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