ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for FMUv4 hardware

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4

# MCU class and specific type
MCU STM32F4xx STM32F427xx

# board ID for firmware load
APJ_BOARD_ID 11

# crystal frequency
OSCILLATOR_HZ 24000000

# board voltage
STM32_VDD 330U

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 2048

# serial port for stdout
STDOUT_SERIAL SD7
STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C1

# to match px4 we make the first bus number 1
define HAL_I2C_BUS_BASE 1

# order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1

# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
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
PA10 FRSKY_INV OUTPUT

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

# control of spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70

# spektrum power is active low
define HAL_SPEKTRUM_PWR_ENABLED 0

# spektrum RC input pin, used as GPIO for bind for satellite receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71

PB1 LED_GREEN OUTPUT GPIO(0)
PB2 BOOT1 INPUT
PB3 LED_BLUE OUTPUT GPIO(1)
PB5 VDD_BRICK_VALID INPUT

# USART1 is ESP8266
PB6 USART1_TX USART1
PB7 USART1_RX USART1
PA8 USART1_RTS USART1
# PE10 is not a hw CTS pin for USART1
PE10 8266_CTS INPUT

# make GPIOs for ESP8266 available via mavlink relay control as pins
# 60 to 63
PB4 8266_GPIO2 OUTPUT GPIO(60)
PE2 8266_GPI0 INPUT PULLUP GPIO(61)
PE5 8266_PD OUTPUT HIGH GPIO(62)
PE6 8266_RST OUTPUT HIGH GPIO(63)

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB11 LED_RED OUTPUT GPIO(2)
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PC0 VBUS_VALID INPUT
PC1 RSSI_IN ADC1
PC2 MPU9250_CS CS
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC5 VDD_PERIPH_EN OUTPUT HIGH
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO

PC13 SBUS_INV OUTPUT
PC14 20608_DRDY INPUT
PC15 20608_CS CS

PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PD2 SDIO_CMD SDIO

# USART2 serial2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

PD7 BARO_CS CS

# 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 MPU9250_DRDY INPUT

# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8
PE3 VDD_SENSORS_EN OUTPUT HIGH

# UART7 is debug
PE7 UART7_RX UART7 
PE8 UART7_TX UART7
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE12 MAG_DRDY INPUT
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE15 MAG_CS CS

# 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_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV mpu9250     SPI1 DEVID4  MPU9250_CS MODE3   2*MHZ   4*MHZ
SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
SPIDEV lis3mdl     SPI1 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ

define HAL_CHIBIOS_ARCH_FMUV4 1

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"

define HAL_STORAGE_SIZE        16384

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1

# fallback to flash is no FRAM fitted
define STORAGE_FLASH_PAGE 22

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2


# enable RTSCTS
define AP_FEATURE_RTSCTS 1

# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define HAL_SERIAL5_BAUD 921600

# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 6
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`# hw definition file for processing by chibios_hwdef.py`
			`# for FMUv4 hardware`

HAL_ChibiOS: moved more board setup into hwdef.dat 2018-03-01 02:51:39 -04:00			`define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4`

HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`# MCU class and specific type`
			`MCU STM32F4xx STM32F427xx`

			`# board ID for firmware load`
			`APJ_BOARD_ID 11`

			`# crystal frequency`
			`OSCILLATOR_HZ 24000000`

			`# board voltage`
			`STM32_VDD 330U`

AP_HAL_ChibiOS: add ToneAlarm thread fmuv4 hwdef.dat: remove PWM label from buzzer output pin add buzzer pin labeled ALARM remove timer PWM from HAL_PWM_GROUPs 2018-01-28 14:31:21 -04:00			`# ChibiOS system timer`
			`STM32_ST_USE_TIMER 5`

HAL_ChibiOS: use a common makefile and board.c allow for custom files per board if supplied, but don't require them for every board 2018-01-12 17:33:58 -04:00			`# flash size`
			`FLASH_SIZE_KB 2048`

HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`# serial port for stdout`
			`STDOUT_SERIAL SD7`
HAL_Chibios: matched debug port speed to NuttX 2018-01-11 00:06:08 -04:00			`STDOUT_BAUDRATE 57600`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`# only one I2C bus`
			`I2C_ORDER I2C1`

HAL_ChibiOS: added HAL_I2C_BUS_BASE this allows fmuv4 to start at bus 1 2018-01-19 18:01:06 -04:00			`# to match px4 we make the first bus number 1`
			`define HAL_I2C_BUS_BASE 1`

HAL_Chibios: auto-generate I2C, SPI and UART device lists this is less error prone and make a port faster as more information is in hwdef.dat 2018-01-11 19:20:49 -04:00			`# order of UARTs (and USB)`
			`UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1`

HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`# UART4 is GPS`
			`PA0 UART4_TX UART4`
			`PA1 UART4_RX UART4`
			`PA2 BATT_VOLTAGE_SENS ADC1`
			`PA3 BATT_CURRENT_SENS ADC1`
HAL_ChibiOS: fixed 5V analog scale on fmuv4 and mindpx-v2 2018-01-13 01:56:29 -04:00			`PA4 VDD_5V_SENS ADC1 SCALE(2)`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`# SPI1 is sensors bus`
			`PA5 SPI1_SCK SPI1`
			`PA6 SPI1_MISO SPI1`
			`PA7 SPI1_MOSI SPI1`

			`PA9 VBUS INPUT`
			`PA10 FRSKY_INV OUTPUT`

			`PA11 OTG_FS_DM OTG1`
			`PA12 OTG_FS_DP OTG1`

			`PA13 JTMS-SWDIO SWD`
			`PA14 JTCK-SWCLK SWD`

AP_HAL_ChibiOS: add ToneAlarm thread fmuv4 hwdef.dat: remove PWM label from buzzer output pin add buzzer pin labeled ALARM remove timer PWM from HAL_PWM_GROUPs 2018-01-28 14:31:21 -04:00			`# PWM output for buzzer`
			`PA15 TIM2_CH1 TIM2 GPIO(77) ALARM`

HAL_ChibiOS: fixed DSM input on fmuv4 2018-04-10 03:15:23 -03:00			`# control of spektrum power pin`
			`PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)`
			`define HAL_GPIO_SPEKTRUM_PWR 70`

			`# spektrum power is active low`
			`define HAL_SPEKTRUM_PWR_ENABLED 0`

			`# spektrum RC input pin, used as GPIO for bind for satellite receivers`
			`PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)`
			`define HAL_GPIO_SPEKTRUM_RC 71`

HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PB1 LED_GREEN OUTPUT GPIO(0)`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PB2 BOOT1 INPUT`
HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PB3 LED_BLUE OUTPUT GPIO(1)`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PB5 VDD_BRICK_VALID INPUT`

			`# USART1 is ESP8266`
			`PB6 USART1_TX USART1`
			`PB7 USART1_RX USART1`
HAL_ChibiOS: fixed GPIOs for ESP8266 port 2018-02-04 00:35:24 -04:00			`PA8 USART1_RTS USART1`
			`# PE10 is not a hw CTS pin for USART1`
			`PE10 8266_CTS INPUT`

			`# make GPIOs for ESP8266 available via mavlink relay control as pins`
			`# 60 to 63`
			`PB4 8266_GPIO2 OUTPUT GPIO(60)`
			`PE2 8266_GPI0 INPUT PULLUP GPIO(61)`
			`PE5 8266_PD OUTPUT HIGH GPIO(62)`
			`PE6 8266_RST OUTPUT HIGH GPIO(63)`

HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PB8 I2C1_SCL I2C1`
			`PB9 I2C1_SDA I2C1`

			`# SPI2 is FRAM`
			`PB10 SPI2_SCK SPI2`
HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PB11 LED_RED OUTPUT GPIO(2)`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PB12 CAN2_RX CAN2`
HAL_ChibiOS: added comment on beta fmuv4 board 2018-01-17 20:42:36 -04:00			`PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PB14 SPI2_MISO SPI2`
			`PB15 SPI2_MOSI SPI2`

			`PC0 VBUS_VALID INPUT`
			`PC1 RSSI_IN ADC1`
HAL_ChibiOS: CS pins don't need to be a single SPI BUS its possible to use a CS pin on different buses, so they should not have a particular bus tag 2018-01-11 22:27:25 -04:00			`PC2 MPU9250_CS CS`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PC3 LED_SAFETY OUTPUT`
HAL_ChibiOS: implement fmuv4 safety state and added safety_mask and safety_pwm support for both fmuv3 and fmuv4 2018-04-14 00:55:03 -03:00			`PC4 SAFETY_IN INPUT PULLDOWN`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PC5 VDD_PERIPH_EN OUTPUT HIGH`
HAL_ChibiOS: removed the DMA channels from RCIN in hwdef.dat no longer needed as this is automatic now 2018-03-13 21:28:42 -03:00			`PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`PC8 SDIO_D0 SDIO`
			`PC9 SDIO_D1 SDIO`
			`PC10 SDIO_D2 SDIO`
			`PC11 SDIO_D3 SDIO`
			`PC12 SDIO_CK SDIO`

			`PC13 SBUS_INV OUTPUT`
			`PC14 20608_DRDY INPUT`
HAL_ChibiOS: CS pins don't need to be a single SPI BUS its possible to use a CS pin on different buses, so they should not have a particular bus tag 2018-01-11 22:27:25 -04:00			`PC15 20608_CS CS`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`PD0 CAN1_RX CAN1`
			`PD1 CAN1_TX CAN1`
			`PD2 SDIO_CMD SDIO`

			`# USART2 serial2 telem1`
			`PD3 USART2_CTS USART2`
			`PD4 USART2_RTS USART2`
			`PD5 USART2_TX USART2`
			`PD6 USART2_RX USART2`

HAL_ChibiOS: CS pins don't need to be a single SPI BUS its possible to use a CS pin on different buses, so they should not have a particular bus tag 2018-01-11 22:27:25 -04:00			`PD7 BARO_CS CS`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`# USART3 serial3 telem2`
			`PD8 USART3_TX USART3`
			`PD9 USART3_RX USART3`
HAL_ChibiOS: CS pins don't need to be a single SPI BUS its possible to use a CS pin on different buses, so they should not have a particular bus tag 2018-01-11 22:27:25 -04:00			`PD10 FRAM_CS CS`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00			`PD11 USART3_CTS USART3`
			`PD12 USART3_RTS USART3`

HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)`
			`PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)`
HAL_ChibiOS: initial port to FMUv4 2018-01-10 06:33:37 -04:00
			`PD15 MPU9250_DRDY INPUT`

			`# UART8 serial4 FrSky`
			`PE0 UART8_RX UART8`
			`PE1 UART8_TX UART8`
			`PE3 VDD_SENSORS_EN OUTPUT HIGH`

			`# UART7 is debug`
			`PE7 UART7_RX UART7`
			`PE8 UART7_TX UART7`
HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)`
			`PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)`
HAL_Chibios: moved SPI device tables to hwdef.dat 2018-01-11 21:01:06 -04:00			`PE12 MAG_DRDY INPUT`
HAL_ChibiOS: auto-generate GPIO table from hwdef.dat 2018-01-13 01:34:48 -04:00			`PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)`
			`PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)`
HAL_ChibiOS: CS pins don't need to be a single SPI BUS its possible to use a CS pin on different buses, so they should not have a particular bus tag 2018-01-11 22:27:25 -04:00			`PE15 MAG_CS CS`
HAL_Chibios: moved SPI device tables to hwdef.dat 2018-01-11 21:01:06 -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_int SPI2 DEVID3 BARO_CS MODE3 20MHZ 20MHZ`
HAL_ChibiOS: adjust SPI clock rates on FMUv4 this prevents some timing errors on the IMUs 2018-01-17 03:15:36 -04:00			`SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2MHZ 4MHZ`
			`SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2MHZ 8MHZ`
HAL_Chibios: moved SPI device tables to hwdef.dat 2018-01-11 21:01:06 -04:00			`SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11MHZ 11MHZ`
			`SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500KHZ 500KHZ`
			`SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8MHZ 8MHZ`
HAL_ChibiOS: moved board defines to hwdef.dat 2018-01-14 04:00:47 -04:00
			`define HAL_CHIBIOS_ARCH_FMUV4 1`

			`define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"`

			`define HAL_STORAGE_SIZE 16384`

			`# enable RAMTROM parameter storage`
			`define HAL_WITH_RAMTRON 1`

			`# fallback to flash is no FRAM fitted`
			`define STORAGE_FLASH_PAGE 22`

			`# enable FAT filesystem`
			`define HAL_OS_FATFS_IO 1`

HAL_ChibiOS: improved mini-pix support 2018-02-11 04:28:43 -04:00			`# pixracer has 3 LEDs, Red, Green, Blue`
			`define HAL_HAVE_PIXRACER_LED`

			`define HAL_GPIO_LED_ON 0`
			`define HAL_GPIO_LED_OFF 1`

HAL_ChibiOS: moved board defines to hwdef.dat 2018-01-14 04:00:47 -04:00			`define HAL_GPIO_A_LED_PIN 0`
			`define HAL_GPIO_B_LED_PIN 1`
			`define HAL_GPIO_C_LED_PIN 2`

HAL_ChibiOS: improved mini-pix support 2018-02-11 04:28:43 -04:00
HAL_ChibiOS: enable RTSCTS and SBUS_OUT 2018-01-19 18:43:01 -04:00			`# enable RTSCTS`
			`define AP_FEATURE_RTSCTS 1`
HAL_ChibiOS: setup correct volt and current pins use hwdef.dat to specify battery pins 2018-02-04 00:09:19 -04:00
			`# battery setup`
			`define HAL_BATT_VOLT_PIN 2`
			`define HAL_BATT_CURR_PIN 3`
			`define HAL_BATT_VOLT_SCALE 10.1`
			`define HAL_BATT_CURR_SCALE 17.0`
HAL_ChibiOS: setup serial5 for fmuv3 ESP8266 2018-02-04 00:42:54 -04:00
			`# setup serial port defaults for ESP8266`
			`define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink`
			`define HAL_SERIAL5_BAUD 921600`
HAL_ChibiOS: moved more board setup into hwdef.dat 2018-03-01 02:51:39 -04:00
HAL_ChibiOS: setup pwm counts, and cleanup mindpx-v2 PWM lines 2018-04-06 22:32:50 -03:00			`# 6 PWM available by default`
			`define BOARD_PWM_COUNT_DEFAULT 6`
HAL_ChibiOS: moved more board setup into hwdef.dat 2018-03-01 02:51:39 -04:00