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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat

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HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
# hw definition file for processing by chibios_hwdef.py
# for VRUBRAINv51 hardware
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51
# MCU class and specific type
MCU STM32F4xx STM32F407xx
# board ID for firmware load
APJ_BOARD_ID 1351
# crystal frequency
OSCILLATOR_HZ 8000000
# flash size
FLASH_SIZE_KB 1024
# USB setup
USB_VENDOR 0x27AC
USB_PRODUCT 0x1351
USB_STRING_MANUFACTURER "Laser Navigation"
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# only one I2C bus
I2C_ORDER I2C2 I2C1
# order of UARTs (and USB)
HAL_ChibiOS: convert all hwdef from UART_ORDER to SERIAL_ORDER much easier to understand
2020-04-24 08:10:08 -03:00
SERIAL_ORDER OTG1 USART3 USART2 USART1
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
PA0 BUZZER OUTPUT LOW GPIO(32)
PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50)
PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA4 SDCARD_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
#PA8
PA9 VBUS INPUT
#P10
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
#PA15
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
#PB2
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
PB3 LED_EXT3 OUTPUT GPIO(30)
PB4 LED_EXT4 OUTPUT GPIO(31)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
PB6 USART1_TX USART1
PB7 USART1_RX USART1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
#PB12
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PC0 BATT_VOLTAGE_SENS ADC1
#PC1
#PC2
#PC3
#PC4
PC5 LED_GREEN OUTPUT GPIO(25)
#PC6
HAL_ChibiOS: change RCIN FLOAT to PULLDOWN this lowers the chance of noise on a RCIN pin causing incorrect protocol detection
2021-10-10 18:28:57 -03:00
PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
PC8 RELAY_1 OUTPUT LOW GPIO(33)
PC9 RELAY_2 OUTPUT LOW GPIO(34)
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
#PC13
#PC14
#PC15
#PD0
#PD1
#PD2
#PD3
#PD4
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD7 SBUS_INV OUTPUT
PD8 USART3_TX USART3
PD9 USART3_RX USART3
#PD10
#PD11
PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57)
PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
PD15 LED_RED OUTPUT GPIO(27)
PD14 LED_BLUE OUTPUT GPIO(26)
PE0 BARO_CS CS
#PE1
PE2 LED_EXT1 OUTPUT GPIO(29)
PE3 LED_EXT2 OUTPUT GPIO(28)
#PE4
#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62)
#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63)
#PE7
#PE8
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
PE10 MPU_CS CS
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
#PE12
PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
#PE15
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
SPIDEV mpu6000 SPI2 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
#SPIDEV ramtron SPI3 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
define HAL_CHIBIOS_ARCH_UBRAINV51 1
define HAL_STORAGE_SIZE 15360
HAL_ChibiOS: move to using parameter STORAGE_FLASH_PAGE instead of define
2021-10-27 02:32:43 -03:00
STORAGE_FLASH_PAGE 2
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
# enable RAMTROM parameter storage
#define HAL_WITH_RAMTRON 1
AP_HAL_ChibiOS: VRUBrain-v51: reduce AP_MAX_EMBEDDED_PARAM to 1024 Stops us overflowing on Copter and Plane builds
2020-03-04 21:48:38 -04:00
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
# enable FAT filesystem
define HAL_OS_FATFS_IO 1
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
define HAL_GPIO_A_LED_PIN 25
define HAL_GPIO_B_LED_PIN 26
define HAL_GPIO_C_LED_PIN 27
define EXTERNAL_LED_GPS 28
define EXTERNAL_LED_ARMED 29
define EXTERNAL_LED_MOTOR1 30
define EXTERNAL_LED_MOTOR2 31
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
define RELAY1_PIN_DEFAULT 33
define RELAY2_PIN_DEFAULT 34
#define RELAY3_PIN_DEFAULT 35
define HAL_BUZZER_PIN 32
AP_HAL_ChibiOS: rename/remove HAL_BUZZER_ON to DEFAULT_BUZZ_ON_LVL
2023-04-22 18:11:08 -03:00
AP_HAL_ChibiOS: remove unused HAL_BUZZER_OFF defines
2023-04-21 10:26:50 -03:00
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
# battery setup
HAL_ChibiOS: fixed default volt and current pins for VRBrain
2019-01-24 02:34:52 -04:00
define HAL_BATT_VOLT_PIN 10
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
2019-01-14 06:54:17 -04:00
define HAL_BATT_CURR_PIN -1
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. - Bootloader (32k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 External - Tested - SD Card - Tested - Parameters on Flash (32k reserved) - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 2 Relay (from 33 to 34) - Tested - Voltage Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
2019-01-16 03:56:24 -04:00
define STM32_PWM_USE_ADVANCED TRUE
HAL_ChibiOS: fixed build of VRUBrain-v51 overflowing flash
2021-06-13 23:14:17 -03:00
# save some flash
AP_HAL_ChibiOS: factor out a save_some_flash.inc
2022-10-25 02:17:01 -03:00
include ../include/save_some_flash.inc
HAL_ChibiOS: fixed build of VRUBrain-v51 overflowing flash
2021-06-13 23:14:17 -03:00
define HAL_SPEKTRUM_TELEM_ENABLED 0
hwdef: disable GPS drivers on low flash boards only leave uBlox enabled on boards that are running out of flash
2022-04-05 21:48:31 -03:00
AP_HAL_ChibiOS: allow airspeed backends to be compiled out
2022-04-14 03:28:05 -03:00
# minimal drivers to reduce flash usage
hwdef: minimize CRUbrain51 get it compiling again
2023-05-31 04:45:42 -03:00
include ../include/minimize_features.inc