2023-04-12 00:41:35 -03:00
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# MCU class and specific type
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MCU STM32L4xx STM32L4R5xx
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# board ID for firmware load
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APJ_BOARD_ID 1090
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# crystal frequency
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OSCILLATOR_HZ 24000000
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USB_STRING_MANUFACTURER "Dheeran labs"
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USB_STRING_PRODUCT "PixFlamingo"
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 16
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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 28
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env OPTIMIZE -O2
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# only one I2C bus
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I2C_ORDER I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART3 USART1 UART4
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PC1 BATT_VOLTAGE_SENS ADC1
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PC0 BATT_CURRENT_SENS ADC1
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is fram bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA9 VBUS INPUT
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PA11 USB_OTG_FS_DM OTG1
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PA12 USB_OTG_FS_DP OTG1
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# USART3 serial3 telem1
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PC4 USART3_TX USART3
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PC5 USART3_RX USART3
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PB13 USART3_CTS USART3
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PB14 USART3_RTS USART3
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# USART1 serial1 telem2
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PB4 USART1_CTS USART1
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PB3 USART1_RTS USART1
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# UART4 is GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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define HAL_USE_SERIAL TRUE
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM output for buzzer
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PA15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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2023-04-22 18:11:08 -03:00
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2023-04-21 10:26:50 -03:00
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2023-04-12 00:41:35 -03:00
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PE2 BOOT1 INPUT
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PD9 VDD_BRICK_VALID INPUT PULLDOWN
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# SPI2 is for sensors
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PD1 SPI2_SCK SPI2
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PD3 SPI2_MISO SPI2
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PD4 SPI2_MOSI SPI2
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PD0 IMU1_CS CS
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PE0 GYRO_CS CS
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PB5 BARO_CS CS
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PD7 MAG_CS CS
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# This defines more ADC inputs.
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PC2 AUX_POWER ADC1 SCALE(1)
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PC3 AUX_ADC2 ADC1 SCALE(1)
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PD10 VBUS_VALID INPUT PULLDOWN
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PB0 RSSI_IN ADC1 SCALE(1)
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PE12 LED_SAFETY OUTPUT
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PE15 SAFETY_IN INPUT PULLDOWN
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PC14 VDD_PERIPH_EN OUTPUT HIGH
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#PD6 RCININT PULLDOWN LOW # also USART6_RX for serial RC
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PC7 SBUS_INV OUTPUT LOW
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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PE5 IMU1_DRDY INPUT
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PE4 MAG_DRDY INPUT
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PE6 GYRO_DRDY INPUT
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PC13 VDD_SENSORS_EN OUTPUT HIGH
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PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PB15 TIM15_CH2 TIM15 PWM(9) GPIO(59)
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# SPI device table.
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SPIDEV icm42670 SPI2 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV lis3mdl SPI2 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
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SPIDEV lsm9ds0_g SPI2 DEVID4 GYRO_CS MODE3 11*MHZ 11*MHZ
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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# pixracer has 3 LEDs, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PE8 LED_RED OUTPUT GPIO(0)
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PE7 LED_GREEN OUTPUT GPIO(1)
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PB2 LED_BLUE OUTPUT GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 1
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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DMA_PRIORITY S*
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define STORAGE_FLASH_PAGE 5
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define HAL_STORAGE_SIZE 16384
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# two IMUs
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IMU Invensensev3 SPI:icm42670 ROTATION_YAW_270
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IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_ROLL_180 ROTATION_ROLL_180_YAW_270 ROTATION_PITCH_180
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define STM32_I2C_USE_DMA FALSE
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# one barometer
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BARO MS56XX SPI:ms5611
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