I2C3_SCL I2C3
|
|
|
|
|
PC9 I2C3_SDA I2C3
|
|
|
|
|
|
|
|
|
|
# SPI2 is FRAM
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
PB12 CAN2_RX CAN2
|
|
|
|
|
PB6 CAN2_TX CAN2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
PC0 VBUS_nVALID INPUT PULLUP
|
|
|
|
|
PC3 AUX_POWER ADC1 SCALE(1)
|
|
|
|
|
PC4 AUX_ADC2 ADC1 SCALE(1)
|
|
|
|
|
|
|
|
|
|
# USART6 to IO
|
|
|
|
|
PC6 USART6_TX USART6
|
|
|
|
|
PC7 USART6_RX USART6
|
|
|
|
|
|
|
|
|
|
PC15 20602_DRDY INPUT
|
|
|
|
|
|
|
|
|
|
PD0 CAN1_RX CAN1
|
|
|
|
|
PD1 CAN1_TX CAN1
|
|
|
|
|
|
|
|
|
|
# USART2 serial2 telem1
|
|
|
|
|
PD3 USART2_CTS USART2
|
|
|
|
|
PD4 USART2_RTS USART2
|
|
|
|
|
PD5 USART2_TX USART2
|
|
|
|
|
PD6 USART2_RX USART2
|
|
|
|
|
|
|
|
|
|
# USART3 serial3 telem2
|
|
|
|
|
PD8 USART3_TX USART3
|
|
|
|
|
PD9 USART3_RX USART3
|
|
|
|
|
PD10 FRAM_CS CS
|
|
|
|
|
PD11 USART3_CTS USART3
|
|
|
|
|
PD12 USART3_RTS USART3
|
|
|
|
|
|
|
|
|
|
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
|
|
|
|
|
|
|
|
|
PD15 20608_DRDY INPUT
|
|
|
|
|
|
|
|
|
|
# UART8 serial4 FrSky
|
|
|
|
|
PE0 UART8_RX UART8
|
|
|
|
|
PE1 UART8_TX UART8
|
|
|
|
|
# allow this uart to be inverted for transmit under user control
|
|
|
|
|
# the polarity is the value to use on the GPIO to change the polarity
|
|
|
|
|
# to the opposite of the default
|
|
|
|
|
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
|
|
|
|
|
|
|
|
|
|
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
|
|
|
|
|
|
|
|
|
|
# Now setup SPI bus4.
|
|
|
|
|
PE2 SPI4_SCK SPI4
|
|
|
|
|
PE5 SPI4_MISO SPI4
|
|
|
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
|
|
|
|
|
|
# start peripheral power off, then enable after init
|
|
|
|
|
# this prevents a problem with radios that use RTS for
|
|
|
|
|
# bootloader hold
|
|
|
|
|
|
|
|
|
|
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
|
|
|
|
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
|
|
|
|
|
|
|
|
|
# UART7 is debug
|
|
|
|
|
PE7 UART7_RX UART7 NODMA
|
|
|
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
|
|
|
|
|
|
# SPI1 CS pins
|
|
|
|
|
PE4 42688_EXT_CS CS
|
|
|
|
|
PC14 BARO_EXT_CS CS
|
|
|
|
|
PC13 40605_EXT_CS CS
|
|
|
|
|
PC2 42688_CS CS
|
|
|
|
|
PD7 BARO_CS CS
|
|
|
|
|
PC1 MAG_CS CS
|
|
|
|
|
PB1 SDCARD_CS CS
|
|
|
|
|
|
|
|
|
|
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
|
|
|
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
|
|
|
|
|
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
|
|
|
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
|
|
|
|
|
|
|
|
# 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.
|
|
|
|
|
PB5 VDD_BRICK_nVALID INPUT PULLUP
|
|
|
|
|
PG5 VDD_BRICK2_nVALID INPUT PULLUP
|
|
|
|
|
|
|
|
|
|
PC11 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
|
|
|
|
|
PC10 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
|
|
|
|
|
PC12 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
|
|
|
|
|
define HAL_GPIO_LED_ON 0
|
|
|
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 11
|
|
|
|
|
define HAL_GPIO_B_LED_PIN 12
|
|
|
|
|
define HAL_GPIO_C_LED_PIN 13
|
|
|
|
|
|
|
|
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
|
|
|
|
|
|
# SPI device table
|
|
|
|
|
SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
|
|
|
|
SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
|
|
|
|
|
SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 4*MHZ
|
|
|
|
|
SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 4*MHZ
|
|
|
|
|
SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 4*MHZ
|
|
|
|
|
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
|
SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
|
|
|
|
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
|
|
|
|
|
|
|
|
|
IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
|
|
|
|
|
IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
|
|
|
|
|
IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
|
|
|
|
|
#ROTATION_ROLL_180_YAW_270
|
|
|
|
|
|
|
|
|
|
BARO MS56XX SPI:ms5611
|
|
|
|
|
BARO MS56XX SPI:ms5611_ext
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
|
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
|
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
|
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
|
|
|
|
|
|
# enable FAT filesystem support (needs a microSD defined via SDIO)
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
|
|
|
|
|
# battery setup
|
|
|
|
|
define HAL_BATT_VOLT_PIN 2
|
|
|
|
|
define HAL_BATT_CURR_PIN 3
|
|
|
|
|
define HAL_BATT_VOLT_SCALE 18
|
|
|
|
|
define HAL_BATT_CURR_SCALE 24
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
# We can't share the IO UART (USART6).
|
|
|
|
|
DMA_NOSHARE USART6_TX USART6_RX ADC1
|
|
|
|
|
DMA_PRIORITY USART6*
|
|
|
|
|
|
|
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
